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A method for controlling a plurality of axes in an industrial robot system and an industrial robot system

An industrial robot and axis technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as danger, and achieve the effect of reducing cycle time and reducing hardware costs

Active Publication Date: 2011-03-09
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It is dangerous for persons to enter the loading cell if the axis of any station changer or the axis of the positioner located in the loading area moves

Method used

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  • A method for controlling a plurality of axes in an industrial robot system and an industrial robot system
  • A method for controlling a plurality of axes in an industrial robot system and an industrial robot system
  • A method for controlling a plurality of axes in an industrial robot system and an industrial robot system

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Embodiment Construction

[0049] Figure 7 shows a robot control system according to an embodiment of the invention, which is adapted to control Figure 1-5 The axis of the positioner and the station changer in the work cell disclosed in . However, the number of drive units, motors, position measuring devices must be adapted to the number of positioners of the working unit type. Multiple motors M 1 , M 2 , M 3 Realize the movement of positioner and position converter. For example, refer to figure 1 Work unit shown, motor M 1 Control axis A of the first positioner 1 ;Motor M 2 Control axis A of the first positioner 2 、A 1 movement; motor M 3 Axis A of the control position converter 3 exercise. Each axis has a measuring axis position Φ 1 、Φ 2 、Φ 3 device R 1 , R 2 , R 3 . The device for measuring the position of the axis is, for example, a resolver.

[0050] The control system includes an axis controller 50 adapted to control the axis movement of the station changer and positioner. ...

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Abstract

The present invention relates to an industrial robot system comprising a workcell including a load area and a process area, a detector (6) detecting when a human enters the load area, a manipulator located in the workcell, at least one positioner adapted to hold a workpiece and to change the orientation of the workpiece about at least one axis while the manipulator processes the workpiece, and a station exchanger movable about an axis and adapted to move, upon command, the manipulator or the positioner between the load and process area. Each of the axes is provided with a motor (M1-M3) and a drive unit (53-55). An axis controller (50) is adapted to switch between executing a first task in which the axes of the positioner and the station exchanger are commanded to a standstill, and a second task in which the axes of the positioner and the station exchanger are allowed to move. A safety controller (58) is adapted to supervise, upon detecting that a human is entering the load area, whether any of the station exchanger or the positioner is moving, and to generate a signal which disables the drive unit of the moving axis if it is detected that any of the supervised axes is moving.

Description

technical field [0001] The present invention relates to an industrial robotic system comprising a work cell with a loading area and a processing area; a manipulator (or manipulator) located in the work cell and adapted to handle workpieces; adapted to hold the workpiece and rotate around at least one at least one positioner whose axis (or axis) changes the orientation of the workpiece; and a station changer movable about the axis and on command to move the manipulator or positioner between the loading area and the processing area. [0002] The invention further relates to a method for controlling the axes of a positioner and a position changer in such an industrial robot system. [0003] The station converter is, for example, one of: the axis of the manipulator; a rectilinear path along which the manipulator can move linearly between the positioners; or a positioner carrying the positioners and rotatable about an axis arranged between the positioners device. Background tech...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J21/00F16P3/12B25J19/06
CPCB25J19/06B25J21/00B25J9/0096F16P3/14F16P3/12F16P3/142F16P3/144F16P3/147
Inventor J·H·卡尔森A·拉素里
Owner ABB (SCHWEIZ) AG
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