CN101984750B - 用于在工业机器人系统中控制多个轴线的方法以及工业机器人系统 - Google Patents
用于在工业机器人系统中控制多个轴线的方法以及工业机器人系统 Download PDFInfo
- Publication number
- CN101984750B CN101984750B CN2007801009143A CN200780100914A CN101984750B CN 101984750 B CN101984750 B CN 101984750B CN 2007801009143 A CN2007801009143 A CN 2007801009143A CN 200780100914 A CN200780100914 A CN 200780100914A CN 101984750 B CN101984750 B CN 101984750B
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- CN
- China
- Prior art keywords
- locator
- axis
- loading area
- station converter
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/144—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using light grids
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/147—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using electro-magnetic technology, e.g. tags or radar
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Materials For Medical Uses (AREA)
- Polysaccharides And Polysaccharide Derivatives (AREA)
Abstract
Description
Claims (11)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2007/060377 WO2009043369A1 (en) | 2007-10-01 | 2007-10-01 | A method for controlling a plurality of axes in an industrial robot system and an industrial robot system |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101984750A CN101984750A (zh) | 2011-03-09 |
CN101984750B true CN101984750B (zh) | 2013-01-09 |
Family
ID=39720425
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2007801009143A Active CN101984750B (zh) | 2007-10-01 | 2007-10-01 | 用于在工业机器人系统中控制多个轴线的方法以及工业机器人系统 |
Country Status (8)
Country | Link |
---|---|
US (1) | US8452443B2 (zh) |
EP (1) | EP2212064B1 (zh) |
JP (1) | JP2011500336A (zh) |
CN (1) | CN101984750B (zh) |
AT (1) | ATE501816T1 (zh) |
DE (1) | DE602007013300D1 (zh) |
ES (1) | ES2362312T3 (zh) |
WO (1) | WO2009043369A1 (zh) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9782229B2 (en) * | 2007-02-16 | 2017-10-10 | Globus Medical, Inc. | Surgical robot platform |
WO2010033742A2 (en) | 2008-09-18 | 2010-03-25 | Baker Hughes Incorporated | Method and apparatus for the automated application of hardfacing material to rolling cutters of earth-boring bits |
US8948917B2 (en) * | 2008-10-29 | 2015-02-03 | Baker Hughes Incorporated | Systems and methods for robotic welding of drill bits |
US8450637B2 (en) | 2008-10-23 | 2013-05-28 | Baker Hughes Incorporated | Apparatus for automated application of hardfacing material to drill bits |
US9439277B2 (en) | 2008-10-23 | 2016-09-06 | Baker Hughes Incorporated | Robotically applied hardfacing with pre-heat |
JP5769479B2 (ja) * | 2011-04-13 | 2015-08-26 | 日本発條株式会社 | ワーク供給装置及びその表裏整合分離装置 |
CN102323822B (zh) * | 2011-05-09 | 2013-07-03 | 无锡引域智能机器人有限公司 | 一种避免工业机器人碰撞工人的方法 |
JP6229324B2 (ja) * | 2013-06-14 | 2017-11-15 | セイコーエプソン株式会社 | ロボット、ロボット制御装置およびロボットの制御方法 |
JP5892132B2 (ja) * | 2013-09-13 | 2016-03-23 | 株式会社安川電機 | 制御装置及びロボットシステム |
CN104786089B (zh) * | 2015-04-16 | 2017-10-31 | 深圳市京田精密科技有限公司 | 一种机械手臂的控制系统及控制方法 |
DE112016002431T8 (de) * | 2015-05-29 | 2018-04-05 | Abb Schweiz Ag | Verfahren und System zur robotischen adaptiven Produktion |
CN108136602A (zh) * | 2015-10-07 | 2018-06-08 | 大库输送机株式会社 | 可动装置的动作控制装置、动作控制系统和可动装置的动作控制方法 |
JP7172397B2 (ja) * | 2018-10-02 | 2022-11-16 | オムロン株式会社 | 制御システム、サポート装置およびプログラム |
US11738956B2 (en) * | 2021-01-26 | 2023-08-29 | Target Brands, Inc. | Door and light curtain control system for depalletization systems and methods |
US20230182302A1 (en) * | 2021-12-10 | 2023-06-15 | Autodesk, Inc. | Techniques for robotic workcell design |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4644897A (en) * | 1985-10-01 | 1987-02-24 | Graco Robotics, Inc. | Modular robotic finishing work center |
DE3532305A1 (de) * | 1985-09-11 | 1987-03-12 | Messer Griesheim Gmbh | Fertigungs- und/oder montagezelle fuer werkstuecke |
CN1486914A (zh) * | 2002-08-23 | 2004-04-07 | 发那科株式会社 | 物件搬运装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4362977A (en) * | 1980-06-30 | 1982-12-07 | International Business Machines Corporation | Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot |
JPH0445835Y2 (zh) * | 1984-09-27 | 1992-10-28 | ||
JP2734283B2 (ja) * | 1992-04-09 | 1998-03-30 | 日産自動車株式会社 | 旋回型ロボット |
JP2003019688A (ja) * | 2001-07-10 | 2003-01-21 | Shinba Iron Works Inc | ロボットの安全装置 |
DE50306628D1 (de) * | 2002-06-21 | 2007-04-12 | Abb Patent Gmbh | Roboteranlage mit einem Roboter mit einer Schutzvorrichtung |
DE10242710A1 (de) * | 2002-09-13 | 2004-04-08 | Daimlerchrysler Ag | Verfahren zum Herstellen eines Verbindungsbereiches auf einem Werkstück |
JP2004154916A (ja) * | 2002-11-08 | 2004-06-03 | Fanuc Ltd | 自動機械システムの安全装置 |
WO2006043396A1 (ja) * | 2004-10-19 | 2006-04-27 | Matsushita Electric Industrial Co., Ltd. | ロボット装置 |
JP2006154924A (ja) * | 2004-11-25 | 2006-06-15 | Denso Wave Inc | 自動化設備システム |
JP2006341283A (ja) | 2005-06-09 | 2006-12-21 | Fanuc Ltd | アーク溶接用ポジショナ及びアーク溶接ロボットシステム |
JP4560547B2 (ja) * | 2005-07-19 | 2010-10-13 | オムロン株式会社 | 作業者安全管理システム |
DE202005015118U1 (de) * | 2005-09-23 | 2007-02-08 | Kuka Schweissanlagen Gmbh | Bearbeitungsanlage |
US7661919B2 (en) * | 2005-09-28 | 2010-02-16 | Muratec Automation Co., Ltd. | Discontinuous conveyor system |
US8065060B2 (en) * | 2006-01-18 | 2011-11-22 | The Board Of Regents Of The University And Community College System On Behalf Of The University Of Nevada | Coordinated joint motion control system with position error correction |
WO2007085330A1 (en) * | 2006-01-30 | 2007-08-02 | Abb Ab | A method and a system for supervising a work area including an industrial robot |
JP4243309B2 (ja) * | 2006-07-04 | 2009-03-25 | パナソニック株式会社 | ロボットアームの制御装置 |
-
2007
- 2007-10-01 ES ES07820762T patent/ES2362312T3/es active Active
- 2007-10-01 WO PCT/EP2007/060377 patent/WO2009043369A1/en active Application Filing
- 2007-10-01 US US12/679,671 patent/US8452443B2/en active Active
- 2007-10-01 AT AT07820762T patent/ATE501816T1/de not_active IP Right Cessation
- 2007-10-01 CN CN2007801009143A patent/CN101984750B/zh active Active
- 2007-10-01 DE DE602007013300T patent/DE602007013300D1/de active Active
- 2007-10-01 JP JP2010527326A patent/JP2011500336A/ja active Pending
- 2007-10-01 EP EP07820762A patent/EP2212064B1/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3532305A1 (de) * | 1985-09-11 | 1987-03-12 | Messer Griesheim Gmbh | Fertigungs- und/oder montagezelle fuer werkstuecke |
US4644897A (en) * | 1985-10-01 | 1987-02-24 | Graco Robotics, Inc. | Modular robotic finishing work center |
CN1486914A (zh) * | 2002-08-23 | 2004-04-07 | 发那科株式会社 | 物件搬运装置 |
Also Published As
Publication number | Publication date |
---|---|
JP2011500336A (ja) | 2011-01-06 |
US20100204829A1 (en) | 2010-08-12 |
DE602007013300D1 (de) | 2011-04-28 |
CN101984750A (zh) | 2011-03-09 |
EP2212064B1 (en) | 2011-03-16 |
WO2009043369A1 (en) | 2009-04-09 |
EP2212064A1 (en) | 2010-08-04 |
US8452443B2 (en) | 2013-05-28 |
ATE501816T1 (de) | 2011-04-15 |
ES2362312T3 (es) | 2011-07-01 |
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SE01 | Entry into force of request for substantive examination | ||
ASS | Succession or assignment of patent right |
Owner name: ABB T + D TECHNOLOGY LTD. Free format text: FORMER OWNER: ABB TECHNOLOGY AB Effective date: 20120612 |
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C41 | Transfer of patent application or patent right or utility model | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20120612 Address after: Zurich Applicant after: ABB T & D Technology Ltd. Address before: Sweden Westrm J Applicant before: ABB Technology AB |
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C14 | Grant of patent or utility model | ||
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Effective date of registration: 20180425 Address after: Baden, Switzerland Patentee after: ABB TECHNOLOGY LTD. Address before: Zurich Patentee before: ABB T & D Technology Ltd. |