The present invention relates to an industrial robot system comprising a robot including a manipulator (8) having a plurality of arms that are movable relative each other about a plurality of axes and motors for actuating the movements of the axes, and a program storage (10) for storing a control program defining work to be carried out by the robot during a work cycle. The system further comprises: data storage (34) storing a model for the energy consumption of the robot depending on the movements of the axes of robot, and an energy optimization module (32) configured to determine, for at least a part of the work cycle, movements for the manipulator with regard to minimizing the energy consumption of the robot based on said control program, said model for the energy consumption of the robot, and a maximum allowed time for carrying out the work during said part of the work cycle, and a computing unit (21 ) configured to calculate reference values for the motors of the robot based on the determined robot movements.
The present invention relates to a device for measuring torque transmitted to an output shaft (20) by a harmonic drive gear assembly including a housing (10), a circular spline (16) mounted in the housing, and a flex spline (12) mounted on the output shaft. The device comprises at least one sensor (22a-b) arranged for measuring forces between the circular spline and the housing, and a computing unit configured to receive the measurements from the sensor and, based thereon, to calculate the transmitted torque.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01L 3/14 - Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
The present invention relates to a method for programming an industrial robot comprising a manipulator (1 ) movable about a plurality of axes and a robot controller (2) controlling the movements of the manipulator and configured to switch between a position control mode and a floating control mode in which the manipulator has a reduced stiffness in at least one of the axes or in at least one Cartesian direction or orientation, wherein the method comprises: - switching the robot controller to the floating control mode, and - programming the robot by means of lead-through of the robot while at the same time the controller is in the floating control mode.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
A device (102; 202) for locking a helical element (302) to a unit (502, 504), the helical element (302) having several turns (304) and being adapted to house a length of at least one cable (508). The device (102; 202) comprises a rigid hollow sleeve (104; 204) defining a longitudinal axis (x-x) and being insertable into the helical element (302), and the sleeve (104; 204) is adapted to surround a longitudinal extension of the at least one cable (508). The device (102; 202) comprises at least two members (106, 108; 206, 208) each comprising a radial extension (110, 112; 210, 212) outside the sleeve (104; 204). Each radial extension (110, 112; 210, 212) extends substantially radially in relation to the longitudinal axis of the sleeve (104; 204) and is adapted to engage between two turns (304) of the helical element (302). The members (106, 108; 206, 208) are spaced apart in the circumferential direction, and in that the members (106, 108; 206, 208) are adapted to be locked into engagement with said unit (502, 504). An arrangement for protecting at least one cable comprising said helical element (302) and said device (102; 202).
H02G 3/04 - Protective tubing or conduits, e.g. cable ladders or cable troughs
H02G 3/06 - Joints for connecting lengths of protective tubing to each other or to casings, e.g. to distribution boxEnsuring electrical continuity in the joint
H02G 11/00 - Arrangements of electric cables or lines between relatively-movable parts
A robot work station kit (10, 20) comprising at least one robot (11, 21a, 21b), configured to perform a work, such as welding, on an object (12, 22), an object holder (13, 23), configured to hold the object (12, 22) on which the work is performed, and a robot controller (14, 24), configured to control the robot (11,21a, 21b) and the object holder (13, 23), wherein the robot work station kit (10, 20) comprises a frame (15, 25) to which the robot (11, 21 a, 21 b), the object holder (13, 23) and the robot controller (14, 24) are mounted.
The present invention relates to a method and an apparatus for calibration of an industrial robot system including at least one robot (1 ) having a robot coordinate system (xr1,yr1,zr1) and a positioner (2) having a positioner coordinate system (xp, yp, Zp) and adapted to hold and change the orientation of a workpiece by rotating it about a rotational axis. Target points for the robot are programmed with respect to an object coordinate system (X01,y01, z01)- The apparatus comprising a robot controller (3), at least three calibration objects (24a-c) arranged on the positioner, and a calibration tool (26) held by the robot. The positions of the calibration objects are known in the object coordinate system. The robot controller is configured to determine the positions of the calibration objects with respect to the robot coordinate system, to determine the positions of a first (24a) and a second (24c) of said calibration objects for at least three different angles of the rotational axis of the positioner, to determine the direction of the rotational axis of the positioner in the robot coordinate system based on the determined positions of the first and second calibration objects for the three angles of the axis, and to determine the relation between the first object coordinate system and the positioner coordinate system by performing a best fit between the known and the determined positions of the calibration objects.
G05B 19/401 - 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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
7.
A CALIBRATION TOOL, A ROBOT UNIT AND A METHOD FOR SETTING THE ORIENTATION OF A ROBOT ARM TO A PREDETERMINED ORIENTATION
A calibration tool (14) for a robot arm (2). The calibration tool comprises a calibration element (15), a calibration guide (30) and a calibration reference member (32). The robot arm comprises an outer robot arm (4), an inner robot arm (6), an output member (8), a first joint (10) permitting the outer robot arm to be rotated around a first rotation axis (R1), a second joint (12) permitting the output member to be rotated around a second rotation axis (R2). The calibration reference member is attached to the inner robot arm. The calibration guide is configured to be brought into engagement with the calibration reference member by means of rotation of the outer robot arm around the first rotation axis and the output member around the second rotation axis so that the orientations of the outer robot arm and the output member are set to the predetermined orientation.
The present invention relates to a device and method for optimizing a programmed movement path (5) for an industrial robot (1) holding a tool (3) to carry out work along the path during a work cycle, wherein the movement path comprises information on positions and orientations for the tool at a plurality of target points (7) on the movement path. The method comprises for at least one of the target points the following steps: receiving a tolerance interval (α) for the orientation of the tool in the target point, determining movements of the robot between the target point and one or more of the other target points on the path for a plurality of different tool orientations within the tolerance interval, selecting one of the different tool orientations as the tool orientation for the target point based on the determined movements of the robot and with regard to minimizing cycle time, and generating a robot program based on the selected orientation of the tool at the target point.
A process turning disc (1), connectable to an output shaft of a motor (21) by means of which the process turning disc (1) is rotatable about a first centre axis (13) of the process turning disc, and configured for guiding a cable (2) or hose, comprising a first flange (3; 33) connectable to an end part (4) of a robot arm (5) and a second flange (6; 36) connectable to a tool element (7). The flanges (3, 6; 33, 36) are spaced apart from each other by an intermediate connecting member (8; 38), the connecting member (8; 38) being connected to the flanges (3, 6; 33, 36), and the connecting member (8; 38) providing a passage (9; 39) between the flanges, which passage (9; 39) is configured for receiving and guiding the cable/hose (2) and said passage having an inlet side (11; 41) for the cable/hose and an outlet side (12; 42) for the cable/hose (2). The invention also defines a robot arm comprising such a process turning disc, a robot comprising such a robot arm and the use of such a process turning disc.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
10.
A METHOD AND A DEVICE FOR COMPENSATING GAIN ERRORS OF CURRENT SENSORS IN A THREE-PHASE INVERTER
The present invention relates to a device for compensating gain errors of current sensors used in a three-phase inverter (3). The inverter comprises a plurality of switches (10a-b,11a-b,12a-b) configured to switch the current in the three phases in response to control signals (S1-S6). The current ina first phase (6a) is measured by a first current sensor (2a) and the current in a second phase (6c) is measured by a second current sensor (2b). The device comprises: a control unit (8) configured, during a calibration period, to generate control signals to control the switches so that the same current is running through the first and second phases, a data storage (14) configured to store sensor values (X,Y) from the first and second current sensors during the calibration period, a computing unit (16) configured to calculate at least one gain compensating parameter (PG) based on said stored sensor values, and a compensating unit (18) configured, during normal operation of the inverter, to compensate for differences in gain between the first and second sensors based on said gain compensating parameter.
The present invention relates to a robot teach pendant unit (2) coupled to a programmable robot controller (3), the teach pendant comprising a processor (7) for operating the teach pendant and a graphical screen (6) coupled to the processor. The robot teach pendant further comprises a processing component (10) capable of receiving an application including one or more graphical objects, instructions for displaying the objects on the graphical screen, information on the behavior of the graphical objects, and instructions on how the user can interact with the graphical objects, and said processor is configured to run the processing component.
G05B 19/409 - 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 data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical 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 control panel details or by setting parameters
The present invention relates to a robot teach pendant unit (2) coupled to a programmable robot controller (1 ), the teach pendant comprising a graphical screen (6), and a native user interface program (9) which creates a graphical user interface and displays the user interface on the graphical screen. The robot teach pendant further comprises a processing component (10) capable of receiving an application including one or more animated graphical objects, instructions for displaying the animated objects on the graphical screen, information on the behavior of the animated graphical objects, and instructions on how the user can interact with the animated graphical objects, and the processing component is configured to display the animated graphical objects on the screen and to set up a sandbox providing an isolation mechanism for safely running the application without disturbing the execution of normal teach pendant operations, and said user interface program is programmed to host directly the processing component and instructing it to load and display the application containing the animated graphical objects.
G05B 19/409 - 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 data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical 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 control panel details or by setting parameters
13.
A DEVICE AND A METHOD FOR FACILITATING EDITING OF A ROBOT PROGRAM
The present invention relates to a device for editing a robot program designed to control an industrial robot to carry out work along an operating path, the robot program including a sequence of program instructions, and some of the instructions are instructions having modifiable position arguments specifying poses on the operating path. The device comprises a program editor (10;20) configured to enable a user to select between navigating up and down among all of the instructions of the robot program, and navigating only among the instructions of the robot program which have modifiable position arguments.
G05B 19/409 - 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 data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical 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 control panel details or by setting parameters
The present invention relates to a drive unit for at least one electric motor. The drive unit comprises: a control power supply (+18V) for supplying the drive unit with control power, a power source (1 ) producing direct current to one or more inverters (2), at least one inverter producing current to the motor, an energy storage (C) arranged at the output of the power source for smoothing direct current and storing energy recovered during braking of the motor, and a discharge circuit (8, 10) for discharging the energy stored in said energy storage, wherein the discharge circuit includes a power resistor (8) arranged to discharge the energy stored in the energy storage. The drive unit further comprises a first and a second switch (5,6) arranged between the power source and the energy storage, and the switches are arranged such that they are in default positions when there is no control power in the drive unit, and the drive unit is arranged such that the power source is disconnected from the motor and the energy storage is discharged via said power resistor when the switches are in their default positions.
H02M 7/12 - Conversion of AC power input into DC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
H02M 7/48 - Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
15.
A SYSTEM AND A METHOD FOR OFF-LINE PROGRAMMING OF AN INDUSTRIAL ROBOT
The present invention relates to a system for off-line programming of an industrial robot (1) comprising a robot controller (2) for controlling the movements of the robot. The system further comprises an external computer (3) having a programming and simulation tool (10) with the capability of running one or more virtual robot controllers (12), and the real robot controller and the external computer are configured to allow communication with each other. The system further comprises a data transfer module (17) configured to, upon request, automatically transfer configuration and program data between the real robot controller and a virtual robot controller running on the external computer, and a filter component (18) configured to filter the transferred configuration and program data according to defined filtering rules.
An apparatus (1) and a method for performing consecutive operations on products (2) is described. The apparatus (1) comprises a conveyor (3) for transportation of the products (2) along a series of stations (5, 6) positioned along the conveyor (3), wherein at least one of the stations (5, 6) is an automatic station (6). The apparatus (1) comprises at least one variable speed mechanism (8), which is arranged to move a product (2) from the conveyor (3) to an automatic station (6) and to return the product (2) to the conveyor (3) after the performance of the operations at the automatic station (6), wherein the variable speed mechanism (8) is arranged to move the product (2) at a lower speed than the conveyor (3) during performance of the operations at the automatic station (6).
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
B23Q 7/16 - Loading work on to conveyorsArranging work on conveyors, e.g. varying spacing between individual workpieces
B23Q 41/02 - Features relating to transfer of work between machines
B65G 37/02 - Flow sheets for conveyor combinations in warehouses, magazines or workshops
B65G 47/31 - Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors by varying the relative speeds of the conveyors forming the series
17.
A METHOD AND A SYSTEM FOR FACILITATING CALIBRATION OF AN OFF-LINE PROGRAMMED ROBOT CELL
The present invention relates to a method and a system for facilitating calibration of a robot cell including one or more objects (8) and an industrial robot (1,2,3) performing work in connection to the objects, wherein the robot cell is programmed by means of an off-line programming tool including a graphical component for generating 2D or 3D graphics based on graphical models of the objects. The system comprises a computer unit (10) located at the off-line programming site and configured to store a sequence of calibration points for each of the objects, and to generate a sequence of images (4) including graphical representations of the objects to be calibrated and the calibration points in relation to the objects, and to transfer the images to the robot, and that the robot is configured to display said sequence of images to a robot operator during calibration of the robot cell so that for each calibration point a view including the present calibration point and the object to be calibrated is displayed to the robot operator.
The present invention relates to a method for manufacturing a joint. The method includes the following steps: A. mounting a pin on a ball, B. machining spherical surfaces on at least two socket parts, C. applying grinding paste on the ball and/or on the surfaces if the socket parts, D. connecting the pin to an equipment that rotates the ball, E. assembling the ball between the socket parts, F. applying a pressure between the socket parts and the ball, G. rotating and tilting the ball over the working range of the joint, H. cleaning the ball and the socket parts from the grinding paste, and I. assembling the joint by mounting the socket parts on a ball. The invention also relates to a joint obtainable with the method according to the invention.
The invention relates to an arc welding robot having a welding gun (2) a welding power source (3), a robot controller (4), a current sensor (5) sensing the current supplied to the arc, a position measurement system (7) sensing the position of the welding gun (2) and processing means processing data related to the sensed current and the sensed position and delivering robot commands based on the processed data. According to the invention the processing means is the micro processor (8) of the robot controller (4). The invention also relates to a corresponding method for controlling an arc welding robot.
The present invention relates to a control system for controlling an industrial robot comprising a motion control part (3), wherein the motion control part is configured to operate the robot in accordance with a control program and a set of motion control parameters. The control system comprises a data storage (10) for storing a plurality of optional sets of motion control parameters adapted for different types of applications, and the control systern is configured to receive information on a selected type of application, and the motion control part is configured to operate the robot in accordance with the set of motion control parameters belonging to the selected type of application.
A METHOD AND A SYSTEM FOR DETERMINING THE RELATION BETWEEN A ROBOT COORDINATE SYSTEM AND A LOCAL COORDINATE SYSTEM LOCATED IN THE WORKING RANGE OF THE ROBOT
The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot (1) and a robot coordinate system. The method comprises: attaching a first calibration object (10) in a fixed relation to the robot, determining the position of the first calibration object in relation to the robot, locating at least three second calibration objects (14, 15, 16) in the working range of the robot, wherein at least one of the calibration objects is a male calibration object having a protruding part shaped as a sphere, and at least one of the calibration objects is a female calibration object comprising at least two nonparalIeI, inclining surfaces arranged to receive the sphere so that the sphere is in contact with the surfaces in at least one reference position, determining a reference position for each of the second calibration objects in the local coordinate system, for each second calibration object moving the robot until the sphere is in mechanical contact with the surfaces of the calibration object, reading the position of the robot when the sphere is in mechanical contact with all of the surfaces, and calculating the relation between the local coordinate system and the robot coordinate system based on the position of the first calibration object in relation to the robot, the reference positions of the second calibration objects in the local coordinate system, and the positions of the robot when the sphere is in mechanical contact with the surfaces of the second calibration objects.
G05B 19/401 - 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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
22.
A METHOD FOR COMPENSATION TOOL WEAR AND A MACHINE TOOL FOR PERFORMING THE METHOD
The invention discloses a method for compensating tool wear for a tool (3) having force control based adjustment or the like of the tool (3). The method includes the steps of: defining a reference point on the machine; establishing the position of the reference point for at least on predetermined operation point; measuring the actual position of the reference point at the predetermined operation point during operation; calculating the tool wear based on the difference between the reference position and the actual position, and accomplishing a compensation movement in response to the calculated tool wear. The invention also discloses a machine tool for performing the method.
B23Q 15/28 - Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece with compensation for tool wear
G05B 19/18 - 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
The invention relates to a multi-DOF sensor for an industrial robot, which robot has at least two DOF. The multi-DOF sensor is arranged for sensing at least one force and is constituted by a plurality of one-DOF sensors (11, 12). A first end face of each one-DOF sensor (11, 12) is connected to a surface of a first body (31 a, 31 b) and a second end face of each one-DOF sensor (11, 12) is connected to a surface of a second body. The invention also relates to an industrial robot comprising the invented multi-DOF sensor.
G01L 5/16 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
The present invention relates to an industrial robot system comprising a plurality of robots, a plurality of robot controllers for controlling the robots, a handheld teach pendant unit (7) for teaching and programming the robots, and a communication link arranged for transmitting and receiving information between the teach pendant unit and the robot controllers. The robot system comprises login means (26) for login the teach pendant unit to one of the controllers, thereby allowing the teach pendant unit access to control programs on the controller, the teach pendant unit comprises a display means (12) for displaying control programs retrieved from the controller. The login means is configured to allow the teach pendant unit to simultaneously be logged on to two or more of the controllers, thereby allowing the teach pendant unit simultaneous access to control programs on two or more controllers, and said display means is configured to simultaneously display control programs from at least two controllers.
G05B 19/408 - 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 data handling or data format, e.g. reading, buffering or conversion of data
G05B 19/409 - 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 data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical 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 control panel details or by setting parameters
25.
A CONTROL SYSTEM FOR CONTROLLING AN INDUSTRIAL ROBOT
A control system for controlling at least one industrial robot, wherein the control system comprises a plurality of software modules (41-47) for handling various system functions of the control system, and a plurality of separate hardware units (50-53), each comprising a processing unit (30a-d) and a memory unit (26a-d) for storing one or more of said software modules, and each of the hardware units is configured to receive and execute one or more of the software modules. At least some of the software modules are arranged scalable with regard to the performance of the system functions dependent on the capacity of the hardware unit running the software module, and the control system comprises a resource-distributing unit (55) having knowledge of the capacity of the hardware units, the scalability of the software modules, and the demand on hardware capacity of the software modules,and the resource- distributing unit is configured to plan how to distribute said software modules among said hardware units in order to optimized the performance of the system functions.
The present invention relates to servo controller for controlling a plurality of motors including a master motor (M1 ) and a slave motor (M2) cooperatively driving a movable member. The servo controller is configured to control the master motor and the slave motor based on position references (posref) for the master motor, the servo controller comprises a master speed controller (6a) configured to calculate a reference torque (τref1 ) for the master motor based on speed errors (verr1 ) for the master motor. The slave speed controller (6b) is configured to calculate refer ence torques (τref2) for the slave motor based on speed errors (Verr2) for the slave motor. Each of the reference torques includes a proportional torque part (τp1,τp2) and an integral torque part ((τI1,(τI2). The servo controller is configured to calculate each of the integral torque parts based on the speed errors of the master motor and the speed errors of the slave motor, such that the torques due to the integral torque parts will be distributed equally between the master and slave motors or according to a predefined ratio.
H02P 5/46 - Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
G05B 19/19 - 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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
27.
AN INDUSTRIAL ROBOT TENDING A MACHINE AND A METHOD FOR CONTROLLING AN INDUSTRIAL ROBOT TENDING A MACHINE
An industrial robot (1) for tending a machine (4) including a machaine part (5) providing a repetitive sequence of movements. The robot including a robot controller (3) comprising a program storage for storing a path of programmed positions for the robot and a path of programmed positions for the machine part, and a motion planner configured to plan the motion of the robot and the motion of the machine part based on the programmed positions for the robot and the machine part such that the motion of the robot and the motion of the machine part are coordinated with each other. The motion planner is configured to calculate expected positions of the machine part along the path based on the planned motion of the machine part. The robot controller is configured to receive information on actual positions of the machine part, to compare the actual positions with the expected positions of the machine part, and to generate a signal (S) to slow down or stop the motion of the machine part when the actual position is ahead of the expected position of the machine part.
G05B 19/418 - 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] or computer integrated manufacturing [CIM]
28.
AN INDUSTRIAL ROBOT DEVICE, AN INDUSTRIAL ROBOT AND A METHOD FOR MANIPULATING OBJECTS
The invention relates to an industrial robot device. The device has a swivel with attachment means for the attachment of a tool. According to the invention the attachment means includes at least two different attachment devices for two different kinds of tools. A first attachment device (9, 10) includes positioning means (9) defining a certain angular position of an attached tool relative to the swivel. A second attachment device (10) is arranged for allowing an arbitrary angular position of an attached tool relative to the swivel. The invention also relates to an industrial robot that is provided with the invented device and to a method for manipulating objects.
The present invention relates to an industrial robot system comprising a workcell including a load area and a process area, a detector (6) detecting when a human enters the load area, a manipulator located in the workcell, at least one positioner adapted to hold a workpiece and to change the orientation of the workpiece about at least one axis while the manipulator processes the workpiece, and a station exchanger movable about an axis and adapted to move, upon command, the manipulator or the positioner between the load and process area. Each of the axes is provided with a motor (M1-M3) and a drive unit (53-55). An axis controller (50) is adapted to switch between executing a first task in which the axes of the positioner and the station exchanger are commanded to a standstill, and a second task in which the axes of the positioner and the station exchanger are allowed to move. A safety controller (58) is adapted to supervise, upon detecting that a human is entering the load area, whether any of the station exchanger or the positioner is moving, and to generate a signal which disables the drive unit of the moving axis if it is detected that any of the supervised axes is moving.
B25J 21/00 - Chambers provided with manipulation devices
F16P 3/12 - Safety devices acting in conjunction with the control or operation of a machineControl arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
A drive unit for at least one electric motor, the drive unit comprising: a power source (1 ) producing direct current to the motor, an energy storage (C1 ) arranged at the output of the power source for storing energy recovered during braking of the motor, a discharge circuit for discharging the energy stored in said energy storage if the voltage across the energy storage becomes too high, wherein the discharge circuit includes a resistor (R) adapted to discharge the energy stored in the energy storage. The drive unit is adapted, during start-up of the drive unit, to lead an inrush current through said resistor and during normal operation to discharge the energy storage by means of said resistor when the voltage across the energy storage becomes too high.
H02H 9/00 - Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
H02P 3/14 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor by regenerative braking
31.
ROBOT TOOL HAVING A CUTTING BLADE AND CORRESPONDING METHOD FOR MACHINING WORKPIECES
The invention relates to a robot tool (22) for machining workpieces (16), comprising a connecting element for connection to a robot. The invention is characterized in that a cutting blade (28) is maintained in a predetermined position by a retaining element (24), said retaining element being connectible to the robot by means of the connecting element.
A control system for controlling at least one industrial robot having a plurality of motors, the control system comprising: a current control unit (1) adapted to calculate control signals for the currents of said plurality of motors based on current feedback signals and instructions from a main computer, a drive arrangement (2;30-32;45-48) adapted to control the motors by generating variable alternating currents for the motors in dependence on said control signals from the current control unit, and an interface between the current control unit and the drive arrangement adapted to transfer said control signals from the current control unit to the drive arrangement and to transfer current feedback signals from the drive arrangement to the current control unit. The interface comprises a high-speed serial communication link (3). ( F i g. 3)
The present invention relates to a communication interface bet ween a control unit (1) and a high voltage unit (2). The interface comprises a serial communication link (3) between the control unit and the high voltage unit. The interface comprises a signal transformer (10) arranged as an isolation barrier (13) between the control unit and the high voltage unit to ensure personal safety.
The present invention relates to an apparatus and a method for automatically calibrating a linear track (20) along which a device is moving while it is performing work. The method comprises: moving a mechanical unit (18), provided with a first angle- measuring sensor (1) arranged for measuring an angle relative to the vertical line about a first measuring axis and a second angle-measuring sensor (2) arranged for measuring an angle relative to the vertical line about a second measuring axis essentially perpendicular to the measuring axis of the first angle-measuring sensor, along the track, receiving angular measurements from both angle-measuring sensors for a plurality of locations along the track, and calculating vertical changes in position along the length of the track for both sides of the track based on the received angular measurements from both angle-measuring sensors.
G05B 19/401 - 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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
35.
METHOD AND APPARATUS FOR PROGRAMMING AN INDUSTRIAL ROBOT
The present invention relates to a method and an apparatus (1) for programming an industrial robot working in a work cell including one or more workstations and the robot is visiting and performing work on the workstations. The apparatus comprises: a memory location (2) for storing preprogrammed robot code comprising program instructions where accommodations for optional parameters are made, and for storing at least one predefined workstation having a plurality of different scenarios, each scenario including a set of parameters defining how the robot will perform work on the workstation, a graphical display and input device (3) adapted to present a graphical user interface displaying a graphical object representing the workstation, displaying information about the scenarios together with the graphical object representing the workstation and allowing the user to select one of the scenarios associated with the workstation, and a robot program generator (4) adapted to generate a robot program based on user selected scenarios and the preprogrammed robot code.
The present invention relates to an apparatus for automatically fine-tuning a robot program for carrying out a material removal process on an object (1) by means of a robot (4). The apparatus comprising a measuring system (3) configured to measure the geometry of the object, and at least one computing device (5) having program code comprising code configured to: control the robot to pick a reference object processed with a desired process result, and move the reference object into the measuring range of the measuring system, receive measurements of the geometry of processed parts of the reference object, control the robot to pick a not processed work object of the same type as the reference object, control the robot to perform the material removal process on the work object in accordance with the programmed robot path, control the robot to move the work object into the measuring range of the measuring system, receive measurements of the geometry of the work object after the removal process, calculate deviations between the geometry of the processed work object and the processed reference object, determine whether the calculated deviations are acceptable, and if the deviations are acceptable store the adjusted robot path, and if the deviations are not acceptable adjust the robot path based on the geometrical deviations and repeat the procedure for a new object.
G05B 19/401 - 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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
G05B 19/4099 - Surface or curve machining, making 3D objects, e.g. desktop manufacturing
37.
A METHOD AND AN APPARATUS FOR COMPENSATING FOR GEOMETRICAL ERRORS BETWEEN WORK OBJECTS AND A HOLDING DEVICE
The present invention relates to a method and an apparatus for compensating for errors in a certain number of degrees of freedoms in the geometric relation between a work object (1) and a device (2) holding the object. A measurement system including at least one sensor (3) is providing surface measurements on the object. The method comprises measuring a first reference surface (10) of a reference object, calculating the position and orientation of the first reference surface based on the measurements, moving the reference object in a first degree of freedom, measuring on the first reference surface, calculating the position and orientation of the first reference surface after the moving based on the measurements, repeating those steps for at least the same number of degrees of freedom as the number of degrees of freedom in which the object may have errors in relation to the device, performing the same procedure for at least two more reference surfaces (11, 12, 13), calculating the position and orientation changes of all the reference surfaces, and calculating a relationship between the calculated position and orientation changes and corresponding changes of the position and orientation of the object. Using the relationship for compensating for the errors in object position and orientation.
G05B 19/401 - 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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
The invention relates to a method and a system for controlling an automatic flow of products. The system comprises a plurality of transport stations (1a-c) which supply or consume the products , at least one aggregation station (5a-b) on which an aggregation (6a-b) of products is built up or dismounted, a programmable mechanical device (8) adapted to move the products be- t w e e n the transport stations and the aggregation station, a queue for the aggregation station, and at least one computing device (9) having therein program code configured to: receive at least one sequence of operations defining at least a part of a desired flow of products to or from the aggregation station in order to build up or dismount said aggregation of products according to the pattern, load the received sequence of operations to t h e queue of the aggregation station, and repeat the following steps until all operations in the queue have been executed: retrieve next operation from the queue of the aggregation station, select one of the transport stations and control it based on the retrieved operation, and instruct the mechanical unit to perform movement s for transporting a product between the selected transport station and the aggregation station based on the retrieved operation.
The invention relates to a spot weld gun (1) comprising a base unit (2) arranged to be attached to a tool holder (), a movable gun unit (4) with a first (5) and a second electrode carrying arm (6). The spot weld gun further comprising an equalizing means (25) for balancing the movable gun unit (4) in relation to the fixed base unit (2) during welding operations. The base unit (2) comprises linear guide means (12, 13). The equalizing means (25) is arranged connecting the base unit (2) and the gun unit (4). The first (5) and the second electrode carrying arm (6) are sliding along the linear guide means (12, 13) during balancingof the movable gun unit (4).
The invention relates to a method for assembly of a first part (1) to a second part (2) of a manipulator (5), wherein the first part (1) has a first interface surface (8) and the second part has a second interface surface (9), which first and second interface surfaces (8, 9) after the assembly forms an interface (3) between said first part (1) and said second part (2), the second part (2) further being provided with a pinion (15) rotatable about a second symmetry axis (13) and the first part (1) being provided with a gearwheel (25) rotatable about a first symmetry axis (7), the method comprising: - providing at least one of said interface surfaces (8, 9) with a guide member (34), about which the first part (1) is rotatable in parallel relation to said the first (7) and second symmetry axis (13), - joining said first part (1) and said second part (2) of the manipulator such that said first interface surface (8) and said second interface surface (9) being compatible to each other, - rotating the first part (1) about said guide member (34) until the gearwheel (25) fully meshes the pinion (15), - fastening the first part (1) firmly to said second part (2) by means for fastening (10).
The invention provides an industrial robot comprising a first robot part (38a) and a second robot part (4a) arranged to be moved in relation to each other, and at least one drive unit (1) arranged to move one of the robot parts (,) during operation of the robot. The at least one drive unit (1) is arranged as a compact module (39) with a common housing (38) comprising a lightweight electric motor (40) and a lightweight speed reducer (5), the drive unit module (39) comprises a mounting flange (4), and the drive unit module is arranged such that the common housing (38,) is connected to the first robot part (38a) and the mounting flange is connected to the second robot part (4a).
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