Industrial robot system

• US 7,208,900 B2
• Filed: 10/17/2002
• Issued: 04/24/2007
• Est. Priority Date: 10/23/2001
• Status: Expired due to Fees

• Current Assignee: ABB AB (ABB Limited)
• Original Assignee: ABB AB (ABB Limited)
• Inventors: Endresen, Jan, Kjesbu, Snorre, Carlson, Erik
• Primary Examiner(s): Donovan; Lincoln
• Assistant Examiner(s): Santana; Eduardo Colon
• Application Number:
  US10/493,626
• Publication Number:
  US 20050052148A1
• Time in Patent Office: 1,650 Days
• Field of Search: None
• US Class Current: 318/568.11
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 13/065 comprising joy-sticks
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: F16P 3/141 using sound propagation, e.g. sonar
• CPC Class Codes: F16P 3/144 using light grids
• CPC Class Codes: F16P 3/147 using electro-magnetic technology, e.g. tags or radar
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location

Abstract

An industrial robot including a manipulator, a control unit for controlling the manipulator, and a portable operating unit for teaching and manually operating the robot. The portable operating unit is adapted for wireless communication with the control unit and includes an operator control. The invention increases the safety by ensuring that the operator is within the specified operating area.

Claims

1. An industrial robot system, comprising:

an industrial robot comprising a manipulator, a control unit for controlling the manipulator, at least one portable operator control device for teaching and manually operating the robot, wherein the operator control device is adapted for communication with the control unit through a data link;

a defined working area for the operator control device;

means to determine the position of the operator control device; and

an indicator operative to indicate a mode of the data link, wherein the indicator is operable to physically indicate a communication failure of the data link through tactile feedback by touch perception to the body of an operator of the operator control device during operation;

wherein the data link is broken/disconnected upon the operator control device being outside the defined working area, or the data link is connected upon the operator control device being inside the working area.

2. The industrial robot system according to claim 1, wherein the indicator is arranged to indicate actively through vibrations.

3. The industrial robot system according to claim 1, wherein the indicator is arranged to indicate passively through resilient means operable to introduce a mechanical resistance to movement of an operator control means.

4. The industrial robot system according to claim 1, wherein the position determining means comprises at least one reference station arranged to send a radio signal to the operator control device.

5. The industrial robot system according to claims 4, wherein the reference station comprises at least one receiver operative to receive a transmitted reply signal from the operator control device.

6. The industrial robot system according to claim 5, wherein the position determining means comprises means for measuring the time between transmitting the signal and receiving the reply signal.

7. The industrial robot system according to claim 5, wherein the position determining means comprises means for measuring direction/angle between the transmitted signal and the received reply signal.

8. The industrial robot system according to claim 1, wherein the position determining means comprises at least one receiver operative to receive a transmitted reply signal from the operator control device.

9. The industrial robot system according to claim 8, wherein the at least one receiver comprises an antenna.

10. The industrial robot system according to claim 1, wherein the control unit is operable to define a work area.

11. The industrial robot system according to claim 1, wherein the data link is a wireless data link.

12. A method for controlling an industrial robot system comprising an industrial robot comprising a manipulator, a control unit comprising a processor for controlling the manipulator, at least one portable operator control device for teaching and manually operating the robot, wherein the operator control device is adapted for communication with the control unit via a data link, the method comprising:

defining a working area for the operator control device;

determining the position of the operator control device;

indicating a mode of the data link, wherein a communication failure of the data link is physically indicated to an operator through tactile feedback by touch perception to the operator during operation;

breaking/disconnecting the data link upon the operator control device being outside the working area; and

connecting the data link upon the operator control device being inside the working area.

13. The method according to claim 12, further comprising:

sending a signal with position determining means to the operator control device.

14. The method according to claim 13, further comprising:

transmitting with the operator control device at least one transmitted reply signal; and

receiving at least one transmitted reply signal with the position determining means.

15. The method according to claim 14, further comprising:

measuring with the position measuring means a time between transmitting the signal and receiving the at least one transmitted reply signal.

16. The method according to claim 14, further comprising:

measuring with the position determining means the distance between the operator control device and a reference station.

17. The method according to claim 14, further comprising:

measuring with the position determining means a direction between the operator control device and a plurality of reference stations.

18. The method according to claim 14, further comprising:

measuring with the position determining means both a direction and a distance between the operator control device and a reference station.

19. The method according to claim 12, wherein the position of the operator control device is determined continuously.

20. The method according to claim 12, further comprising:

breaking the data link with the control unit.

21. 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 performing the steps of

defining a working area for the operator control device,

determining the position of the operator control device,

indicating a mode of the data link, wherein a communication failure of the data link is physically indicated to an operator through tactile feedback by touch perception to the operator during operation,

breaking/disconnecting the data link upon the operator control device being outside the working area, and

connecting the data link upon the operator control device being inside the working area.

22. The computer program product according to claim 21, wherein the computer program instructions are further for carrying out the step of at least partly supplying the computer program instructions over a network.

23. The computer program product according to claim 21, wherein the computer program instructions are further for carrying out the step of at least partly supplying the computer program instructions over the Internet.