PARTS HANDLING DEVICE, SYSTEM AND METHOD

• US 20100036525A1
• Filed: 12/19/2007
• Published: 02/11/2010
• Est. Priority Date: 12/19/2006
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB Research Ltd. (ABB Ltd.)
• Inventors: Grau, Francisco Cortes, Casanelles, Ramon
• Granted Patent: US 8,855,817 B2
• Time in Patent Office: Days
• US Class Current: 700/248
• CPC Class Codes: B21D 43/05 specially adapted for multi-stage presses B21D43/145 takes precedence
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/042 comprising an articulated arm
• CPC Class Codes: B25J 9/046 Revolute coordinate type
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: G05B 2219/40519 Motion, trajectory planning
• CPC Class Codes: Y10T 74/20335 Wrist

Abstract

A method for operating a system including at least two robots for handling parts and a robot control unit arranged for control of said at least two robots. Each of the robots is arranged with a parts handler device including a rigid arm with one end connected to the end element of an arm of the robot by a first swivel arranged for radial movement of the rigid arm in relation to the end element. Each of the robots is also arranged with a gripper connected to the rigid arm by a second swivel arranged for free, passive rotation of the gripper in relation to the rigid arm. The method includes generating instructions for the at least two robots to pick and/or move and/or place a part and sending the instructions to each robot simultaneously.

Claims

1-16. -16. (canceled)

17. A method for operating a system comprising at least two robots for handling parts and a robot control unit arranged for control of said at least two robots, each of said robots being arranged with a parts handler device comprising a rigid arm with one end connected to the end element of an arm of the robot by a first swivel arranged for radial movement of the rigid arm in relation to said end element, and a gripper connected to said rigid arm by a second swivel arranged for free, passive rotation of said gripper in relation to said rigid arm, the method comprising:

generating instructions for the at least two robots to pick and/or move and/or place a part; and

sending the instructions to each robot simultaneously.

18. The method according to claim 17, further comprising:

generating instructions to the two robots for movement of a gripper or gripper arrangement to grasp, grip or otherwise pick a part from a first press.

19. The method according to claim 17, further comprising:

generating instructions to the two robots for movement of a gripper or gripper arrangement to move the part from the first press along a straight and horizontal path parallel to a press line direction to the second press.

20. The method according to claim 17, further comprising:

generating instructions to the two robots for movement of a gripper or gripper arrangement to place a part moved from a first press into a second press.

21. The method according to claim 17, further comprising:

generating instructions to the two robots for movement of a gripper or gripper arrangement to move back toward the first press along a straight and horizontal path parallel to a press line direction from the second press.

22. The method according to claim 17, further comprising:

generating instructions to the two robots for movement of a gripper or gripper arrangement so as to carry out a synchronising or calibrating routine before picking a next part in the first press.

23. The method according to claim 17, further comprising:

generating instructions to the two robots for one or more movements carried out with a plurality of degrees of freedom about at least two axes.

24. A computer program product, comprising:

a computer readable medium; and

computer program instructions recorded on the computer readable medium and executable by a processor for control of two industrial handlers each arranged with a device for handling parts to carry out a method comprising generating instructions for the industrial handlers to pick and/or move and/or place a part; and

sending the instructions to each handler simultaneously.

25. A system, comprising:

at least two robots for handling parts, each of said robots being arranged with a parts handler device comprising a rigid arm with one end connected to the end element of an arm of the robot by a first swivel arranged for radial movement of the rigid arm in relation to said end element, and a gripper connected to said rigid arm by a second swivel arranged for free, passive rotation of said gripper in relation to said rigid arm; and

a robot control unit arranged for control of said at least two robots by generating instructions for the handlers to pick and/or move and/or place a part; and

sending the instructions to each handler simultaneously.

26. The system according to claim 25, wherein the robot control unit is arranged for control of a plurality of robots and or industrial handlers.

27. The system according to claim 25, wherein said system comprises at least one multi axis robot and an industrial handler with at least two axes of movement.

28. The system according to claim 25, further comprising:

a sensor and/or a calibrator configured to synchronize or calibrate movement and/or position of the at least two robots.

29. The system according to claim 26, wherein the robot control unit comprises a computer program product for control of one or more robots or two industrial handlers each arranged with a device for handling parts, said program product comprising a computer readable medium and computer program instructions recorded on the computer readable medium and executable by a processor for control of two industrial handlers each arranged with a device for handling parts to carry out a method comprising generating instructions for the industrial handlers to pick and/or move and/or place a part;

and sending the instructions to each handler simultaneously.

30. The system according to claim 25, wherein the robot control unit comprises memory storage for one or more computer programs arranged for control of one or more robots or industrial handlers each arranged with a device for handling parts, said program comprising computer program instructions which, when fed into a computer, will make the computer carry out a method comprising generating instructions for the industrial handlers to pick and/or move and/or place a part;

and sending the instructions to each handler simultaneously.

31. The system according to claim 25, further comprising:

a cross member joined to each handling device or to both gripper arrangements for linking the handling device, or the gripper or gripper arrangement of each robot.