Parts handling device, system and method

• US 8,855,817 B2
• Filed: 12/19/2007
• Issued: 10/07/2014
• Est. Priority Date: 12/19/2006
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB Research Ltd. (ABB Limited)
• Inventors: Casanelles, Ramon, Grau, Francisco Corts
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US12/519,815
• Publication Number:
  US 20100036525A1
• Time in Patent Office: 2,484 Days
• Field of Search: 700/248, 700/195, 700/245, 700/246, 700/247, 700/250, 700/253, 228/175, 318/568.1, 318/568.11, 219/121.64, 219/121.63, 414/795.4, 414/729, 414/744.5, 414/744.3, 414/744.2, 414/744.6, 414/749.1, 414/744.4, 414/917, 414/732, 414/738, 724/22, 901/30, 901/15, 901/49, 901/16, 901/27, 901/29, 901/40, 744/900.6, 74/68, 744/900.1, 744/900.5
• 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. 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 respective robot for a first rotational movement about a first axis, the first rotational movement being controlled by the respective robot, and a gripper connected to said rigid arm by a swivel for a second rotational movement about a second axis, the method comprising:

rotating the rigid arm about the first axis;

rotating the gripper about the second axis; and

controlling rotating the gripper with more than one of the robots.

2. The method according to claim 1, further comprising:

generating instructions for the at least two robots to each simultaneously pick a part;

generating instructions for the at least two robots to simultaneously move the part; and

generating instructions for the at least two robots to simultaneously place the part,

wherein the part is picked, moved and placed by the two robots without altering a rotational orientation of the part, wherein the part is moved in a straight, horizontal line, wherein the grippers of the robots move in a circular path as the part is moved, and wherein picking the part comprises movement of a gripper or gripper arrangement to grasp, grip or otherwise pick a part from a first press.

3. The method according to claim 2, wherein moving the parts comprises moving the part from the first press along a straight and horizontal path parallel to a press line direction to a second press.

4. The method according to claim 3, wherein the part is moved from a first press into a second press.

5. The method according to claim 3, further comprising:

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

6. The method according to claim 5, further comprising:

generating instructions to the at least 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.

7. The method according to claim 2, further comprising:

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

8. A computer program product, comprising:

a non-transitory computer readable medium; and

computer program instructions recorded on the computer readable medium and executable by a processor for control of 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 respective robot for a first rotational movement about a first axis, the first rotational movement being controlled by the respective robot, and a gripper connected to said rigid arm by a swivel for a second rotational movement about a second axis to carry out a method comprising rotating the rigid arm about the first axis, rotating the gripper about the second axis, and controlling rotating the gripper with more than one of the robots.

9. 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 respective robot for a first rotational movement about a first axis, the first rotational movement being controlled by the respective robot, and a gripper connected to said rigid arm by a swivel for a second rotational movement about a second axis, the second rotational movement not being controllable by less than two of the robots.

10. The system according to claim 9, wherein said system comprises at least one multi axis robot and an industrial handler with at least two axes of movement.

11. The system according to claim 9, further comprising:

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

12. The system according to claim 9, wherein the robot control unit comprises a computer program product comprising a non-transitory computer readable medium and computer program instructions recorded on the computer readable medium and executable by a processor generating the instructions for the at least two robots.

13. The system according to claim 9, wherein the robot control unit comprises memory storage for at least one computer program arranged for control of the at least two robots, 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 at least two robots.

14. The system according to claim 9, further comprising:

a cross member joined to each robot for linking the robots or a gripper or a gripper arrangement of each robot.