Manipulation device such as an industrial robot having at least one sensor

• US 4,611,296 A
• Filed: 10/12/1984
• Issued: 09/09/1986
• Est. Priority Date: 11/11/1983
• Status: Expired due to Fees

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Niedermayr, Erich
• Primary Examiner(s): Ruggiero, Joseph
• Application Number:
  US06/660,382
• Time in Patent Office: 697 Days
• Field of Search: 364/513, 364/478, 364/191-193, 364/138, 364/139, 364/550, 364/551, 364/579, 364/580, 318/568, 318/639, 901/9, 901/10, 901/31-35, 901/38, 901/46, 901/47, 414/730, 324/115
• US Class Current: 700/260
• CPC Class Codes: G05B 19/4147 characterised by using a programmable interface controller [PIC]
• CPC Class Codes: G05B 2219/34012 Smart, intelligent I-O coprocessor, programmable sensor interface
• CPC Class Codes: G05B 2219/34242 For measurement only
• CPC Class Codes: G05B 2219/35473 Input limit values of speed, position, acceleration or force
• CPC Class Codes: G05B 2219/36509 Select as function of shape, dimension of workpiece
• CPC Class Codes: G05B 2219/37357 Force, pressure, weight or deflection
• CPC Class Codes: G05B 2219/39505 Control of gripping, grasping, contacting force, force distribution
• CPC Class Codes: G05B 2219/45083 Manipulators, robot

Abstract

A manipulation device, such as an industrial robot has at least one sensor connected to a control unit through a programmable sensor interface. The programmable sensor interface includes at least one microprocessor and at least one memory. Each sensor has three signal ranges, the limits of these ranges being selectable by thresholds which can be stored in the memory. The microprocessor is programmed to classify the signal received from a sensor in one of the signal ranges, and to transmit the result of the classification to the control unit. Activation of the individual sensors is undertaken by the control unit through a serial interface or through a parallel interface.

Claims

1. A manipulation device comprising:

a robot means;

a control unit connected to said robot means for controlling the operation thereof;

at least one sensor located on said robot means for detecting a parameter usable in controlling operation of said robot means, said sensor emitting an output signal within a sensor range;

a programmable sensor interface interconnected between said sensor and said control unit, said programmable sensor interface including at least one microprocessor and at least one programmable memory connected to said microprocessor, said memory having a plurality of thresholds stored therein allocated to said sensor dividing said sensor range into at least three sub-ranges, and said microprocessor classifying an output signal received from said sensor into one of said sub-ranges and transmitting the result of said classification to said control unit for use in controlling the operation of said robot means.

2. A manipulation device as claimed in claim 1 comprising a plurality of sensors and a means in said control unit for selecting one of said sensors, said output signal from the selected sensor being classified and transmitted by said microprocessor to said control unit.

3. A manipulation device as claimed in claim 2 further comprising a terminal means, and wherein said means for selecting one of said sensors is a serial interface interconnected between said control unit and said terminal means.

4. A manipulation device as claimed in claim 2 wherein said control unit includes a plurality of parallel binary output lines connected to said means for selecting one of said sensors for use in selecting said sensors.

5. A manipulation device as claimed in claim 3 wherein selection of one of said sensors is undertaken through said terminal means and wherein said terminal means is also connected to said programmable memory for entering said thresholds therein.

6. A manipulation device as claimed in claim 2 further comprising a display means connected to said programmable sensor interface for displaying an identification of the selected sensor, the output signal of said selected sensor, and the signal sub-range allocated to said selected sensor.

7. A manipulation device as claimed in claim 1 wherein said control unit has a plurality of binary input lines interconnected between said control unit and said programmable sensor interface respectively allocated to each of said signal sub-ranges of each sensor.

8. A manipulation device as claimed in claim 7 further comprising a multiplexer interconnected between said binary input lines and said programmable sensor interface.

9. A manipulation device as claimed in claim 1 wherein said output signal of said sensor is an analog signal, and further comprising an analog-to-digital converter in said programmable sensor interface.

10. A manipulation device as claimed in claim 7 wherein said programmable sensor interface further includes a parallel output interface having a plurality of binary outputs respectively connected to said binary input lines of said control unit.

11. A manipulation device as claimed in claim 2 further comprising a serial interface means in said programmable sensor interface connected to said serial interface between said control unit and said terminal means.

12. A manipulation device as claimed in claim 1 wherein said control unit has a plurality of binary outputs and wherein said programmable sensor interface further includes a parallel input interface having a plurality of binary inputs to which said binary outputs of said control unit are connected.

13. A manipulation device as claimed in claim 1 wherein said robot means has a programmable claw means comprising:

a movable gripper means;

at least one sensor carried on said gripper means;

at least one drive motor connected to said gripper means and to said control unit through a digital-to-analog converter in said programmable sensor interface,

output signals of said sensor on said gripper being supplied to said microprocessor and said microprocessor controlling said drive motor for controlling said gripper based on selected rated values supplied to said microprocessor.

14. A manipulation device as claimed in claim 13 wherein said sensor is a path measuring means and wherein said microprocessor controls the position of said gripper means.

15. A manipulation device as claimed in claim 13 wherein said sensor is a force measuring means and wherein said microprocessor controls the gripper force of said gripper means.

16. A manipulation device as claimed in claim 13 further comprising a serial interface interconnecting said programmable sensor interface and said control unit for prescribing said rated values.

17. A manipulation device as claimed in claim 13 wherein said rated values are stored in said memory in said programmable sensor interface.