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Intrinsically safe small robot and method for controlling this robot

A robot and safety technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc.

Inactive Publication Date: 2015-06-03
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Above certain mechanical thresholds of mass and / or dimensions of the robot, these conditions cannot be met or achieved

Method used

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  • Intrinsically safe small robot and method for controlling this robot
  • Intrinsically safe small robot and method for controlling this robot
  • Intrinsically safe small robot and method for controlling this robot

Examples

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Embodiment Construction

[0043] See figure 1 , the small robot 10 includes a base 11 , a first part 13 coupled to the base 11 via a shaft 12 , and a second part 15 coupled to the first part 13 via a second shaft 14 . The end of the second part 15 is provided with clamping means 15a or similar. The robot 10 is rotatable about an axis A-A extending vertically in the center through the base 11 .

[0044] The first part 13 is rotatable about the first shaft 12 according to the direction of the double arrow 16 , which rotational movement provides a movement of the first part 13 in the direction of the double arrow 18 , which itself results in a pivoting movement in the direction of the double arrow 19 . In the area of ​​the shafts 12 and 14, motors and gears (neither shown) are arranged, these motors being designed as servo motors. The gearing transmits the rotational movement of the shaft of the motor to the components, whereby these gearings enable forward and backward movement according to the double ...

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PUM

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Abstract

An exemplary robot is disclosed with at least one turnable member wherein a free end of the member is moveable along a programmable path. A force or pressure or contact effect detector is included on an interaction point on the free end of the free member so that signals corresponding to the force or pressure or contact effect are producible. Control of the robot movement is performed according to the programmable path and according to predicted demands in the case of detection. In case of detection, the control will be carried out such that the robot movement is temporarily stopped, slowed down or not stopped and a temporary change of the programmable movement path can be determined in consideration of the produced signals. A homing method for controlling the robot is also disclosed.

Description

technical field [0001] The present invention relates to a truly safe small robot having at least one rotatable part, wherein the free end of the part is movable along a programmable path. The invention also relates to a method for controlling such a robot. Background technique [0002] For robots exceeding a certain minimum size, if additional protective mechanisms are not foreseen, there is a risk to those cooperating with these robots. During cooperation within the working range of the free robotic arm, in the event of a collision (especially with the free end of the robotic arm), a person can be injured or killed due to the speed of the moving parts. Therefore, if the robot is active, care must be taken to prevent people from entering the working envelope of the robot. This can be achieved by mechanical or virtual walls that prevent people from entering the work area. Some robotic systems include a rotatable table so that an operator on one side of the fence can load t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1676
Inventor M·比约恩
Owner ABB (SCHWEIZ) AG
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