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System and method for aligning and for controlling the position of a robot tool

A technology of manipulators and hand tools, applied in the field of monitoring the alignment of manipulators and tools, can solve problems such as huge cost factors

Active Publication Date: 2009-01-07
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these interfaces or enclosures create additional technical complexity and commercial costs and represent a significant cost factor associated with the installation of the manipulator

Method used

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  • System and method for aligning and for controlling the position of a robot tool
  • System and method for aligning and for controlling the position of a robot tool
  • System and method for aligning and for controlling the position of a robot tool

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] figure 1 An example of a method sequence for alignment, positioning and orientation monitoring of a manipulator tool is shown, wherein in a second method step 10, of the recorded measured values ​​relating to the manipulator axis and / or the motor position of the manipulator Based on this, the alignment of the manipulator tool and the predetermined tolerance angles each defining a conical tolerance zone around the respective reference direction of the manipulator tool are taken into account for the method to automatically determine the alignment of the manipulator tool and its position.

[0038] In this case, the reference direction of the robot tool preferably extends along a predeterminable fixed reference space of the robot working area. In this case, the fixed reference space is based on a Cartesian coordinate system, which defines a three-dimensional vector space.

[0039] In a second method step 20 , the determined alignment is compared with a respectively predet...

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PUM

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Abstract

The invention relates to a method and to a system for aligning and controlling the position of a robot tool, wherein a monitoring device (600) is equipped with a detection unit (610) and processing unit (620) which co-operates with the control device (630) of the robot and automatically determines the alignment of the robot tool (205) by means of the detection unit (610) by taking into account at least one pre-determined reference direction of the robot tool (205), in addition to at least one predetermined tolerance angle which defines a tolerance range for the at least one reference direction of the robot tool (205).; The processing unit (620) compares the determined alignment to the predetermined reference direction and / or to the tolerance values predetermined by the defined tolerance range and / or if the at least one tolerance range is not respected, the respective robot tool (205) is disconnected and / or deactivated in co-operation with the control device (630) of the robot (200).

Description

technical field [0001] The present invention relates to systems and methods for monitoring the alignment of robotic tools. Background technique [0002] Manipulators used in industry are often equipped with tools, which can be more than just handling tools for processing or assembly tasks, such as tools for polishing, grinding, welding, splitting, painting, bonding, in particular such as welded pipe Or a tool such as a welding gun, paint spray gun, bonding gun, or other cutting gun, and the tool can also be a grabbing tool to perform predetermined tasks under the control of the program. [0003] Since some of these tools or accessories present a major potential hazard to persons and materials in daily use, especially due to the emission of dangerous or harmful devices or media (such as laser beams or high-pressure water jets) , so special safety-related aspects must be considered when using these tools, and appropriate measures must be provided to minimize hazards and / or da...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1612B25J9/1674
Inventor 桑克·科克
Owner ABB (SCHWEIZ) AG
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