MX350110B - Un robot industrial y un metodo para controlar un robot industrial. - Google Patents

Un robot industrial y un metodo para controlar un robot industrial.

Info

Publication number
MX350110B
MX350110B MX2015015442A MX2015015442A MX350110B MX 350110 B MX350110 B MX 350110B MX 2015015442 A MX2015015442 A MX 2015015442A MX 2015015442 A MX2015015442 A MX 2015015442A MX 350110 B MX350110 B MX 350110B
Authority
MX
Mexico
Prior art keywords
robot
industrial robot
controlling
control system
cooperation
Prior art date
Application number
MX2015015442A
Other languages
English (en)
Other versions
MX2015015442A (es
Inventor
Paolo Gerio Gian
Mathias Wiklund Allan
Baroncelli Arturo
Original Assignee
Comau Spa
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 Comau Spa filed Critical Comau Spa
Publication of MX2015015442A publication Critical patent/MX2015015442A/es
Publication of MX350110B publication Critical patent/MX350110B/es

Links

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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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
    • 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
    • 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
    • Y10S901/14—Arm movement, spatial
    • 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
    • Y10S901/30—End effector
    • 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
    • Y10S901/46—Sensing device

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

Se proporciona un robot industrial (1, 15), que comprende: - un manipulador (1) con un número de grados de libertad (A1-A6); - una unidad de control (15) del manipulador (1); - un primer sistema de detección (19), para detectar la posible presencia de un cuerpo extraño (HO), en particular un ser humano; - un segundo sistema de detección (21) que comprende uno o más sensores de inercia instalados en el manipulador (1); - un tercer sistema de detección (22) que comprende un medio para medir el torque aplicado por los motores eléctricos (11'- 14') del manipulador (1). La unidad de control (15) está distribuida previamente de modo tal que, con el robot (1, 15) en el modo de operación automático, la detección por el primer sistema de detección (19) de la presencia de un cuerpo extraño (HO) dentro de un área de trabajo predefinida (20) del manipulador (1) determina la selección de un modo de operación automático seguro del robot (1, 15), en el curso del cual se reduce la velocidad de los motores eléctricos (11'-14'), y el segundo y tercer sistemas de detección (21, 22) son operativos para detectar cualquier posible impacto del manipulador (1) contra un cuerpo extraño (HO). En el caso de detección de un impacto, la unidad de control (15) detiene el movimiento del manipulador (1) y/o gobierna la inversión de su movimiento, antes de supresión del mismo. (Figura 1).
MX2015015442A 2014-11-07 2015-11-06 Un robot industrial y un metodo para controlar un robot industrial. MX350110B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITTO20140924 2014-11-07

Publications (2)

Publication Number Publication Date
MX2015015442A MX2015015442A (es) 2016-05-06
MX350110B true MX350110B (es) 2017-08-28

Family

ID=52016826

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2015015442A MX350110B (es) 2014-11-07 2015-11-06 Un robot industrial y un metodo para controlar un robot industrial.

Country Status (9)

Country Link
US (1) US10005184B2 (es)
EP (1) EP3017920B1 (es)
JP (2) JP2016087785A (es)
CN (1) CN105583826B (es)
BR (1) BR102015027352B1 (es)
CA (1) CA2909755C (es)
ES (1) ES2648295T3 (es)
MX (1) MX350110B (es)
PL (1) PL3017920T3 (es)

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Also Published As

Publication number Publication date
PL3017920T3 (pl) 2018-02-28
ES2648295T3 (es) 2017-12-29
JP2016087785A (ja) 2016-05-23
JP3223826U (ja) 2019-11-07
CN105583826B (zh) 2018-05-25
EP3017920B1 (en) 2017-08-23
US10005184B2 (en) 2018-06-26
EP3017920A1 (en) 2016-05-11
US20160129595A1 (en) 2016-05-12
CA2909755A1 (en) 2016-05-07
MX2015015442A (es) 2016-05-06
BR102015027352B1 (pt) 2020-12-08
CN105583826A (zh) 2016-05-18
BR102015027352A2 (pt) 2016-05-24
CA2909755C (en) 2018-09-18

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