SYSTEM AND METHOD FOR ANALYZING PERFORMANCE OF AN INDUSTRIAL ROBOT

• US 20090271020A1
• Filed: 04/22/2009
• Published: 10/29/2009
• Est. Priority Date: 04/28/2008
• Status: Active Grant

• Current Assignee: Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. (Hon Hai Precision Industry Co., Ltd.), Hon Hai Precision Industry Co., Ltd.
• Original Assignee: Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. (Hon Hai Precision Industry Co., Ltd.), Hon Hai Precision Industry Co., Ltd.
• Inventors: Dai, Ze-Jun, Yuan, Xiao-Yun, Wang, Zhi-Hui
• Granted Patent: US 8,249,733 B2
• Time in Patent Office: Days
• US Class Current: 700/109
• CPC Class Codes: G05B 19/41815 characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
• CPC Class Codes: G05B 19/41875 characterised by quality surveillance of production
• CPC Class Codes: G05B 2219/31359 Object oriented model for fault, quality control
• CPC Class Codes: G05B 2219/32368 Quality control
• CPC Class Codes: G05B 2219/40052 Deform, bend flexible material
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A computing system is communicated with a metal fabrication device for analyzing performance of an industrial robot. The metal fabrication device includes the industrial robot, and a plate bender. The computing system is operable to generate an analysis report of the performance of the industrial robot by providing section model creating function, bending point obtainting function, bending operation monitoring function, workpiece modeling function for the metal fabrication device. The quality of a finished workpiece bent by the industrial robot from a metal plate may be analyzed from the analysis report generated by the computing system.

Claims

1. A computing system for analyzing performance of an industrial robot, the computing system in communication with a metal fabrication device for bending metal plates, the computing system comprising:

a section model creating module operable to set analysis parameters for analyzing performance of the industrial robot, and create one or more section models according to the analysis parameters, each section model comprising at least one model crease, the model crease representing a real section to be bent from a metal plate by the metal fabrication device;

a bending point obtaining module operable to obtain a bending point of each of the section models, and obtain a standard point and a bending line of a cutter head of the metal fabrication device;

a bending operation monitoring module operable to monitor operation signals from the metal fabrication device, wherein the operation signals comprise a starting fabrication signal; and

a workpiece modeling module operable to analyze whether a section model is acceptable according to the bending point of the section model, the standard point and the bending line, model a finished workpiece corresponding to a section model if the section model is acceptable, generate an analysis report of the performance of the industrial robot, and store the analysis report into a storage device.

2. The system as claimed in claim 1, wherein the analysis parameters comprise a number of sections to be bent from a metal plate by the metal fabrication device, a distance between a reference point and a model crease of each of the sections, and a predetermined angle of the bend of each of the sections.

3. The system as claimed in claim 1, wherein the operation signals further comprise a section complete signal, and an end of fabrication signal.

4. The system as claimed in claim 3, wherein the modeling by the workpiece modeling module comprises:

waiting for the section complete signal if the metal plate model is acceptable;

calculating a position and a relative angle of the reference point changed by the industrial robot of the metal fabrication device according to movement data reported by the industrial robot, if the section complete signal is monitored;

dividing all the section models into two groups according to a corresponding model crease of the section model; and

changing an angle of a group that is farther from the industrial robot according to the relative angle, so as to model a finished workpiece corresponding to the section model.

5. The system as claimed in claim 1, wherein the analysis of the workpiece modeling module comprises:

obtaining a coordinate value of the bending point of a section model and a coordinate value of the standard point in a coordinate system used for the industrial robot of the metal fabrication device;

analyzing whether the coordinate value of the bending point of the section model is equal to the coordinate value of the standard point;

determining that the section model is unacceptable if the coordinate value of the bending point of the section model is not equal to the coordinate value of the standard point, or analyzing whether the direction of a corresponding model crease of the section model is accordance with the direction of the bending line, if the coordinate of the bending point of the section model is equal to the coordinate of the standard point; and

determining that the section model is unacceptable if the direction of the corresponding model crease of the section model is inconsistent with the direction of the bending line, or determining that the section model is acceptable if the direction of the corresponding model crease of the section model is accordance with the direction of the bending line.

6. A computer-implemented method for analyzing performance of an industrial robot, the method comprising:

(a) setting analysis parameters for analyzing performance of the industrial robot, and creating one or more section models according to the analysis parameters, each section model comprising at least one model crease, the model crease representing a real section to be bent from a metal plate by a metal fabrication device;

(b) obtaining a bending point of each of the section models, and obtaining a standard point and a bending line of a cutter head of the metal fabrication device;

(c) monitoring operation signals from the metal fabrication device, wherein the operation signals comprise a starting fabrication signal;

(d) analyzing whether a section model is acceptable according to the bending point of the section model, the standard point and the bending line, if the starting fabrication signal is monitored;

(e) modeling a finished workpiece corresponding to a section model if the section model is acceptable;

(f) generating an analysis report of the performance of the industrial robot; and

(g) storing the analysis report into a storage device.

7. The method as claimed in claim 6, wherein the analysis parameters comprise a number of sections to be bent from a metal plate by the metal fabrication device, a distance between a reference point and a model crease of each of the sections, and a predetermined angle of the bend of each of the sections.

8. The method as claimed in claim 6, wherein the operation signals further comprise a section complete signal, and an end of fabrication signal.

9. The method as claimed in claim 8, wherein the step (e) comprises:

(e1) waiting for the section complete signal if the metal plate model is acceptable;

(e2) calculating a position and a relative angle of the reference point changed by the industrial robot of the metal fabrication device according to movement data reported by the industrial robot, if the section complete signal is monitored;

(e3) dividing all the section models into two groups according to a corresponding model crease of the section model; and

(e4) changing an angle of a group that is farther from the industrial robot according to the relative angle, so as to model a finished workpiece corresponding to the section model.

10. The method as claimed in claim 6, wherein the step (d) comprises:

(d1) obtaining a coordinate value of the bending point of a section model and a coordinate value of the standard point in a coordinate system used for the industrial robot of the metal fabrication device;

(d2) analyzing whether the coordinate value of the bending point of the section model is equal to the coordinate value of the standard point;

(d3) determining that the section model is unacceptable if the coordinate value of the bending point of the section model is not equal to the coordinate value of the standard point, or analyzing whether the direction of a corresponding model crease of the section model is accordance with the direction of the bending line, if the coordinate value of the bending point of the section model is equal to the coordinate value of the standard point; and

(d4) determining that the section model is unacceptable if the direction of the corresponding model crease of the section model is inconsistent with the direction of the bending line, or determining that the section model is acceptable if the direction of the corresponding model crease of the section model is accordance with the direction of the bending line.

11. A computer-readable medium having stored thereon instructions for analyzing performance of an industrial robot that, when executed by a computer, cause the computer to perform a method, the method comprising:

(i1) setting analysis parameters for analyzing performance of the industrial robot, and creating one or more section models according to the analysis parameters, each section model comprising at least one model crease, the model crease representing a real section to be bent from a metal plate by a metal fabrication device;

(i2) obtaining a bending point of each of the section models, and obtaining a standard point and a bending line of a cutter head of the metal fabrication device;

(i3) monitoring operation signals from the metal fabrication device, wherein the operation signals comprise a starting fabrication signal;

(i4) analyzing whether a section model is acceptable according to the bending point of the section model, the standard point and the bending line, if the starting fabrication signal is monitored;

(i5) modeling a finished workpiece corresponding to a section model if the section model is acceptable;

(i6) generating an analysis report of the performance of the industrial robot; and

(i7) storing the analysis report into a storage device.

12. The medium as claimed in claim 11, wherein the analysis parameters comprise a number of sections to be bent from a metal plate by the metal fabrication device, a distance between a reference point and a model crease of each of the sections, and a predetermined angle of the bend of each of the sections.

13. The medium as claimed in claim 11, wherein the operation signals further comprise a section complete signal, and an end of fabrication signal.

14. The medium as claimed in claim 13, wherein the step (i5) comprises:

(i51) waiting for the section complete signal if the metal plate model is acceptable;

(i52) calculating a position and a relative angle of the reference point changed by the industrial robot of the metal fabrication device according to movement data reported by the industrial robot, if the section complete signal is monitored;

(i53) dividing all the section models into two groups according to a corresponding model crease of the section model; and

(i54) changing an angle of a group that is farther from the industrial robot according to the relative angle, so as to model a finished workpiece corresponding to the section model.

15. The medium as claimed in claim 11, wherein the step (i4) comprises:

(i41) obtaining a coordinate value of the bending point of a section model and a coordinate value of the standard point in a coordinate system used for the industrial robot of the metal fabrication device;

(i42) analyzing whether the coordinate value of the bending point of the section model is equal to the coordinate value of the standard point;

(i43) determining that the section model is unacceptable if the coordinate value of the bending point of the section model is not equal to the coordinate value of the standard point, or analyzing whether the direction of a corresponding model crease of the section model is accordance with the direction of the bending line, if the coordinate value of the bending point of the section model is equal to the coordinate value of the standard point; and

(i44) determining that the section model is unacceptable if the direction of the corresponding model crease of the section model is inconsistent with the direction of the bending line, or determining that the section model is acceptable if the direction of the corresponding model crease of the section model is accordance with the direction of the bending line.