US 12,440,993 B2
Dual-arm robot assembling system
Meng-Zong Li, Taoyuan (TW); Han-Ching Lin, Taoyuan (TW); Shi-Yu Wang, Taoyuan (TW); Po-Chiao Huang, Taoyuan (TW); and Cheng-Hao Huang, Taoyuan (TW)
Assigned to DELTA ELECTRONICS, INC., Taoyuan (TW)
Filed by DELTA ELECTRONICS, INC., Taoyuan (TW)
Filed on May 6, 2022, as Appl. No. 17/739,060.
Claims priority of provisional application 63/188,926, filed on May 14, 2021.
Claims priority of application No. 202210266215.2 (CN), filed on Mar. 17, 2022.
Prior Publication US 2022/0362935 A1, Nov. 17, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01)
CPC B25J 9/1682 (2013.01) [B25J 9/0081 (2013.01); B25J 9/1605 (2013.01); B25J 9/1666 (2013.01); B25J 9/1669 (2013.01); B25J 9/1692 (2013.01); B25J 9/1697 (2013.01); B25J 9/1615 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A dual-arm robot assembling system, applied on a production line, the system comprising:
a controlling unit;
a first robotic arm, communicatively connected with the controlling unit, and comprising a first tool disposed on one end thereof;
a second robotic arm, communicatively connected with the controlling unit, and comprising a second tool disposed on one end thereof; and
a graphic user interface, communicatively connected with the controlling unit and configured to provide a graphic program editing page, the graphic program editing page providing multiple instruction blocks, the instruction blocks configured to edit, based on at least one serial relationship and at least one parallel relationship, a graphic program executed when the controlling unit controls the first robotic arm and the second robotic arm to perform an assembling operation, wherein the instruction blocks respectively record an executable action of the first robotic arm or the second robotic arm, a corresponding position of each action, and handshaking information between the first robotic arm and the second robotic arm,
wherein the serial relationship indicates that actions of multiple instruction blocks are executed one after another and the parallel relationship indicates that actions of multiple instruction blocks are executed simultaneously,
wherein a point-teaching tool is disposed on at least one of the first robotic arm and the second robotic arm, and the point-teaching tool is configured to accept operation from external force to drag the first robotic arm or the second robotic arm to move and directly perform a point-teaching procedure,
wherein the graphic program editing page comprises an action instruction area and a program editing area, the action instruction area is configured to provide the instruction blocks being pre-created, and the program editing area is configured to edit the graphic program according to the instruction blocks,
wherein when a plurality of the instruction blocks is dragged from the action instruction area to the program editing area, the serial relationship and the parallel relationship are established with each other, and the program editing area is configured to generate the graphic program based on the plurality of the instruction blocks with the serial relationship and the parallel relationship.