PROGRAMMABLE ROBOT AND USER INTERFACE

• US 20090289591A1
• Filed: 03/02/2007
• Published: 11/26/2009
• Est. Priority Date: 03/03/2006
• Status: Active Grant

• Current Assignee: Universal Robots A/S (Teradyne Incorporated)
• Original Assignee: Universal Robots A/S (Teradyne Incorporated)
• Inventors: Støy, Kasper, Østergaard, Esben Hallundbæk, Kassow, Kristian
• Granted Patent: US 8,779,715 B2
• Time in Patent Office: Days
• US Class Current: 318/568.130
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: B25J 19/0004 Braking devices brakes in general F16D
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 19/425 Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
• CPC Class Codes: G05B 2219/37138 Encoder and gear and absolute coder, give together absolute position of rotation
• CPC Class Codes: G05B 2219/39427 Panel on arm, hand of robot, controlled axis
• CPC Class Codes: Y10S 901/23 Electric motor
• CPC Class Codes: Y10T 74/20317 including electric motor
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

The invention relates to a programmable robot system comprising a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint, the system furthermore comprising controllable drive means provided in at least some of said joints and a control system for controlling said drive means. The robot system is furthermore provided with user interface means comprising means for programming the robot system, said user interface means being either provided externally to the robot, as an integral part of the robot or as a combination hereof and storage means co-operating with said user interface means and said control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.

Claims

1. A programmable robot system comprising:

(a) a robot comprising a number of individual arm sections, where adjacent arm sections are interconnected by a joint;

(b) a controllable drive provided in at least some of said joints which drives said joints;

(c) a control system for controlling said controllable drive;

(d) a user interface system comprising means for programming the robot system, said user interface system being either provided externally to the robot, as an integral part of the robot, or as a combination thereof;

(e) storage means co-operating with said user interface system and said control system for storing information related to one of the movement and further operations of the robot or a tool mounted on the robot;

wherein said user interface system further comprises a touch screen upon which a 3D-representation of the robot is shown together with icons for positioning and orienting the robot tool.

2. A programmable robot system according to claim 1,

wherein said control system comprises means for controlling triggering of actions performed by the robot and/or the tool mounted on the robot;

and

wherein said means for triggering comprises an external sensor for placement on one of portions of the robot or on external entities in the surroundings.

11. A programmable robot system according to claim 1, characterized in that the user interface comprises software applications containing one or more wizards that can be chosen by a user for aid during programming of the robot.

12. A programmable robot system according to claim 1, characterized in that the user interface, at least during programming of the robot with said programming means, has access to pre-programmed templates describing preferred movements, actions and other characteristics relevant to the robot in relation to specific operations and/or surroundings.

13. A programmable robot system according to claim 1, characterized in that said programmable means comprises:

(a) an external programming and control unit provided with the touch screen for displaying menus and/or computer-generated pictures of the robot at least during programming and an initial control/supervision of the robot, and with a means for entering directions and information to the control system of the robot; and

(b) external sensor and/or entry means for placement on chosen portions of the robot or remote from said programming and control unit or for tracing paths in space which will be followed by portions of the robot during programming and operation of the robot.

14. A programmable robot system according to claim 1, characterized in that computer-generated images of pertinent parts of the surroundings are displayed on the touch screen.

15. A programmable robot system according to claim 13, characterized in that said external sensor and/or entry means comprises a 3D-mouse (“

space mouse”

) or a joystick.

39. A programmable robot system according to claim 1,

wherein said icons for positioning and orienting the tool comprise a) icons for setting the co-ordinates of roll, pitch and yaw of the robot tool and b) icons for positioning the robot tool vertically and horizontally, and

wherein said touch screen furthermore displays icons for rotating the respective joints of the robot.

40. A programmable robot system according to claim 1,

wherein said joint comprises a safety brake comprising a solenoid, which upon activation of the brake displaces a ratchet into engagement with an annular member mounted on the motor axle, whereby the annular member can rotate relative to the motor axle, but with friction between the annular member and the motor axle;

and

wherein said solenoid is mounted on a printed circuit board (PCB) that is fixed relative to the housing of the joint.

3. (canceled)

4. A robot comprising:

(a) a number of individual arm sections, where adjacent said arm sections are interconnected by a respective joint;

(b) a controllable drive provided in at least some of said joints;

(c) a control system for controlling said controllable drive;

(d) an attachment and a drive for a tool;

wherein said joint comprises a safety brake comprising a solenoid, which upon activation of the brake displaces a ratchet into engagement with an annular member mounted on the motor axle, whereby the annular member can rotate relative to the motor axle, but with friction between the annular member and the motor axle; and

where said solenoid is mounted on a printed circuit board that is fixed relative to the housing of the joint.

7. A robot according to claim 4, characterized by comprising at least two joints connected to each other without interconnecting arm sections.

5-6. -6. (canceled)

8. (canceled)

9. User interface system for a programmable robot comprising:

(a) a display screen for showing menus relating to programming steps to be performed by a user during programming of said robot and/or a computer generated representation, such as a 3 dimensional representation of the robot showing the robot at least during programming of the robot, but optionally also during test run and/or during actual operation of the robot; and

(b) means for entering instructions to a control system of the programmable robot; and

(c) a touch screen upon which a 3D-representation of the robot can be shown together with icons for positioning and orienting the robot tool.

10. User interface system according to claim 9, characterized in that it furthermore comprises storage means, either in the interface system or operatively connected to the interface system for storing information relating to programming and operations of the robot and optionally also for storing information relating to the surroundings of the robot, such as obstacles to be avoided during movement of the robot and/or prohibited regions in space.

22. A method for programming a robot comprising user control of the position and movement of the robot tool in space by use of a user interface system according to claim 9 comprising control means for controlling said position and movement of the tool and by use of said user interface system indicating the position and/or orientation of the tool at a number of positions in space and storing said position and/or orientation in storage means in a control system of the robot, where at least one of said positions of the tool is in the vicinity of an object to be handled by the tool.

23. A method according to claim 22, where the method furthermore comprises the sensing or identification of said object at said at least one position of the tool.

41. User interface system according to claim 9,

wherein said icons for positioning and orienting the tool comprises a) icons for setting the co-ordinates roll, pitch and yaw of the robot tool and b) icons for positioning the robot tool vertically and horizontally, and

wherein said touch screen furthermore displays icons for rotating the respective joints of the robot.

16-21. -21. (canceled)

24-25. -25. (canceled)

26. A database comprising programming and control information relating to a programmable robot, said database for at least one operation of the robot comprising information specifying initial position of a tool, activation/triggering parameters of the tool at the initial position, final position of a tool, activation/triggering parameters of the tool at the final position and information relating to the path in space followed between initial and final position and vice versa.

27-28. -28. (canceled)

29. A joint for a robot comprising a safety brake comprising a solenoid which upon activation of the brake displaces a ratchet into engagement with an annular member mounted on the motor axle, where the annular member can rotate relative to the motor axle, but with friction between the annular member and the motor axle, and wherein said solenoid is mounted on a printed circuit board (PCB) that is fixed relative to the housing of the joint.

31. A joint according to claim 29, characterized in that it comprises encoder means for sensing the angular orientation of an output axle or output flange and encoder means for sensing the angular orientation or rotation of the motor.

32. A joint according to claim 29 characterized in that it comprises an output axle and/or an output flange for coupling to an adjacent joint or connecting member and a connecting portion for coupling to an adjacent joint or connecting member.

30. (canceled)

33-38. -38. (canceled)