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1. 发明申请

US20190160674A1 ROBOT JOINT SPACE POINT-TO-POINT MOVEMENT TRAJECTORY PLANNING METHOD 审中-公开
公开(公告)号：US20190160674A1
公开(公告)日：2019-05-30
申请号：US16322091
申请日：2017-12-14
申请人： NANJING ESTUN ROBOTICS CO., LTD
发明人： Riyue FENG , Jihu WANG , Zhengxian XIA , Tingting PAN , Bo WU , Shuyi JING
IPC分类号： B25J9/16 , G05B19/19
摘要： A robot joint space point-to-point movement trajectory planning method. Joint space trajectory planning is performed according to the displacement of a robot from a start point to a target point during PTP movement and a limitation condition of a preset movement parameter physical quantity of each axis in a robot control system. An n-dimensional space is constructed by taking each axis of the robot as a vector, wherein n ≥2, and the movement parameter physical quantity of each axis of the robot is verified according to a vector relationship between the n axes of the robot, so that a trajectory planning curve of each axis of the robot satisfies the limitation condition of the preset movement parameter physical quantity. The method has a small amount of calculations and strong real-time performance, the movement curves are mild, the control time is optimal, and the algorithm execution effect is good.

2. 发明申请

US20190240838A1 METHOD FOR ROBOT TO AUTOMATICALLY FIND BENDING POSITION 审中-公开
公开(公告)号：US20190240838A1
公开(公告)日：2019-08-08
申请号：US16314651
申请日：2017-12-14
申请人： NANJING ESTUN ROBOTICS CO., LTD
发明人： Jinbao ZHANG , Lin ZHOU , Shuyi JING , Xiaobo CHI , Jiegao WANG
IPC分类号： B25J9/16 , B25J15/08 , B21D5/00
CPC分类号： B25J9/1694 , B21D5/004 , B25J9/1679 , B25J15/08
摘要： A method for a robot to automatically find a bending position, including the following steps: step 1, establishing a gripper tool coordinate system (TX, TY, TZ); step 2, determining a user coordinate system (XA, YA, ZA; XB, YB, ZB) of rear blocking fingers (11, 21); step 3, a robot gripper moving horizontally, and detecting the state of sensors (12, 22); step 4, the robot gripper executing a rotational movement, detecting the state of the sensors (12, 22), and thereby obtaining a standard bending position. The robot automatically finds the bending position, the teaching difficulty is reduced, and the bending quality is increased. In the elevator industry, elevator door plate bending sizes are the same, but forming sizes are different. In the present invention, only one product process needs to be taught in order to satisfy elevator door plate processing with different specifications, thereby reducing maintenance costs and increasing production efficiency.

3. 发明授权

US09114529B2 Dual-system component-based industrial robot controller 有权
标题翻译：双系统组件工业机器人控制器
公开(公告)号：US09114529B2
公开(公告)日：2015-08-25
申请号：US14116453
申请日：2013-03-04
申请人： NANJING ESTUN ROBOTICS CO., LTD , NANJING ESTUN AUTOMATION CO., LTD
发明人： Bo Wu , Jiegao Wang , Jihu Wang , Jijun Yu
IPC分类号： G05B19/00 , B25J9/16 , G05B19/414
CPC分类号： B25J9/161 , G05B19/414
摘要： A dual system component-based industrial robot controller having a standard operating system, a real-time operating system, a route management module, a soft bus, a driver management module, a motion control module, a PLC module, an IO module, a teach pendent interface module and a protocol stack module. The controller employs a component-based structure and the components are operated respectively under a non real-time standard operating system and a real-time operating system, and supports distributed processing. The communications and function calls among the components are carried out by the route management module and the soft bus. The components in communication are managed through the route management module. The driver management module provides communications among other modules with a consistent interface which accords to the DS402 standard, and a servo driver that accords to this interface standard can be readily integrated into the controller. A user can develop function module components and add the same to the system, and the open-type interface of the controller enables the controller to connect hardware without limitations.
摘要翻译：具有标准操作系统，实时操作系统，路线管理模块，软总线，驾驶员管理模块，运动控制模块，PLC模块，IO模块，教会接口模块和协议栈模块。控制器采用基于组件的结构，组件分别在非实时标准操作系统和实时操作系统下运行，并支持分布式处理。组件之间的通信和功能调用由路由管理模块和软总线进行。通信中的组件通过路由管理模块进行管理。驱动器管理模块提供符合DS402标准的一致接口的其他模块之间的通信，符合该接口标准的伺服驱动器可以轻松集成到控制器中。用户可以开发功能模块组件并将其添加到系统中，并且控制器的开放式界面使得控制器能够连接硬件而不受限制。

4. 发明授权

US11478935B2 Method for robot to automatically find bending position 有权
公开(公告)号：US11478935B2
公开(公告)日：2022-10-25
申请号：US16314651
申请日：2017-12-14
申请人： NANJING ESTUN ROBOTICS CO., LTD
发明人： Jinbao Zhang , Lin Zhou , Shuyi Jing , Xiaobo Chi , Jiegao Wang
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16 , B21D5/00 , B25J15/08 , B21D43/11
摘要： A method for a robot to automatically find a bending position, including the following steps: step 1, establishing a gripper tool coordinate system (TX, TY, TZ); step 2, determining a user coordinate system (XA, YA, ZA; XB, YB, ZB) of rear blocking fingers (11, 21); step 3, a robot gripper moving horizontally, and detecting the state of sensors (12, 22); step 4, the robot gripper executing a rotational movement, detecting the state of the sensors (12, 22), and thereby obtaining a standard bending position. The robot automatically finds the bending position, the teaching difficulty is reduced, and the bending quality is increased. In the elevator industry, elevator door plate bending sizes are the same, but forming sizes are different. In the present invention, only one product process needs to be taught in order to satisfy elevator door plate processing with different specifications, thereby reducing maintenance costs and increasing production efficiency.

5. 发明申请

US20140074294A1 DUAL-SYSTEM COMPONENT-BASED INDUSTRIAL ROBOT CONTROLLER 有权
标题翻译：双系统组件工业机器人控制器
公开(公告)号：US20140074294A1
公开(公告)日：2014-03-13
申请号：US14116453
申请日：2013-03-04
申请人： NANJING ESTUN AUTOMATION CO., LTD. , NANJING ESTUN ROBOTICS CO., LTD.
发明人： Bo Wu , Jiegao Wang , Jihu Wang , Jijun Yu
IPC分类号： B25J9/16
CPC分类号： B25J9/161 , G05B19/414
摘要： A dual system component-based industrial robot controller having a standard operating system, a real-time operating system, a route management module, a soft bus, a driver management module, a motion control module, a PLC module, an IO module, a teach pendent interface module and a protocol stack module. The controller employs a component-based structure and the components are operated respectively under a non real-time standard operating system and a real-time operating system, and supports distributed processing. The communications and function calls among the components are carried out by the route management module and the soft bus. The components in communication are managed through the route management module. The driver management module provides communications among other modules with a consistent interface which accords to the DS402 standard, and a servo driver that accords to this interface standard can be readily integrated into the controller. A user can develop function module components and add the same to the system, and the open-type interface of the controller enables the controller to connect hardware without limitations.
摘要翻译：具有标准操作系统，实时操作系统，路线管理模块，软总线，驾驶员管理模块，运动控制模块，PLC模块，IO模块，教会接口模块和协议栈模块。控制器采用基于组件的结构，组件分别在非实时标准操作系统和实时操作系统下运行，并支持分布式处理。组件之间的通信和功能调用由路由管理模块和软总线进行。通信中的组件通过路由管理模块进行管理。驱动器管理模块提供符合DS402标准的一致接口的其他模块之间的通信，符合该接口标准的伺服驱动器可以轻松集成到控制器中。用户可以开发功能模块组件并将其添加到系统中，并且控制器的开放式界面使得控制器能够连接硬件而不受限制。

6. 发明授权

US11103996B2 Robot joint space point-to-point movement trajectory planning method 有权
公开(公告)号：US11103996B2
公开(公告)日：2021-08-31
申请号：US16322091
申请日：2017-12-14
申请人： NANJING ESTUN ROBOTICS CO., LTD
发明人： Riyue Feng , Jihu Wang , Zhengxian Xia , Tingting Pan , Bo Wu , Shuyi Jing
IPC分类号： B25J9/16 , G05B19/19
摘要： A robot joint space point-to-point movement trajectory planning method. Joint space trajectory planning is performed according to the displacement of a robot from a start point to a target point during PTP movement and a limitation condition of a preset movement parameter physical quantity of each axis in a robot control system. An n-dimensional space is constructed by taking each axis of the robot as a vector, wherein n≥2, and the movement parameter physical quantity of each axis of the robot is verified according to a vector relationship between the n axes of the robot, so that a trajectory planning curve of each axis of the robot satisfies the limitation condition of the preset movement parameter physical quantity. The method has a small amount of calculations and strong real-time performance, the movement curves are mild, the control time is optimal, and the algorithm execution effect is good.

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