DK1996376T3 - Programmerbar robot og brugergrænseflade - Google Patents

Programmerbar robot og brugergrænseflade Download PDF

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Publication number
DK1996376T3
DK1996376T3 DK07735028.8T DK07735028T DK1996376T3 DK 1996376 T3 DK1996376 T3 DK 1996376T3 DK 07735028 T DK07735028 T DK 07735028T DK 1996376 T3 DK1996376 T3 DK 1996376T3
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DK
Denmark
Prior art keywords
robot
tool
programming
user interface
touch screen
Prior art date
Application number
DK07735028.8T
Other languages
English (en)
Inventor
Kristian Kassow
Esben Hallundbæk Østergaard
Kasper Støy
Original Assignee
Universal Robots As
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Universal Robots As filed Critical Universal Robots As
Application granted granted Critical
Publication of DK1996376T3 publication Critical patent/DK1996376T3/da

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Classifications

    • 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
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37138—Encoder and gear and absolute coder, give together absolute position of rotation
    • 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
    • G05B2219/39427—Panel on arm, hand of robot, controlled axis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/23—Electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Braking Arrangements (AREA)

Claims (5)

1. Programmerbart robotsystem, der omfatter: a) en robot, der omfatter et antal individuelle armsektioner, 5 hvor tilstødende sektioner er indbyrdes forbundet ved hjælp af et led b) styrbare drivanordninger, der er tilvejebragt i det mindste i nogle af leddene, og som driver leddene c) et styreystem til at styre hver af de styrbare LO drivanordninger d) en brugergrænsefladeanordning, der omfatter anordninger til programmering af robotsystemet, idet brugergrænsefladeanordningen er placeret uden for robotten som en fjernstyring; og L5 e) lageranordninger, der samvirker med brugergrænsefladeanordningen og styresystemet med henblik på at lagre information vedrørende bevægelsen og yderligere operationer for robotten og/eller for et robotværktøj, der er monteret på robotten, 30 kendetegnet ved, at brugergrænsefladeanordningen omfatter en berøringsskærm, hvorpå en 3D-fremstilling (119) af robotten er vist sammen med et felt (120), hvor robottens og/eller værktøjets bevægelser specificeres ved hjælp af pileikoner (121, 122, 123, 124, 125), således at forskellige bevægelser 35 af robotten og/eller værktøjet kan udføres ved at trykke på pileikonerne (121, 122, 123, 124, 125) med henblik på at ændre robottens eller robotværktøjets position og orientering, ved, at manipulationerne af robotten og/eller værktøjet ved hjælp af pileikonerne (121, 122, 123, 124, 125) finder sted i 30 forhold til det samme synspunkt som 3D-fremstillingen (119), samt ved, at robottens placerings- og orienteringsbevægelser, der dirigeres af en bruger med pileikonerne (121, 122, 123, 124, 125) på fjernstyringens berøringsskærm, vises i 3D- fremstillingen (119) af robotten på berøringsskærmen. 35
2. Programmerbart robotsystem ifølge krav 1, hvor der på berøringsskærmen desuden vises ikoner til at rotere robottens tilsvarende led.
3. Programmerbart robotsystem ifølge krav 1 eller 2, kendetegnet ved, at styresystemet omfatter anordninger til at styre udløsning af handlinger, der udføres af robotten 5 og/eller et værktøj, som er monteret på robotten, hvor udløsningsanordningen omfatter eksterne sensoranordninger til placering på dele af robotten og/eller på eksterne enheder i omgivelserne. LO 4. Fjernstyring til en programmerbar robot, hvilken fjernstyring er uden for robotten og omfatter: a) en berøringsskærm, der viser menuer vedrørende programmeringstrin, som skal udføres af en bruger under programmering af robotten, og en computergenereret 3- L5 dimensional fremstilling (119) af robotten, der viser robotten i det mindste under programmering af robotten, og b) anordninger til at indtaste instruktioner til et styresystem for den programmerbare robot, kendetegnet ved, at 3D-fremstillingen (119) af robotten vises 20 på berøringsskærmen sammen med et felt (120), hvor robottens og/eller værktøjets bevægelser specificeres ved hjælp af pileikoner (121, 122, 123, 124, 125), således at forskellige bevægelser af robotten og/eller værktøjet kan udføres ved at trykke på pileikonerne (121, 122, 123, 124, 125) med henblik 25 på at ændre robottens eller robotværktøjets placering og orientering, ved, at manipulationerne af robotten og/eller værktøjet ved hjælp af pileikonerne (121, 122, 123, 124, 125) finder sted i forhold til det samme synspunkt som 3D-fremstillingen (119), samt ved, at robottens placerings- og 30 orienteringsbevægelser, der dirigeres af en bruger med pileikonerne (121, 122, 123, 124, 125) på fjernstyringens berøringsskærm, vises i 3D-fremstillingen (119) af robotten på berøringsskærmen.
5 . Fjernstyring ifølge krav 4, hvor der på berøringsskærmen desuden vises ikoner til at rotere robottens tilsvarende led.
6. Fjernstyring ifølge krav 4 eller 5, kendetegnet ved, at den yderligere omfatter lageranordninger, der enten befinder sig i grænsefladeanordningen, eller som er operativt forbundet med grænsefladeanordningen, til lagring af information vedrørende robottens programmering og operationer, og 5 eventuelt også til lagring af information vedrørende robottens omgivelser, såsom hindringer, der skal undgås under bevægelse af robotten, og/eller forbudte områder i rummet.
DK07735028.8T 2006-03-03 2007-03-02 Programmerbar robot og brugergrænseflade DK1996376T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA200600308 2006-03-03
PCT/IB2007/050683 WO2007099511A2 (en) 2006-03-03 2007-03-02 Programmable robot and user interface

Publications (1)

Publication Number Publication Date
DK1996376T3 true DK1996376T3 (da) 2016-08-29

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DK07735028.8T DK1996376T3 (da) 2006-03-03 2007-03-02 Programmerbar robot og brugergrænseflade
DK16154439.0T DK3045273T3 (en) 2006-03-03 2007-03-02 Joint for a robot

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DK16154439.0T DK3045273T3 (en) 2006-03-03 2007-03-02 Joint for a robot

Country Status (7)

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US (3) US8779715B2 (da)
EP (3) EP3045273B1 (da)
CA (1) CA2644614C (da)
DK (2) DK1996376T3 (da)
ES (3) ES2963735T3 (da)
PL (2) PL3530420T3 (da)
WO (1) WO2007099511A2 (da)

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