Abstract: A method for recognizing a deburring trajectory, relevant to be performed by a controller or a computer, includes the steps of: according to a process flow of a workpiece, analyzing a CAD file of the workpiece, determining a burr processing area and obtaining a mathematical model of boundary contour curve; applying a linear contour sensor to scan the workpiece to obtain contour section information of the workpiece; performing curve fitting upon the contour section information of the workpiece and the mathematical model of boundary contour curve so as to obtain a boundary curve function; and, utilizing the boundary curve function to determine deburring position information of the workpiece and to further generate a processing path. In addition, a system for recognizing a deburring trajectory is also provided.

Abstract: An automated calibration system for the relation between a robot-arm coordinate frame and a profile-scanner coordinate frame includes a ball probe, a distance sensor module, a profile scanner and a control module. The ball probe is attached on a flange of a robot arm. The distance sensor module includes at least three distance sensors having respective axes sharing a common sensing plane and intersecting at a common point. The profile scanner is used for detecting a 2D cross-sectional profile of the ball probe. The control module is electrically connected with the distance sensor module, the profile scanner and the robot arm so as to control the robot arm to move the ball probe to obtain calibration information. In addition, an automated calibration method for the relation between the profile-scanner coordinate frame and the robot-arm coordinate frame is also provided.

Abstract: An automated calibration system for a workpiece coordinate frame of a robot includes a physical image sensor having a first image central axis, and a controller for controlling the physical image sensor adapted on a robot to rotate by an angle to set up a virtual image sensor having a second image central axis. The first and the second image central axes are intersected at an intersection point. The controller controls the robot to repeatedly move back and forth a characteristic point on the workpiece between these two axes until the characteristic point overlaps the intersection point. The controller records a calibration point including coordinates of joints of the robot, then the controller moves another characteristic point and repeats the foregoing movement to generate several other calibration points. According to the calibration points, the controller calculates relative coordinates of a virtual tool center point and the workpiece to the robot.

Abstract: A method for recognizing a deburring trajectory, relevant to be performed by a controller or a computer, includes the steps of: according to a process flow of a workpiece, analyzing a CAD file of the workpiece, determining a burr processing area and obtaining a mathematical model of boundary contour curve; applying a linear contour sensor to scan the workpiece to obtain contour section information of the workpiece; performing curve fitting upon the contour section information of the workpiece and the mathematical model of boundary contour curve so as to obtain a boundary curve function; and, utilizing the boundary curve function to determine deburring position information of the workpiece and to further generate a processing path. In addition, a system for recognizing a deburring trajectory is also provided.

Abstract: A system for establishing a junction trace of an assembly includes a surface model creating module, a processing module, and a material inspection module. The assembly includes a first part and a second part assembled with each other. The surface model creating module scans the first part and the second part to separately establish first surface model data and second surface model data. The processing module establishes assembled surface model data according to the first surface model data and the second surface model data, determines a junction region from the assembled surface model data, and determines inspection points mapped on the assembly according to the junction region. The material inspection module inspects materials of the assembly at the inspection points. The processing module establishes a junction trace of the first part and the second part in the assembly according to a material inspection result.

Abstract: Firstly, a robotic arm drives a projection point of tool projected on test plane to perform relative movement relative to a reference point of a test plane. Then, conversion relationship is established according to the relative movement. Then, a tool axis vector relative to an installation surface reference coordinate system of the robotic arm is obtained. Then, calibration point information group obtaining step is performed, wherein the calibration point information group obtaining step includes: (a1) the robotic arm drives a tool center point to coincide with a reference point of the test plane and records calibration point information group; (a2) the robotic arm drives the tool to change angle of the tool; and (a3) steps (a1) and (a2) are repeated to obtain several calibration point information groups. Then, tool center point coordinate relative to the installation surface reference coordinate system is obtained according to the calibration point information groups.

Abstract: A system for establishing a junction trace of an assembly includes a surface model creating module, a processing module, and a material inspection module. The assembly includes a first part and a second part assembled with each other. The surface model creating module scans the first part and the second part to separately establish first surface model data and second surface model data. The processing module establishes assembled surface model data according to the first surface model data and the second surface model data, determines a junction region from the assembled surface model data, and determines inspection points mapped on the assembly according to the junction region. The material inspection module inspects materials of the assembly at the inspection points. The processing module establishes a junction trace of the first part and the second part in the assembly according to a material inspection result.

Abstract: An automated calibration system for a workpiece coordinate frame of a robot includes a physical image sensor having a first image central axis, and a controller for controlling the physical image sensor adapted on a robot to rotate by an angle to set up a virtual image sensor having a second image central axis. The first and the second image central axes are intersected at an intersection point. The controller controls the robot to repeatedly move back and forth a characteristic point on the workpiece between these two axes until the characteristic point overlaps the intersection point. The controller records a calibration point including coordinates of joints of the robot, then the controller moves another characteristic point and repeats the foregoing movement to generate several other calibration points. According to the calibration points, the controller calculates relative coordinates of a virtual tool center point and the workpiece to the robot.

Abstract: A system for calibrating tool center point of robot is provided, which may include a first image sensor, a second image sensor, and a controller. The first image sensor may have a first image central axis. The second image sensor may have a second image central axis not parallel to the first image central axis, and intersect the first image central axis at an intersection point. The controller may control a robot to repeatedly move a tool center point thereof between the first and the second image central axis. The controller may record a calibration point including the coordinates of the joints of the robot when the tool center point overlaps the intersection point, and then move the tool center point and repeat the above steps to generate several calibration points, whereby the controller may calculate the coordinate of the tool center point according to the calibration points.

Abstract: A transmission device is provided, including a first housing, a second housing connected to the first housing, a third housing axially connected to the second housing, an adapter disposed on the third housing, a first power shaft actuating the first housing and the second housing to rotate, a second power shaft actuating the third housing to rotate, and a third power shaft actuating the adapter to rotate. The second and third power shafts are a coaxial structure. The first power shaft is an independent rod. Therefore, a motor loaded with a smaller rotation inertia and being thus cheaper can be used to drive the first power shaft, and the transmission device can have a reduced cost.

Abstract: A load balancing device for a robot arm including a pneumatic cylinder and a piston rod is provided. The pneumatic cylinder, used to store a gas, includes a first chamber, a second chamber and a communicating passage, wherein the communicating passage connects the first chamber and the second chamber. The piston rod has one end connected to the robot arm and the other end slidably disposed in the pneumatic cylinder. The piston rod adjusts the volume and the pressure of the gas in the first chamber and the second chamber according to a load, wherein the first chamber and the second chamber are coaxially disposed in the axial direction of the pneumatic cylinder.

Abstract: A system for calibrating tool center point of robot is provided, which may include a first image sensor, a second image sensor, and a controller. The first image sensor may have a first image central axis. The second image sensor may have a second image central axis not parallel to the first image central axis, and intersect the first image central axis at an intersection point. The controller may control a robot to repeatedly move a tool center point thereof between the first and the second image central axis. The controller may record a calibration point including the coordinates of the joints of the robot when the tool center point overlaps the intersection point, and then move the tool center point and repeat the above steps to generate several calibration points, whereby the controller may calculate the coordinate of the tool center point according to the calibration points.

Abstract: A teaching apparatus for a manipulator is provided, including: a fixing member for fixing to the manipulator; a main body connected to the fixing member; and a handle connected to the main body. The main body includes a plurality of sensors and an operation display member, wherein at least one of the sensors is disposed on one side of the main body adjacent the fixing member and configured for sensing a force, a stress or a torque applied to the main body, and the operation display member is disposed on the other side of the main body and includes a plurality of function keys and a display screen disposed thereon. The teaching apparatus allows the path-teaching process for a manipulator to be completed quickly and easily.

Abstract: A harmonic drive includes a circular rigid internal gear, a circular flexible external gear, a wave generator, a cover, and a fan blade. The circular flexible external gear is disposed in the circular rigid internal gear, and the wave generator has at least one through hole and is disposed in the circular flexible external gear. The cover and the fan blade are respectively disposed at two opposite sides of the wave generator, and the cover is located in the circular flexible external gear. The cover and the wave generator form an air chamber together, and the through hole and an air flow opening are respectively in communication with the air chamber. The wave generator operates to drive the fan blade to operate. The fan blade rotates to generate an air flow, thus performing heat dissipation on the harmonic drive.

Abstract: A wrist structure of a robot arm includes a forearm body, a first rotating assembly, a wrist body, and a second rotating assembly. The first rotating assembly is disposed in the forearm body and drives the wrist body to rotate with respect to the forearm body in a first rotation axis direction. The second rotating assembly is disposed in the wrist body and drives a workpiece to rotate with respect to the wrist body in a second rotation axis direction. The first rotating assembly has a first speed reducer directly connected to the wrist body, so as to directly drive the wrist body at a predetermined speed reduction ratio, thereby obtaining a predetermined torque.

Abstract: A harmonic drive includes a circular rigid internal gear, a circular flexible external gear, a wave generator, a cover, and a fan blade. The circular flexible external gear is disposed in the circular rigid internal gear, and the wave generator has at least one through hole and is disposed in the circular flexible external gear. The cover and the fan blade are respectively disposed at two opposite sides of the wave generator, and the cover is located in the circular flexible external gear. The cover and the wave generator form an air chamber together, and the through hole and an air flow opening are respectively in communication with the air chamber. The wave generator operates to drive the fan blade to operate. The fan blade rotates to generate an air flow, thus performing heat dissipation on the harmonic drive.

Abstract: A wrist structure of a robot arm includes a forearm body, a first rotating assembly, a wrist body, and a second rotating assembly. The first rotating assembly is disposed in the forearm body and drives the wrist body to rotate with respect to the forearm body in a first rotation axis direction. The second rotating assembly is disposed in the wrist body and drives a workpiece to rotate with respect to the wrist body in a second rotation axis direction. The first rotating assembly has a first speed reducer directly connected to the wrist body, so as to directly drive the wrist body at a predetermined speed reduction ratio, thereby obtaining a predetermined torque.

Abstract: A dissection apparatus is disclosed. The dissection apparatus includes a supporting mechanism, a holder, a driving element rotating the holder, a cam fixed to the supporting mechanism, a first sliding element, a second sliding element, a dissecting device disposed on the first sliding element, an aspirating device disposed on the second sliding element. When the holder rotates to move the dissecting device from a first idle position to an operating position, the first sliding element is lowered by the guide of the cam enabling the aspirating device to move from the operating position to a second idle position. When the holder rotates to move the aspirating device from the second idle position to the operating position, the guide of the cam lowers the second sliding element, thus, allowing the dissecting device is able to move from the operating position to the first idle position.

Abstract: An apparatus for detecting manufacturing parameters of a machine tool is provided, which comprises at least a sensing and transmitting module, and a receiving module. The sensing and transmitting module has a sensor and a wireless transmitting module. The sensor generates a sensing signal with respect to processing parameter of the machine tool. The wireless transmitting module converts the sensing signal into a wireless signal and transmits the wireless signal to the receiving module. Then the wireless signal is decoded and sent to a processing unit for compensating the machine tool. In the present invention, it is not necessary to consider wiring arrangement so that the sensors can be disposed at positions that are close to the mechanism whose operating status could affect the machining process and the compensation, generated according to the foregoing sensing data, for machine tool will be more effective to improve the machining accuracy.

Abstract: An apparatus for detecting manufacturing parameters of a machine tool is provided, which comprises at least a sensing and transmitting module, and a receiving module. The sensing and transmitting module has a sensor and a wireless transmitting module. The sensor generates a sensing signal with respect to processing parameter of the machine tool. The wireless transmitting module converts the sensing signal into a wireless signal and transmits the wireless signal to the receiving module. Then the wireless signal is decoded and sent to a processing unit for compensating the machine tool. In the present invention, it is not necessary to consider wiring arrangement so that the sensors can be disposed at positions that are close to the mechanism whose operating status could affect the machining process and the compensation, generated according to the foregoing sensing data, for machine tool will be more effective to improve the machining accuracy.