Method and apparatus for controlling handling devices

• US 7,069,112 B2
• Filed: 07/31/2003
• Issued: 06/27/2006
• Est. Priority Date: 08/08/2002
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Graf, Stefan
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US10/631,976
• Publication Number:
  US 20040030453A1
• Time in Patent Office: 1,062 Days
• Field of Search: 700245-251, 700/254, 700/256, 700/264, 318/568.1, 318/568.11, 318/568.13, 318/568.16, 318573-574, 701/23, 901/1, 901/31, 901/41, 294/64
• US Class Current: 700/248
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: G05B 19/41825 machine tools and manipulators only, machining centre
• CPC Class Codes: G05B 2219/31157 Star network, hub
• CPC Class Codes: G05B 2219/34458 Inhibit start or related control switches if path boundary is outside limits
• CPC Class Codes: G05B 2219/39109 Dual arm, multiarm manipulation, object handled in cooperation
• CPC Class Codes: G05B 2219/40307 Two, dual arm robot, arm used synchronously, or each separately, asynchronously
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A method for the synchronous control of a plurality of handling devices, such as industrial robots, having a control command to be implemented by controls of the handling devices participating in a synchronization is initiated on a random control and is subsequently further processed therein as a function of the nature of the command. An apparatus suitable for performing the method has a storage device for storing a control program for the particular handling device, input device for initiating a control command to be distributed for synchronization purposes, transmitting device for transmitting an initiated command to other controls participating in a synchronization, receiving device for receiving a command transmitted by another participating control, processing device for processing the control program in accordance with the control command and optionally for checking the initiated or received command and decision device for blocking or unblocking the transmission and/or for ordering a solely local implementation of an initiated control command.

Claims

1. A method for the synchronous control of a plurality of handling devices, wherein a control command to be performed by controls of handling devices participating in a synchronization is initiated on one of the controls, initiating control, which checks current, control-relevant states of all the controls and wherein the command processing takes place after positive state checking, but does not take place in the case of negative state checking.

2. The method according to claim 1, wherein the command processing involves the control command for synchronous implementation to be distributed to the other controls, blocked or only locally implemented.

3. The method according to claim 1, wherein a state communication takes place following an interrogation by the initiating control.

4. A method for the synchronous control of a plurality of handling devices, wherein a control command to be performed by controls of handling devices participating in a synchronization is initiated on a random control (initiating control) and is then further processed therein as a function of the nature of the command, wherein the initiating control checks current, control-relevant states of all the controls.

5. An apparatus for the synchronous control of a handling device, in a union of such handling devices having:

a. storage means for storing a control program for the handling device;

b. input means for initiating an initiating control command to be distributed for synchronization purposes;

c. transmitting means for transmitting the initiating control command to other controls participating in a synchronization;

d. receiving means for receiving an initiating control command transmitted by another, participating control;

e. processing means for processing a control program in accordance with the initiating control command and optionally for checking the initiated or received initiating control command; and

f. decision means for blocking or unblocking the transmission and/or for ordering a solely local implementation of the initiated control command.

6. The apparatus according to claim 5, wherein the controls are linked by means of a communication network.

7. The apparatus according to claim 5, wherein it is located on a common hierarchic plane with the other participating controls.

8. The apparatus according to claim 5, wherein it is connected together with the other participating controls to a common operating device, which for operating purposes can be switched to the different controls.

9. The apparatus according to claim 5, wherein the participating controls are listed in a variable stored in the storage means.