WO2006000264A1 - Dispositif et methode pour commander un robot au moyen d'une unite de pupitre d'apprentissage (tpu) - Google Patents

Dispositif et methode pour commander un robot au moyen d'une unite de pupitre d'apprentissage (tpu) Download PDF

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Publication number
WO2006000264A1
WO2006000264A1 PCT/EP2005/003191 EP2005003191W WO2006000264A1 WO 2006000264 A1 WO2006000264 A1 WO 2006000264A1 EP 2005003191 W EP2005003191 W EP 2005003191W WO 2006000264 A1 WO2006000264 A1 WO 2006000264A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
tpu
communication data
enabling device
status
Prior art date
Application number
PCT/EP2005/003191
Other languages
English (en)
Inventor
Ralph SJÖBERG
Olov Nylén
Erik Carlson
Jan Endresen
Original Assignee
Abb Ab
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 Abb Ab filed Critical Abb Ab
Priority to JP2007600024U priority Critical patent/JP3140561U/ja
Priority to DE212005000036U priority patent/DE212005000036U1/de
Publication of WO2006000264A1 publication Critical patent/WO2006000264A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards

Definitions

  • the present invention relates to a robot controller comprising a 0 control part for controlling at least one industrial robot and a portable operating control device, for teaching and manually op ⁇ erating the robot.
  • the controller may also be used for controlling equipment associated to the robot.
  • a TPU normally comprises operator control means, for example a joystick, a ball, a set of buttons or any combination thereof, a visual display unit, and safety equipment including an enabling device.
  • the enabling device enables or disables manual control of the robot by means of the TPU.
  • the enabling device affects the current to the motors of the robot.
  • manual mode is se ⁇ lected and the enabling device is activated, it possible to manu ⁇ ally operate the robot by means of the TPU.
  • the enabling device is deactivated, it is not possible to manually operate the robot. If manual mode is selected it is possible to move the ro ⁇ bot, for example by means of the joystick, provided that the enabling device of the TPU is activated.
  • the enabling device is for example a switch or a push button, which has to be pressed by the opera ⁇ tor to enable control of the robot by the TPU.
  • the status of the enabling device is either activated or deacti- vated. If the enabling device is a push button, the status of the enabling device is activated when the operator presses the but ⁇ ton, and the status of the enabling device is deactivated when the button is released. Some enabling devices have three posi ⁇ tions: a first position when the button is released, a second po- sition when the button is pressed, and a third position when the push button is pressed harder. In such cases the enabling de ⁇ vice is deactivated when the button is in the first and the third position.
  • the TPU is provided with either an emer ⁇ gency stop device or a stop device.
  • the robots can be placed in robot cells. Due to the considerable risk for twisting the cables, it is particu- larly advantageous to use a wireless TPU when there are sev ⁇ eral robots arranged near each other in a robot line.
  • the TPU comprises: a plurality of de ⁇ tecting means, detecting the status of the enabling device, at least one communication data generating means, generating communication data including information regarding the de- tected status of the enabling device, and at least one wireless transmitting means, transmitting said communication data to said control part, and the control part comprises at least one re ⁇ DCving means, receiving said communication data from said transmitting means and the control part is adapted to permit or not permit manual control of the robot by means of the TPU ba ⁇ sed on the received status of the enabling device.
  • the detection means detects whether the enabling device is ac ⁇ tivated or deactivated.
  • the TPU comprises a plurality of redundant detection means detecting the status of the enabling device.
  • the TPU comprises at least one communication data generating means, generating communication data including information regarding the detected status of the enabling device.
  • the com ⁇ munication data generating means comprises a communication data generating software process or a communication data gen ⁇ erating circuit.
  • the communication data generating means is implemented either by means of software or hardware.
  • the communication data generating means generates mes- sages, including the communication data, according to any known communication protocol for wireless transfer to the con ⁇ trol part.
  • a message may include information regarding the de ⁇ tected status from all of the detection means, or the detected status from one single detection means. In the latter case, one message is generated for each detection means.
  • the control part comprises means for receiving the communication data from the TPU and for deciding to permit or not permit manual control of the robot by means of the TPU, based on the received status of the enabling device.
  • the receiving means is adapted to generate an enabling signal based on the received communica ⁇ tion data.
  • the invention provides a portable TPU comprising a wireless enabling device. This makes it possible to eliminate the emer- gency stop button and still have the degree of security and safety, which the standard regulation provides.
  • the control part is adapted to permit manual control of the robot, if the status in- formation received from at least two of said detecting means in ⁇ dicates that the enabling device is activated.
  • the control part is adapted to not permit manual control of the robot, if the status received from at least one of said detecting means indicates that the enabling device is not activated.
  • the TPU com ⁇ prises a plurality of communication data generating means, which respectively correspond to each of said plurality of detect- ing means.
  • the communication data generating means are re ⁇ dundant. Having a plurality of redundant communication data generating means makes it is possible to detect if any of the communication data generating means is defect and thus to in ⁇ creases the safety of the controller.
  • the TPU com ⁇ prises a plurality of wireless transmitting means, which respec ⁇ tively correspond to each of said plurality of communication data generating means.
  • the wireless transmitting means are redun- dant. Having a plurality of redundant transmitting means makes it is possible to detect if any of the transmitting means is defect and thus to increases the safety of the controller.
  • control part is adapted to permit manual control of the robot as long as status information indicating that the enabling device is activated is re ⁇ ceived within a certain time frame.
  • the control part is adapted to not permit manual control of the robot upon failure to receive status information from the enabling device within a certain time frame.
  • the safety is further improved.
  • the robot control ⁇ ler comprises a control part for controlling at least one industrial robot or associated equipment, and a portable operating device arranged to communicate with each other by at least one wire- less network
  • the portable operating device comprises a manually operated enabling device, which when continuously activated, permits motion of the robot and/or the associated equipment, and a plurality of communication data generating software processes or communication data generating circuits, which respectively generate communication data expressing an enabling device status command based on operation of said enabling device, and transmitting means which transmit commu ⁇ nication data expressing said enabling status command to said control part by wireless network communication
  • the control part comprises receiving means which receives communication data expressing enabling status command from said transmitting means; wherein said receiving means place said robot or asso ⁇ ciated equipment in the enabling state according to the received enabling status command, which permits motion alternatively stop motion of the robot or associated equipment when receiving even a single set of communication data expressing an enabling status command generated by said plurality of communication data generating software processes
  • Fig. 1 shows an industrial robot including a control part and a TPU.
  • Fig. 2 shows a robot controller according to a first embodiment of the invention.
  • Fig. 3 shows a robot controller according to a second embodi ⁇ ment of the invention.
  • FIG. 1 shows an industrial robot comprising a manipulator 1 , a controller comprising a control part 3 for controlling the manipu ⁇ lator, and a portable operator control device 4, in the following denoted a TPU (Teach Pendant Unit) for teaching and manually operating the manipulator.
  • the TPU 4 is communicating with the control part 3 via a wireless data link 5.
  • the TPU comprises a display screen 6, function keys 8, a joystick 10, and an enabling device 12.
  • the TPU also includes and antenna 14 and a radio module for wireless communication with the control part 3.
  • the function keys 8 permit the operator to select various states for the control system.
  • the joystick 10 is used for controlling the movement of the manipulator when the robot is manually oper ⁇ ated.
  • the enabling device comprises a button 12, which has to be activated by the operator to enable manual control of the ro- bot by the TPU. When the operator deactivates the button of the enabling device 12, the robot can no longer be operated via the TPU.
  • FIG. 2 shows a controller according to a first embodiment of the invention.
  • the enabling device comprises two switches 16a- b connected to the button 12 of the enabling device. When the operator activates the button 12, the switches 16a-b closes, and when the operator deactivates the button 12, the switches 16a-b opens.
  • the TPU 4 further comprises two detecting means 18a-b, means, which respectively correspond to each of the switches 16a-c, for detecting the status of the enabling device, i.e. de- tecting whether the button 12 is pressed or released, by detect ⁇ ing whether the switches 16a-b closed or opened. There are two switches and two detecting means to achieve redundancy and thus to improve the safety.
  • the control part 3 is connected to a data communication link 21 , for example a data bus.
  • the data communication link 21 is part of a communication network.
  • Other control units can be connected to the same network.
  • An antenna 22 con ⁇ nected to the data communication link 21 receives the communi ⁇ cation data from the TPU .
  • the control part 3 comprises receiv ⁇ ing means 24, receiving the communication data from the TPU and generating an enabling signal ES based on the received communication data.
  • the enabling signal ES is a hardware sig ⁇ nal and is based on the received status of the enabling device.
  • the enabling signal ES indicates whether or not manual control of the robot by means of the TPU is permitted or not.
  • the receiving means 24 extracts information regarding the de ⁇ tected status of the enabling device from the received communi- cation data.
  • the receiving means 24 extracts the status de ⁇ tected by both detecting means 18a-b.
  • the receiving means compares the status from both detecting means 16a-b. If the status information received from both detecting means indicates that the enabling device is activated, the control part will permit manual control of the robot provided that the robot is in manual mode. If the status received from any of the detecting means indicates that the enabling device deactivated, the control part will not permit manual control of the robot.
  • the receiving means 24 is preferably implemented as program instructions in a com ⁇ puter program.
  • the control part also comprises one enabling circuit 26, often called an enabling chain, which is adapted to permits or not per- mit manual motion of the robot.
  • the enabling circuit 26 com ⁇ prises a switch 28 that is opened or closed in dependence of the state of the enabling device, and a switch 30 that is opened or closed in dependence of whether the robot is in automatic or manual mode.
  • a power supply V is connected to the enabling circuit.
  • the enabling signal ES generated by the receiving means 24 controls the switch 28. If the robot is in automatic mode, the switch 28 is open and it is not possible to control the robot by the TPU .
  • the enabling circuit 26 is connected to the motors M of the robot. When the robot is in manual mode and the switch 28 is open, the brakes are applied to the motors. Thus, the robot must be in manual mode and the enabling de ⁇ vice must be activated for the operator to be able to manually move the robot.

Landscapes

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

Abstract

L'invention concerne un dispositif de commande de robot comprenant une partie de commande (3) pour commander au moins un robot industriel, et un TPU (4) pour enseigner et pour faire fonctionner manuellement le robot. Le TPU comprend un dispositif d'actionnement manuellement actionné (16a, 16b), qui, lors de son actionnement, permet une commande manuelle du robot au moyen du TPU. Le TPU comprend: une pluralité de moyens de détection (18a, 18b) détectant l'état du dispositif d'actionnement, au moins un moyen de génération de données de communication (20) générant des données de communication comprenant des informations concernant l'état détecté du dispositif d'actionnement, et au moins un moyen de transmission sans fil (14) transmettant les données de communication à la partie de commande. La partie de commande comprend: au moins un moyen de réception (22), recevant les données de communication provenant du moyen de transmission; et la partie de commande est conçue pour permettre ou non la commande manuelle du robot au moyen du TPU, en fonction de l'état reçu du dispositif d'actionnement.
PCT/EP2005/003191 2004-06-24 2005-03-24 Dispositif et methode pour commander un robot au moyen d'une unite de pupitre d'apprentissage (tpu) WO2006000264A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2007600024U JP3140561U (ja) 2004-06-24 2005-03-24 無線ティーチペンダントによりロボットを制御する装置及び方法
DE212005000036U DE212005000036U1 (de) 2004-06-24 2005-03-24 Einrichtung zum Steuern eines Roboters durch eine drahtlose Programmierhandgeräteinheit

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US58207804P 2004-06-24 2004-06-24
US60/582,078 2004-06-24

Publications (1)

Publication Number Publication Date
WO2006000264A1 true WO2006000264A1 (fr) 2006-01-05

Family

ID=34963275

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/003191 WO2006000264A1 (fr) 2004-06-24 2005-03-24 Dispositif et methode pour commander un robot au moyen d'une unite de pupitre d'apprentissage (tpu)

Country Status (4)

Country Link
JP (1) JP3140561U (fr)
CN (1) CN200988223Y (fr)
DE (1) DE212005000036U1 (fr)
WO (1) WO2006000264A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008064381A2 (fr) 2006-11-28 2008-06-05 Keba Ag Procédé permettant de faire fonctionner une liaison de communication sans fil entre un appareil de commande manuel mobile et une commande de machine, et composants correspondants du système
CN104635633A (zh) * 2013-11-08 2015-05-20 沈阳高精数控技术有限公司 一种具有WiFi无线通讯的多总线式工业机器人控制系统

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009119379A1 (fr) * 2008-03-28 2009-10-01 株式会社 ダイヘン Système de commande de robot
WO2009119384A1 (fr) * 2008-03-28 2009-10-01 株式会社 ダイヘン Système de commande de machine mobile
DE102010063208A1 (de) 2010-12-16 2012-06-21 Robert Bosch Gmbh Verfahren zum Betreiben einer Sicherungseinrichtung für eine Handhabungsvorrichtung, Sicherungseinrichtung für eine Handhabungsvorrichtung und Handhabungsvorrichtung
US9415514B2 (en) * 2012-09-07 2016-08-16 Fanuc America Corporation System to monitor/analyze robot related information and display on a smart device
CN104678859B (zh) * 2015-02-11 2017-09-26 北京配天技术有限公司 工业机器人示教器及其紧急事件触发方法
JP6259413B2 (ja) 2015-03-23 2018-01-10 ファナック株式会社 ロボットまたは工作機械の制御装置、無線教示操作盤および自動機械システム
JP6333800B2 (ja) 2015-12-08 2018-05-30 ファナック株式会社 安全入力信号を生成するスイッチ装置および数値制御システム
WO2018020672A1 (fr) * 2016-07-29 2018-02-01 株式会社村田製作所 Procédé et dispositif de commande d'une pluralité d'appareils ayant une zone d'interférence mutuelle
JP6453825B2 (ja) * 2016-09-27 2019-01-16 ファナック株式会社 操作盤と無線通信を行う制御装置、無線モジュール、及び無線中継器
DE102018200435B3 (de) * 2017-07-31 2018-11-15 Volkswagen Aktiengesellschaft Kraftfahrzeug und Verfahren zum Steuern eines Roboters
CN107363812B (zh) * 2017-08-07 2020-11-13 浙江工业大学 无线控制的六自由度机械臂示教系统
CN109093634A (zh) * 2018-09-20 2018-12-28 埃夫特智能装备股份有限公司 一种拖动编程的无线示教手柄装置
CN116476101A (zh) * 2023-06-25 2023-07-25 云南涟浪机器人科技有限公司 一种用于工业机器人的控制器及工业机器人

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EP1407860A2 (fr) * 2002-10-08 2004-04-14 Fanuc Ltd Dispositif de commande à communication sans fil entre un robot et une boítier de commande portable

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JPH09117888A (ja) * 1995-10-26 1997-05-06 Yamaha Motor Co Ltd 非常停止機能付遠隔制御方法および同装置
EP0960697A1 (fr) * 1997-08-25 1999-12-01 Fanuc Ltd Mecanisme de commutation de securite d'arret d'urgence de robot et panneau de commande d'instructions
EP1407860A2 (fr) * 2002-10-08 2004-04-14 Fanuc Ltd Dispositif de commande à communication sans fil entre un robot et une boítier de commande portable

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008064381A2 (fr) 2006-11-28 2008-06-05 Keba Ag Procédé permettant de faire fonctionner une liaison de communication sans fil entre un appareil de commande manuel mobile et une commande de machine, et composants correspondants du système
WO2008064381A3 (fr) * 2006-11-28 2008-07-17 Keba Ag Procédé permettant de faire fonctionner une liaison de communication sans fil entre un appareil de commande manuel mobile et une commande de machine, et composants correspondants du système
CN104635633A (zh) * 2013-11-08 2015-05-20 沈阳高精数控技术有限公司 一种具有WiFi无线通讯的多总线式工业机器人控制系统

Also Published As

Publication number Publication date
CN200988223Y (zh) 2007-12-12
JP3140561U (ja) 2008-04-03
DE212005000036U1 (de) 2007-02-15

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