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Industrial robots and method for operating same

A technology of industrial robots and driving methods, which is applied in the direction of instruments, manipulators, manufacturing tools, etc., can solve the problems of expensive rotary encoders, and achieve the effects of low cost, reliable position detection, high precision and high dynamic position adjustment

Inactive Publication Date: 2012-08-29
KUKA EXPERIMENTAL INSTR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But rotary encoders are relatively expensive compared to coordinate converters

Method used

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  • Industrial robots and method for operating same
  • Industrial robots and method for operating same
  • Industrial robots and method for operating same

Examples

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Embodiment Construction

[0034] figure 1 An industrial robot 1 is shown, which is movable in six degrees of freedom. In a generally known manner, the industrial robot 1 has joints 2 , 3 , 4 , 5 ; a lever 6 ; six axes of movement A1 , A2 , A3 , A4 , A5 , A6 ; and a flange 7 .

[0035] Each of the axes A1 - A6 is moved by the drive of a drive 13 , which in the case of this embodiment is an electric drive and has an electric motor 8 , 9 , 10 , 11 respectively. For example, in figure 2 The electric motor 11 shown in , or a corresponding electric drive 13 , can move the shaft A2 via transmissions that are not shown in detail and are generally known to those skilled in the art.

[0036] In the case of this embodiment, the motors 8-11 are three-phase AC synchronous motors, in particular permanent magnet excited synchronous motors. The electric motors 8 - 11 are each controlled by electronics 12 , so-called inverters, which in the exemplary embodiment are arranged in a control unit 14 . The electronic de...

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Abstract

The present invention relates to an industrial robots and a method for operating the same. The robot (1) has a robot arm apparatus comprising a robot arm (6) mounted on a base. An electrical drive has a signal emitter for emitting a signal representing one of electrical currents and electrical voltages. A computerized control device (14) operates the robot arm by controlling the drive. The control device is supplied with the signal from the signal emitter and another signal from a position detector i.e. rotary encoder. The control device determines a position of one of axes (A1-A6) from the signals and controls the drive dependent on the position of the axis.

Description

technical field [0001] The invention relates to an industrial robot and a driving method of the industrial robot. Background technique [0002] Industrial robots are manipulating machines, which are equipped with suitable tools for the automatic manipulation of objects and can program several axes of motion, especially with regard to orientation, position and workflow. An industrial robot basically has a robot arm with a plurality of axes and levers and is driven by a drive. The drive can be, for example, an electric drive, which can in particular have a synchronous electric motor. [0003] In order to drive an industrial robot, it is especially necessary to detect the position of the movement axis, for example the angular position of the movement axis (Winkelstellung), with reliable technology. [0004] For reliable position detection, in particular of a position-adjusted electric drive, the position, in particular the angular adjustment position of the electric motor rot...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B25J19/00
CPCG05B2219/42318G05B2219/42329G05B2219/37317B25J9/1674B25J9/1694G05B19/4062
Inventor 哈特穆特·凯尔赫尔诺特·尼茨
Owner KUKA EXPERIMENTAL INSTR CO LTD
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