Process for controlling industrial robots, and related robots, systems and computer programs
First Claim
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1. A method for controlling by means of a portable terminal, an industrial robot comprising a manipulator and a manipulator control unit, the method comprising:
- providing the terminal and the manipulator control unit with a respective electronic control system, the control systems having respective first communication means for establishing a wireless main connection between said manipulator control unit and terminal, the main connection being used during a session of use of the terminal for transmitting to the manipulator control unit information concerning at least one of programming instructions and instructions of motion of the manipulator, and status conditions of a safety device (ES, EN) which the terminal is equipped with;
providing the control systems of the manipulator control unit and the terminal with respective identity information (ID_CU, ID_TP);
enabling said session of use through executing a coupling step of the terminal with the manipulator control unit, wherein the identity information (ID_TP) of the terminal control system is made available to the manipulator control unit control system and the identity information (ID_CU) of the manipulator control unit control s stern is made available to the terminal control system;
wherein, during said coupling step, said main connection is used for making available to one of the control systems of said terminal and manipulator control unit the identity information (ID_TP) of the control system of the other one of said terminal and manipulator control unit;
the method further comprisingproviding the control systems of the terminal and the manipulator control unit with respective second communication means, said second communication means being adapted to establish an auxiliary connection between the terminal and the manipulator control unit for executing of said coupling step, wherein said auxiliary connection can be established only when the terminal is placed in a substantially predefined position with respect to one of the manipulator and the manipulator control unit;
using, during execution of said coupling step, said auxiliary connection for making available to the control system of said other one of said terminal and manipulator control unit the identity information (ID_CU) of the control system of said one of said terminal and manipulator control unit;
using, once said coupling step has ended and during said session of use, the terminal for transmitting to the manipulator control unit, via said main connection, said information concerning at least one of programming instructions and instructions of motion of the manipulator, and status conditions of said safety device (ES, EN), after interruption of said auxiliary connection subsequent to a removal of the terminal from said substantially predefined position.
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Abstract
An industrial robot includes a manipulator (1) having a control unit (2) and a portable terminal (3), the unit and the terminal being able to communicate in wireless mode for executing a robot programming session. The unit (2) and the terminal (3) are configured so as to implement a step of mutual logic coupling, which is required so as to enable the programming session, only when the terminal (3) is in a substantially predefined physical position (5) close to the unit (2).
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Citations
25 Claims
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1. A method for controlling by means of a portable terminal, an industrial robot comprising a manipulator and a manipulator control unit, the method comprising:
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providing the terminal and the manipulator control unit with a respective electronic control system, the control systems having respective first communication means for establishing a wireless main connection between said manipulator control unit and terminal, the main connection being used during a session of use of the terminal for transmitting to the manipulator control unit information concerning at least one of programming instructions and instructions of motion of the manipulator, and status conditions of a safety device (ES, EN) which the terminal is equipped with; providing the control systems of the manipulator control unit and the terminal with respective identity information (ID_CU, ID_TP); enabling said session of use through executing a coupling step of the terminal with the manipulator control unit, wherein the identity information (ID_TP) of the terminal control system is made available to the manipulator control unit control system and the identity information (ID_CU) of the manipulator control unit control s stern is made available to the terminal control system; wherein, during said coupling step, said main connection is used for making available to one of the control systems of said terminal and manipulator control unit the identity information (ID_TP) of the control system of the other one of said terminal and manipulator control unit; the method further comprising providing the control systems of the terminal and the manipulator control unit with respective second communication means, said second communication means being adapted to establish an auxiliary connection between the terminal and the manipulator control unit for executing of said coupling step, wherein said auxiliary connection can be established only when the terminal is placed in a substantially predefined position with respect to one of the manipulator and the manipulator control unit; using, during execution of said coupling step, said auxiliary connection for making available to the control system of said other one of said terminal and manipulator control unit the identity information (ID_CU) of the control system of said one of said terminal and manipulator control unit; using, once said coupling step has ended and during said session of use, the terminal for transmitting to the manipulator control unit, via said main connection, said information concerning at least one of programming instructions and instructions of motion of the manipulator, and status conditions of said safety device (ES, EN), after interruption of said auxiliary connection subsequent to a removal of the terminal from said substantially predefined position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An industrial robot system comprising at least one industrial robot, including a manipulator, and a manipulator control unit, and a portable terminal, said manipulator control unit and terminal having each an electronic control system comprising respective first communication devices for establishing a wireless main connection, the main connection being used during session of use of the terminal for transmitting from the control system of the terminal to the control system of the manipulator control unit information concerning at least one of programming instructions, and instructions of motion of the manipulator, and status conditions of a safety device (ES, EN) which the terminal is equipped with,
wherein the control systems of the manipulator control unit and the terminal have respective identity information (ID_CU, ID_TP) and are configured for executing a coupling step, required for enabling said session of use, by which coupling step the identity information (ID_TP) of the control system of the terminal is made available to the control system of the manipulator control unit and the identity information (ID_CU) of the control system of the manipulator control unit is made available to the control system of the terminal, wherein said first communication devices are adapted, during said coupling step, to make available to the control system of one of said terminal and manipulator control unit the identity information (ID_TP) of the control system of the other one of said terminal and manipulator control unit, and wherein the control systems of the manipulator control unit and of the terminal further comprise: -
respective second communication devices configured for establishing an auxiliary connection when the terminal is in a substantially predefined position close to one of said manipulator and manipulator control unit; respective controllers configured for using said auxiliary connection during said coupling step, for making available to the control system of said other one of said terminal and manipulator control unit the identity information (ID_CU) of the control system of said one of said terminal and manipulator control unit; said controllers being also adapted to allow, through said main connection and during said session of use, transmission of said information concerning at least one of programming instructions, and instructions of motion of the manipulator, and status conditions of said safety device (ES, EN) after interruption of said auxiliary connection subsequent to a removal of the terminal from said substantially predefined position. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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Specification