CN101992470A - 安全控制操纵器的装置和方法 - Google Patents
安全控制操纵器的装置和方法 Download PDFInfo
- Publication number
- CN101992470A CN101992470A CN2010102637482A CN201010263748A CN101992470A CN 101992470 A CN101992470 A CN 101992470A CN 2010102637482 A CN2010102637482 A CN 2010102637482A CN 201010263748 A CN201010263748 A CN 201010263748A CN 101992470 A CN101992470 A CN 101992470A
- Authority
- CN
- China
- Prior art keywords
- executor
- control
- operating means
- security
- control device
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
-
- 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
- F16P3/08—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 in connection with the locking of doors, covers, guards, or like members giving access to moving machine parts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39082—Collision, real time collision avoidance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39088—Inhibit movement in one axis if collision danger
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40203—Detect position of operator, create non material barrier to protect operator
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Safety Devices In Control Systems (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims (13)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009038721A DE102009038721A1 (de) | 2009-08-25 | 2009-08-25 | Anordnung und Verfahren zur sicheren Steuerung eines Manipulators |
DE102009038721.8 | 2009-08-25 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101992470A true CN101992470A (zh) | 2011-03-30 |
CN101992470B CN101992470B (zh) | 2015-06-03 |
Family
ID=43382323
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201010263748.2A Active CN101992470B (zh) | 2009-08-25 | 2010-08-25 | 安全控制操纵器的装置和方法 |
Country Status (6)
Country | Link |
---|---|
US (2) | US20110052366A1 (zh) |
EP (1) | EP2289672B2 (zh) |
KR (1) | KR101290050B1 (zh) |
CN (1) | CN101992470B (zh) |
AT (1) | ATE552075T1 (zh) |
DE (1) | DE102009038721A1 (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103889665A (zh) * | 2011-10-18 | 2014-06-25 | 株式会社安川电机 | 作业单元和作业单元的制造方法 |
CN103914035A (zh) * | 2013-01-09 | 2014-07-09 | 库卡实验仪器有限公司 | 用于机器人组的可配置的安全监控装置和方法 |
CN107111296A (zh) * | 2014-12-29 | 2017-08-29 | 布勒特耶自动控制设备有限责任公司 | 用于补偿工作点的偏差的方法 |
CN107953320A (zh) * | 2017-12-26 | 2018-04-24 | 练陈敏 | 一种基于医疗协作机器人的定位检测机构 |
TWI748501B (zh) * | 2020-06-05 | 2021-12-01 | 達明機器人股份有限公司 | 教導機器人的安全系統及方法 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010022931B4 (de) * | 2010-06-07 | 2023-04-20 | Kuka Roboter Gmbh | Robotersteuerung |
DE102010047641B4 (de) * | 2010-10-06 | 2022-06-15 | Kuka Roboter Gmbh | Steuerung eines Roboters |
CN103568002B (zh) * | 2013-06-25 | 2015-09-09 | 雷跃峰 | 六轴自由度机械手 |
DE102014202984A1 (de) * | 2014-02-19 | 2015-08-20 | Zf Friedrichshafen Ag | Verteiltes System, Überwachungsschaltung für ein verteiltes System |
CN105619382B (zh) * | 2016-03-04 | 2018-03-16 | 重庆华数机器人有限公司 | 一种小负载工业机器人 |
EP3243609A1 (en) * | 2016-05-09 | 2017-11-15 | OpiFlex Automation AB | A fenceless industrial robot system |
CN106345656A (zh) * | 2016-11-15 | 2017-01-25 | 河南森源电气股份有限公司 | 一种涂胶机械手及使用该涂胶机械手的涂胶设备 |
US10464212B2 (en) * | 2017-03-28 | 2019-11-05 | Amazon Technologies, Inc. | Method and system for tele-operated inventory management system |
JP6994411B2 (ja) * | 2018-02-28 | 2022-01-14 | オークマ株式会社 | 工作機械システム |
JP7263724B2 (ja) * | 2018-09-27 | 2023-04-25 | 株式会社デンソーウェーブ | ロボットの制御方法 |
CN109814534B (zh) * | 2019-02-19 | 2024-05-17 | 杭州程天科技发展有限公司 | 一种机器人的运行状态测试方法 |
JP6993374B2 (ja) | 2019-03-25 | 2022-01-13 | ファナック株式会社 | ロボット制御システム |
DE102019214418A1 (de) * | 2019-09-23 | 2021-03-25 | Robert Bosch Gmbh | Verfahren zum Fernsteuern eines Roboters |
CN112571456B (zh) * | 2021-01-13 | 2022-05-03 | 益阳瀚鑫机械制造有限公司 | 一种机械手演示装置的安全区保护装置 |
CN112781583B (zh) * | 2021-01-29 | 2022-09-30 | 中国计量大学 | 一种用于人机协作环境的路线指引系统及人机协作方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4432768A1 (de) * | 1994-09-14 | 1996-04-11 | Gemac Ges Fuer Mikroelektronik | Verfahren zur Überwachung und Steuerung sicherheitsrelevanter Maschinenparameter und Betriebszustände und variabler Sicherheitsmodul |
EP1247622A2 (de) * | 1997-12-06 | 2002-10-09 | Elan Schaltelemente GmbH & Co. KG | Verfahren zur Überwachung einer technischen Anlage mit erhöhten Sicherheitsanforderungen insbesondere eines Handhabungsgerätes, sowie Überwachungs- und Steuergerät |
CN1498733A (zh) * | 2002-11-08 | 2004-05-26 | ��ǿ�ʽ | 自动机械系统的安全装置 |
CN101142063A (zh) * | 2005-07-19 | 2008-03-12 | 欧姆龙株式会社 | 作业人员安全管理系统 |
CN101168255A (zh) * | 2005-10-28 | 2008-04-30 | 发那科株式会社 | 机器人控制装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2566550B2 (ja) * | 1984-01-31 | 1996-12-25 | ファナック 株式会社 | ロボツト動作に対するオペレ−タ保護方法 |
ATE102322T1 (de) * | 1990-07-12 | 1994-03-15 | Elektronik Geraetewerk Gmbh | Vorrichtung zur sicherheitsueberwachung bei schutzeinrichtungen mit normaler und ueberhoehter sicherheit von mehrachsigen drehbewegungen durchfuehrenden maschinen. |
US5141381A (en) * | 1990-11-19 | 1992-08-25 | Daifuku Co., Ltd. | Safety arrangement for automatic warehousing facility |
JPH0811074A (ja) * | 1994-06-29 | 1996-01-16 | Fanuc Ltd | ロボットシステム |
AT408325B (de) * | 1998-03-13 | 2001-10-25 | Keba Gmbh & Co | Sicherheitsschalteinrichtung für ein handbediengerät zur steuerung von maschinen |
DE29923980U1 (de) | 1998-03-13 | 2001-10-11 | Keba Gmbh & Co | Sicherheitsschalteinrichtung für elektrisch gesteuerte Maschinen |
US6233504B1 (en) * | 1998-04-16 | 2001-05-15 | California Institute Of Technology | Tool actuation and force feedback on robot-assisted microsurgery system |
AT411194B (de) | 1999-05-17 | 2003-10-27 | Keba Gmbh & Co | Sicherheitsschalteinrichtung für elektrische maschinen bzw. roboter und verfahren zur bestimmung der schaltzustände einer derartigen sicherheitsschalteinrichtung sowie handbediengerät |
JP3956574B2 (ja) * | 2000-03-28 | 2007-08-08 | 松下電器産業株式会社 | 産業用ロボット |
JP2003311665A (ja) | 2002-04-17 | 2003-11-05 | Yaskawa Electric Corp | ロボットシステム及び制御装置 |
JP3937079B2 (ja) * | 2002-06-18 | 2007-06-27 | 株式会社安川電機 | ロボット制御装置 |
US7076311B2 (en) * | 2002-07-09 | 2006-07-11 | Rockwell Automation Technologies, Inc. | Configurable safety system for implementation on industrial system and method of implementing same |
JP5089378B2 (ja) * | 2004-04-19 | 2012-12-05 | ピルツ ゲーエムベーハー アンド コー.カーゲー | 安全回路用信号伝送装置 |
DE102004041821A1 (de) * | 2004-08-27 | 2006-03-16 | Abb Research Ltd. | Vorrichtung und Verfahren zur Sicherung eines maschinell gesteuerten Handhabungsgerätes |
EP1728601A1 (en) * | 2005-06-03 | 2006-12-06 | Abb Ab | An industrial robot system with a teaching portable unit and a detecting unit for detecting when the TPU leaves the robot cell |
JP5131186B2 (ja) * | 2006-02-14 | 2013-01-30 | 株式会社安川電機 | ロボットシステム |
-
2009
- 2009-08-25 DE DE102009038721A patent/DE102009038721A1/de not_active Ceased
-
2010
- 2010-08-17 EP EP10008575.2A patent/EP2289672B2/de active Active
- 2010-08-17 AT AT10008575T patent/ATE552075T1/de active
- 2010-08-23 KR KR1020100081500A patent/KR101290050B1/ko active IP Right Grant
- 2010-08-25 US US12/868,184 patent/US20110052366A1/en not_active Abandoned
- 2010-08-25 CN CN201010263748.2A patent/CN101992470B/zh active Active
-
2016
- 2016-10-21 US US15/299,599 patent/US20170036347A1/en not_active Abandoned
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4432768A1 (de) * | 1994-09-14 | 1996-04-11 | Gemac Ges Fuer Mikroelektronik | Verfahren zur Überwachung und Steuerung sicherheitsrelevanter Maschinenparameter und Betriebszustände und variabler Sicherheitsmodul |
EP1247622A2 (de) * | 1997-12-06 | 2002-10-09 | Elan Schaltelemente GmbH & Co. KG | Verfahren zur Überwachung einer technischen Anlage mit erhöhten Sicherheitsanforderungen insbesondere eines Handhabungsgerätes, sowie Überwachungs- und Steuergerät |
CN1498733A (zh) * | 2002-11-08 | 2004-05-26 | ��ǿ�ʽ | 自动机械系统的安全装置 |
CN101142063A (zh) * | 2005-07-19 | 2008-03-12 | 欧姆龙株式会社 | 作业人员安全管理系统 |
CN101168255A (zh) * | 2005-10-28 | 2008-04-30 | 发那科株式会社 | 机器人控制装置 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103889665A (zh) * | 2011-10-18 | 2014-06-25 | 株式会社安川电机 | 作业单元和作业单元的制造方法 |
CN103914035A (zh) * | 2013-01-09 | 2014-07-09 | 库卡实验仪器有限公司 | 用于机器人组的可配置的安全监控装置和方法 |
US9746843B2 (en) | 2013-01-09 | 2017-08-29 | Kuka Roboter Gmbh | Configurable security monitoring for a robot assembly |
CN107111296A (zh) * | 2014-12-29 | 2017-08-29 | 布勒特耶自动控制设备有限责任公司 | 用于补偿工作点的偏差的方法 |
CN107111296B (zh) * | 2014-12-29 | 2019-07-05 | 布勒特耶自动控制设备有限责任公司 | 用于补偿工作点的偏差的方法 |
CN107953320A (zh) * | 2017-12-26 | 2018-04-24 | 练陈敏 | 一种基于医疗协作机器人的定位检测机构 |
TWI748501B (zh) * | 2020-06-05 | 2021-12-01 | 達明機器人股份有限公司 | 教導機器人的安全系統及方法 |
Also Published As
Publication number | Publication date |
---|---|
EP2289672B1 (de) | 2012-04-04 |
US20170036347A1 (en) | 2017-02-09 |
CN101992470B (zh) | 2015-06-03 |
EP2289672B2 (de) | 2015-07-29 |
KR20110021675A (ko) | 2011-03-04 |
DE102009038721A1 (de) | 2011-03-03 |
KR101290050B1 (ko) | 2013-07-30 |
EP2289672A1 (de) | 2011-03-02 |
US20110052366A1 (en) | 2011-03-03 |
ATE552075T1 (de) | 2012-04-15 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
ASS | Succession or assignment of patent right |
Owner name: KUKA EXPERIMENTAL INSTRUMENT CO., LTD. Free format text: FORMER OWNER: AMATEC ROBOTICS GMBH Effective date: 20110510 |
|
C41 | Transfer of patent application or patent right or utility model | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20110510 Address after: Augsburg Applicant after: Kuka Lab GmbH Address before: Augsburg Applicant before: Amatec Robotics GmbH |
|
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
ASS | Succession or assignment of patent right |
Owner name: AMATEC ROBOTICS GMBH Free format text: FORMER OWNER: KUKA EXPERIMENTAL INSTRUMENT CO., LTD. Effective date: 20150515 |
|
C41 | Transfer of patent application or patent right or utility model | ||
TR01 | Transfer of patent right |
Effective date of registration: 20150515 Address after: Augsburg Patentee after: Amatec Robotics GmbH Address before: Augsburg Patentee before: Kuka Lab GmbH |