IT202100031667A1 - ROBOTIC AUTOMATION SYSTEM - Google Patents
ROBOTIC AUTOMATION SYSTEM Download PDFInfo
- Publication number
- IT202100031667A1 IT202100031667A1 IT102021000031667A IT202100031667A IT202100031667A1 IT 202100031667 A1 IT202100031667 A1 IT 202100031667A1 IT 102021000031667 A IT102021000031667 A IT 102021000031667A IT 202100031667 A IT202100031667 A IT 202100031667A IT 202100031667 A1 IT202100031667 A1 IT 202100031667A1
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- Italy
- Prior art keywords
- industrial robot
- automatic machine
- robotic automation
- control
- previous
- Prior art date
Links
- 238000004891 communication Methods 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
Classifications
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- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
- G05B19/41825—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell machine tools and manipulators only, machining centre
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details, by setting parameters
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- 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
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31076—Controller for cell, for robot motion, for supervision
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36163—Local as well as remote control panel
-
- 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
- G05B2219/39448—Same teach pendant connects to many robot controllers over network
Description
Descrizione di Brevetto per Invenzione Industriale avente per titolo: ?SISTEMA DI AUTOMAZIONE ROBOTICA?. Description of Patent for Industrial Invention with title: "ROBOTIC AUTOMATION SYSTEM".
DESCRIZIONE DESCRIPTION
La presente invenzione si riferisce ad un sistema di automazione robotica, in particolare comprendente almeno una macchina automatica asservita da almeno un robot industriale. The present invention refers to a robotic automation system, in particular comprising at least one automatic machine served by at least one industrial robot.
E? noto che un?isola robotizzata o un sistema di automazione robotica completo comprende una o pi? macchine automatiche, destinate ad uno specifico scopo, ed almeno un robot industriale, in genere del tipo di un robot antropomorfo, che deve essere interfacciato con le macchine automatiche al fine di incrementare l?automatizzazione dello specifico processo industriale, ad esempio per la manipolazione di semilavorati tra una macchina automatica destinata ad una lavorazione ed una macchina automatica destinata ad una lavorazione successiva. AND? It is known that a robotic island or a complete robotic automation system includes one or more automatic machines, intended for a specific purpose, and at least one industrial robot, generally of the type of an anthropomorphic robot, which must be interfaced with the automatic machines in order to increase the automation of the specific industrial process, for example for the manipulation of semi-finished products between an automatic machine intended for one process and an automatic machine intended for a subsequent process.
Tuttavia, al fine di realizzare un sistema di automazione robotica, risulta ad oggi necessario acquistare un robot generico, provvisto del relativo quadro di controllo, per poi interfacciarlo con ciascuna macchina automatica, anche essa provvista del relativo quadro di controllo. However, in order to create a robotic automation system, it is currently necessary to purchase a generic robot, equipped with the relevant control panel, and then interface it with each automatic machine, also equipped with the relevant control panel.
Pertanto, ad oggi ? necessario programmare ciascun quadro di controllo relativo a ciascuna macchina automatica e ciascun quadro di controllo relativo a ciascun robot industriale. Therefore, to date? It is necessary to program each control panel relating to each automatic machine and each control panel relating to each industrial robot.
Inoltre, risulta necessario interfacciare tra loro i differenti quadri di controllo mediante una ulteriore unit? di controllo, configurata per interfacciare e coordinare le macchine automatiche con il robot. Furthermore, it is necessary to interface the different control panels with each other through a further unit? control, configured to interface and coordinate the automatic machines with the robot.
Questo comporta inevitabilmente alcuni inconvenienti. This inevitably entails some inconveniences.
In particolare, l?utilizzo di pi? quadri di controllo e la necessit? di programmare e interfacciare tra loro tali quadri di controllo comporta un considerevole incremento dei tempi e dei costi complessivi di installazione e configurazione di una postazione asservita da un robot industriale. In particular, the use of more control panels and the need? programming and interfacing these control panels with each other involves a considerable increase in the overall times and costs of installing and configuring a workstation served by an industrial robot.
Inoltre, l?impiego di pi? quadri di controllo comporta un incremento degli spazi necessari dedicati alla postazione. Furthermore, the use of more control panels involves an increase in the necessary space dedicated to the workstation.
Il compito principale della presente invenzione ? quello di ideare un sistema di automazione robotica che consenta di minimizzare i costi, gli spazi e il tempo complessivo necessario alla programmazione. The main task of the present invention is? that of designing a robotic automation system that allows minimizing costs, spaces and the overall time necessary for programming.
Altro scopo del presente trovato ? quello di escogitare un sistema di automazione robotica che consenta di superare i menzionati inconvenienti della tecnica nota nell?ambito di una soluzione semplice, razionale, di facile ed efficace impiego e dal costo contenuto. Other purpose of the present invention? that of devising a robotic automation system which allows the aforementioned drawbacks of the known art to be overcome within the context of a simple, rational solution that is easy and effective to use and has a low cost.
Gli scopi sopra esposti sono raggiunti dal presente sistema di automazione robotica secondo le caratteristiche descritte nella rivendicazione 1. The above objectives are achieved by the present robotic automation system according to the characteristics described in claim 1.
Altre caratteristiche e vantaggi della presente invenzione risulteranno maggiormente evidenti dalla descrizione di una forma di esecuzione preferita, ma non esclusiva, di un sistema di automazione robotica, illustrata a titolo indicativo, ma non limitativo, nelle unite tavole di disegni in cui: Other characteristics and advantages of the present invention will be more evident from the description of a preferred, but not exclusive, embodiment of a robotic automation system, illustrated by way of example, but not by way of limitation, in the attached drawings in which:
la figura 1 ? uno schema generale di un possibile sistema di automazione robotica secondo l?invenzione; figure 1? a general diagram of a possible robotic automation system according to the invention;
la figura 2 illustra schematicamente un possibile sistema di automazione robotica secondo l?invenzione, impiegato in banchi di collaudo di manipolatori. Figure 2 schematically illustrates a possible robotic automation system according to the invention, used in manipulator test benches.
Con particolare riferimento a tali figure, si ? indicato globalmente con 1 un sistema di automazione robotica comprendente almeno una macchina automatica 2 ed almeno un robot industriale 3. With particular reference to these figures, yes? generally indicated with 1 is a robotic automation system comprising at least one automatic machine 2 and at least one industrial robot 3.
In particolare, il sistema 1 secondo l?invenzione comprende una o pi? macchine automatiche 2, destinate ad uno specifico processo, ed almeno un robot industriale 3, in genere del tipo di un robot antropomorfo, che deve essere interfacciato con le macchine automatiche 2 al fine di incrementare l?automatizzazione del processo. In particular, system 1 according to the invention includes one or more automatic machines 2, intended for a specific process, and at least one industrial robot 3, generally of the type of an anthropomorphic robot, which must be interfaced with the automatic machines 2 in order to increase the automation of the process.
A tale scopo, il sistema 1 comprende mezzi di controllo e interfaccia 4 operativamente collegati a ciascuna macchina automatica 2 e a ciascun robot industriale 3. For this purpose, the system 1 includes control and interface means 4 operationally connected to each automatic machine 2 and to each industrial robot 3.
Vantaggiosamente, i mezzi di controllo e interfaccia 4 sono costituiti da un unico quadro elettrico di controllo operativamente collegato a ciascuna macchina automatica 2 e a ciascun robot industriale 3, in cui tale unico quadro elettrico di controllo 4 comprende mezzi di gestione e controllo 5 sia di ciascuna macchina automatica 2, sia di ciascun robot industriale 3. In particolare, il quadro elettrico di controllo 4 comprende un unico PLC 6 (Programmable Logic Controller) operativamente collegato a ciascuna macchina automatica 2 e a ciascun robot industriale 3. Advantageously, the control and interface means 4 are constituted by a single electrical control panel operationally connected to each automatic machine 2 and to each industrial robot 3, in which this single electrical control panel 4 includes management and control means 5 of both automatic machine 2, and of each industrial robot 3. In particular, the electrical control panel 4 includes a single PLC 6 (Programmable Logic Controller) operationally connected to each automatic machine 2 and to each industrial robot 3.
In particolare, i mezzi di gestione e controllo 5 comprendono un unico programma software e l?unico PLC 6 ? configurato per eseguire le istruzioni di tale unico programma software per la gestione e il controllo di ciascuna macchina automatica 2 e di ciascun robot industriale 3. In particular, the management and control means 5 include a single software program and the single PLC 6 ? configured to execute the instructions of this single software program for the management and control of each automatic machine 2 and each industrial robot 3.
In particolare, il quadro elettrico di controllo 4 comprende una pluralit? di unit? di controllo 7, 8 collegate rispettivamente a ciascun robot industriale 3 e a ciascuna macchina automatica 2 ed operativamente collegate all?unico PLC 6. In particular, the electrical control panel 4 includes a plurality of of units? control systems 7, 8 connected respectively to each industrial robot 3 and to each automatic machine 2 and operationally connected to the single PLC 6.
Ad esempio, come illustrato schematicamente in figura 1, il quadro elettrico 4 pu? comprendere cinque unit? di controllo 7 collegate rispettivamente ai motori di comando dei cinque assi di un robot industriale 3 del tipo di un robot antropomorfo. For example, as illustrated schematically in figure 1, the electrical panel 4 can? include five units? control motors 7 connected respectively to the control motors of the five axes of an industrial robot 3 of the type of an anthropomorphic robot.
Sempre con riferimento all?esempio di figura 1, il quadro elettrico 4 pu? comprendere pi? unit? di controllo 8 collegate a rispettive macchine automatiche 2 per controllarne rispettive funzioni e/o movimentazioni. Ad esempio, tali unit? di controllo 8 possono essere collegate a rispettivi motori delle macchine automatiche 2. Again with reference to the example in figure 1, the electrical panel 4 can? understand more? unit? control devices 8 connected to respective automatic machines 2 to control respective functions and/or movements. For example, such units? control 8 can be connected to respective motors of the automatic machines 2.
Inoltre, il sistema 1 comprende una rete di comunicazione dati 9 collegata all?unico quadro elettrico di controllo 4, a ciascuna macchina automatica 2 e a ciascun robot industriale 3. Furthermore, system 1 includes a data communication network 9 connected to the single electrical control panel 4, to each automatic machine 2 and to each industrial robot 3.
Preferibilmente, tale rete di comunicazione dati 9 utilizza un protocollo di comunicazione di tipo PROFINET. Non si esclude, tuttavia, l?utilizzo di protocolli differenti quali: Ethernet, POWERLINK, EtherCAT, SERCOS,CANopen, Profibus, DeviceNet, ModBus. Preferably, this data communication network 9 uses a PROFINET type communication protocol. However, the use of different protocols such as: Ethernet, POWERLINK, EtherCAT, SERCOS, CANopen, Profibus, DeviceNet, ModBus is not excluded.
Al fine di consentire la trasmissione/ricezione di dati tramite al rete di comunicazione dati 9, il quadro elettrico di controllo 4 comprende almeno uno switch 10 collegato tramite la rete di comunicazione dati 9 all?unico PLC 6 e a ciascuna delle unit? di controllo 7, 8 di ciascun robot industriale 3 e di ciascuna macchina automatica 2. In order to allow the transmission/reception of data via the data communication network 9, the electrical control panel 4 includes at least one switch 10 connected via the data communication network 9 to the single PLC 6 and to each of the units control 7, 8 of each industrial robot 3 and of each automatic machine 2.
Utilmente, il sistema 1 pu? comprendere differenti dispositivi di controllo 11, 12, 13, 14 collegati all?unico PLC 6 mediante la rete di comunicazione dati 9. Helpfully, system 1 can? include different control devices 11, 12, 13, 14 connected to the single PLC 6 via the data communication network 9.
Ad esempio, come illustrato schematicamente in figura 1, tali ulteriori dispositivi di controllo possono comprendere: sensori 11 di differente tipologia, barriere di sicurezza 12, ulteriori interfacce 13 delle macchine automatiche 2, interruttori di emergenza 14. For example, as illustrated schematically in figure 1, these further control devices can include: sensors 11 of different types, safety barriers 12, further interfaces 13 of the automatic machines 2, emergency switches 14.
Pertanto, il sistema 1 di automazione robotica secondo l?invenzione consente di realizzare un unico quadro elettrico di controllo 4 che contiene tutte le apparecchiature necessarie a gestire ciascun robot industriale 3 e ciascuna macchina automatica 2 utilizzati. Therefore, the robotic automation system 1 according to the invention allows the creation of a single electrical control panel 4 which contains all the equipment necessary to manage each industrial robot 3 and each automatic machine 2 used.
Di conseguenza, anche tutte le istruzioni e successive azioni vengono elaborate da un unico PLC 6 che comunica attraverso la rete di comunicazione dati 9 con tutte apparecchiature che compongono l?intero sistema. Consequently, all the instructions and subsequent actions are also processed by a single PLC 6 which communicates through the data communication network 9 with all the equipment that makes up the entire system.
Questo consente di semplificare l?architettura dell?intero sistema 1 in quanto, a differenza delle applicazioni tradizionali dove si devono scambiare le informazioni con pi? PLC, ? utilizzato un unico PLC 6, configurato per elaborare un unico programma software 5. This makes it possible to simplify the architecture of the entire system 1 since, unlike traditional applications where information must be exchanged with multiple PLC, ? used a single PLC 6, configured to process a single software program 5.
Inoltre, il sistema 1 ha una maggiore affidabilit?, perch? viene eliminato il rischio di perdere la comunicazione con altri PLC presenti invece nei sistemi convenzionali. Furthermore, system 1 has greater reliability, because? the risk of losing communication with other PLCs present in conventional systems is eliminated.
Vantaggiosamente, il programma software che implementa i mezzi di gestione e controllo 5 comprende mezzi di gestione degli assi di ciascun robot industriale 3 e mezzi di gestione delle funzioni di ciascuna macchina automatica 2. Advantageously, the software program that implements the management and control means 5 includes means for managing the axes of each industrial robot 3 and means for managing the functions of each automatic machine 2.
Inoltre, il programma software che implementa i mezzi di gestione e controllo 5 pu? comprendere mezzi di acquisizione di dati da ciascuna macchina automatica 2. Furthermore, the software program that implements the management and control means 5 can? include means of acquiring data from each automatic machine 2.
Pertanto, il programma software 5 ? uno solo e comprende la gestione degli assi del robot industriale 3 e le funzioni della macchina automatica 2 stessa assieme all?eventuale acquisizione dei dati. Therefore, the software program 5 ? only one and includes the management of the axes of the industrial robot 3 and the functions of the automatic machine 2 itself together with any data acquisition.
A titolo esemplificativo, una possibile applicazione del sistema secondo l?invenzione ? quello di banco di collaudo manipolatori 15. By way of example, a possible application of the system according to the invention is? that of the manipulator test bench 15.
Tale possibile applicazione ? illustrata schematicamente in figura 2. Such a possible application? illustrated schematically in figure 2.
Con riferimento a tale specifica applicazione, ? pertanto possibile realizzare un unico quadro elettrico di controllo 4 con un unico PLC 6 che serve tutta la macchina automatica 2, costituita da un banco prova per il collaudo di manipolatori 15. With reference to this specific application, ? it is therefore possible to create a single electrical control panel 4 with a single PLC 6 which serves the entire automatic machine 2, consisting of a test bench for testing manipulators 15.
Un robot industriale 3 ? opportunamente posizionato per eseguire in modo automatico le funzionalit? adibite al collaudo dei manipolatori 15. An industrial robot 3? appropriately positioned to automatically perform the functions? used for testing manipulators 15.
In particolare, il robot industriale 3, attraverso una mano di presa personalizzata, pu? prelevare un manipolatore 15 da collaudare e portarlo in posizione di collaudo sul banco di prova 2. In particular, the industrial robot 3, through a customized gripping hand, can? take a manipulator 15 to be tested and bring it to the testing position on the test bench 2.
Utilmente, i manipolatori 15 possono essere movimentati e posizionati da un nastro trasportatore 16 od una simile apparecchiatura, per il prelievo mediante il robot industriale 3, anche esso collegato tramite la rete di comunicazione dati 9 all?unico PLC 6. Usefully, the manipulators 15 can be moved and positioned by a conveyor belt 16 or similar equipment, for picking by the industrial robot 3, also connected via the data communication network 9 to the single PLC 6.
Successivamente, vengono effettuati i test del manipolatore 15 e il robot industriale 3 interagisce muovendosi nelle direzioni che vanno a simulare i movimenti dell?uomo, interagendo con i dati che il sistema 1 rileva mediante il PLC 6. Subsequently, tests are carried out on the manipulator 15 and the industrial robot 3 interacts by moving in the directions that simulate human movements, interacting with the data that system 1 detects via PLC 6.
In questo modo si possono acquisire le letture e le successive tarature in maniera diretta, senza passare attraverso le informazioni rilevate dall?addetto al collaudo. In this way it is possible to acquire the readings and subsequent calibrations directly, without going through the information collected by the test engineer.
Il sistema 1 rileva in automatico le informazioni lette dai vari sensori presenti sul banco di prova 2 ed impartisce istantaneamente le coordinate necessarie ai motori che eseguono i movimenti del braccio del robot industriale 3. System 1 automatically detects the information read by the various sensors present on the test bench 2 and instantly imparts the necessary coordinates to the motors that perform the movements of the arm of the industrial robot 3.
Terminata la fase del collaudo il robot industriale 3 ripone il manipolatore 15 nell?alloggiamento destinato al magazzino. Once the testing phase has been completed, the industrial robot 3 places the manipulator 15 back in the housing intended for the warehouse.
Contemporaneamente il PLC 6 invia i dati rilevati durante le fasi di collaudo ad un sistema gestionale. At the same time, PLC 6 sends the data collected during the testing phases to a management system.
La stessa applicazione pu? essere replicata con altre casistiche come, ad esempio, lavorazioni in sequenza in ambienti particolari come le camere asettiche, dove ad oggi con le nuove indicazioni sanitarie gli ambienti possono ospitare meno personale. The same application can be replicated with other cases such as, for example, sequential processing in particular environments such as aseptic rooms, where today with the new health indications the environments can accommodate fewer personnel.
Si ? in pratica constatato come il trovato descritto raggiunga gli scopi proposti. Yes ? in practice it has been observed that the described invention achieves the proposed purposes.
In particolare, si sottolinea il fatto che il sistema secondo l?invenzione consente l?utilizzo di un unico quadro per la gestione di ciascuna macchina e di ciascun robot, ottimizzando i costi, gli spazi e di conseguenza anche il tempo necessario alla programmazione. In particular, we underline the fact that the system according to the invention allows the use of a single framework for the management of each machine and each robot, optimizing costs, spaces and consequently also the time necessary for programming.
Pertanto, il sistema ideato consente di semplificare, in termini di costi e di installazione, la realizzazione di una postazione completamente automatizzata asservita da un braccio robotico. Therefore, the system designed makes it possible to simplify, in terms of costs and installation, the creation of a fully automated workstation served by a robotic arm.
Inoltre, il sistema secondo l?invenzione consente di semplificare l?architettura complessiva in quanto, a differenza delle applicazioni tradizionali, ? sufficiente un unico PLC. In tal modo, il sistema acquisisce maggior affidabilit?, in quanto ? evitato il rischio di perdere la comunicazione con altri PLC presenti nel sistema. Furthermore, the system according to the invention allows the overall architecture to be simplified since, unlike traditional applications, it is a single PLC is sufficient. In this way, the system acquires greater reliability, as it is avoided the risk of losing communication with other PLCs present in the system.
Inoltre, il software da realizzare ? uno solo e comprende la gestione degli assi del robot e le funzioni della macchina stessa, oltre all?eventuale acquisizione di dati nel caso il sistema fosse adibito ad un banco di collaudo. Furthermore, the software to be created? only one and includes the management of the robot's axes and the functions of the machine itself, as well as the possible acquisition of data if the system is used as a test bench.
Inoltre, il sistema secondo l?invenzione offre un miglioramento importante anche sotto l?aspetto economico in quanto, a differenza delle applicazioni tradizionali, dove i costi vengono replicati per ogni assieme presente nel sistema, comprende un unico quadro contenente un solo PLC e, di conseguenza, un unico software. Furthermore, the system according to the invention offers an important improvement also from an economic point of view since, unlike traditional applications, where costs are replicated for each assembly present in the system, it includes a single panel containing a single PLC and, consequently, a single software.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT102021000031667A IT202100031667A1 (en) | 2021-12-17 | 2021-12-17 | ROBOTIC AUTOMATION SYSTEM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT102021000031667A IT202100031667A1 (en) | 2021-12-17 | 2021-12-17 | ROBOTIC AUTOMATION SYSTEM |
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| Publication Number | Publication Date |
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| IT202100031667A1 true IT202100031667A1 (en) | 2023-06-17 |
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| IT102021000031667A IT202100031667A1 (en) | 2021-12-17 | 2021-12-17 | ROBOTIC AUTOMATION SYSTEM |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5510993A (en) * | 1989-06-28 | 1996-04-23 | Manufacturing Joint Ventures International Limited | Material processing system |
| US20010035729A1 (en) * | 2000-03-17 | 2001-11-01 | Dieter Graiger | Method of connecting a mobile control and/or monitoring unit to a machine and a control and/or monitoring unit for same |
| US6556891B2 (en) * | 2000-07-01 | 2003-04-29 | Kuka Roboter Gmbh | Apparatus system and control box for same |
| US20140364989A1 (en) * | 2013-06-11 | 2014-12-11 | Fanuc Corporation | Controller for controlling machine tool and robot |
| WO2018188764A1 (en) * | 2017-04-11 | 2018-10-18 | Abb Schweiz Ag | Mode control of industrial robots in a robot cell |
-
2021
- 2021-12-17 IT IT102021000031667A patent/IT202100031667A1/en unknown
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5510993A (en) * | 1989-06-28 | 1996-04-23 | Manufacturing Joint Ventures International Limited | Material processing system |
| US20010035729A1 (en) * | 2000-03-17 | 2001-11-01 | Dieter Graiger | Method of connecting a mobile control and/or monitoring unit to a machine and a control and/or monitoring unit for same |
| US6556891B2 (en) * | 2000-07-01 | 2003-04-29 | Kuka Roboter Gmbh | Apparatus system and control box for same |
| US20140364989A1 (en) * | 2013-06-11 | 2014-12-11 | Fanuc Corporation | Controller for controlling machine tool and robot |
| WO2018188764A1 (en) * | 2017-04-11 | 2018-10-18 | Abb Schweiz Ag | Mode control of industrial robots in a robot cell |
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