Robot manipulator system

• US 9,085,084 B2
• Filed: 05/31/2013
• Issued: 07/21/2015
• Est. Priority Date: 12/01/2010
• Status: Active Grant

• Current Assignee: ABB AG (ABB Limited)
• Original Assignee: ABB AG (ABB Limited)
• Inventors: Staab, Harald, Kock, Snke
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US13/907,053
• Publication Number:
  US 20130268117A1
• Time in Patent Office: 781 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 13/087 for sensing other physical parameters, e.g. electrical or chemical properties
• CPC Class Codes: B25J 19/00 Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators safety-devices in general F16P; protection against radiation in general G21F
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

The present disclosure is related to an exemplary robot manipulator system having a robot manipulator with a kinematic chain of stiff robot manipulator segments, which are linked together by hinged joints. A robot controller controls execution of a robot program. At least one temperature sensor provides measured temperature values. At least one heatable cover is attached onto at least one manipulator segment for applying heat energy thereon, with an amount of heat energy being controlled dependent on measured temperature values of the at least one temperature sensor.

Claims

1. Robot manipulator system, comprising:

a robot manipulator with a kinematic chain of stiff robot manipulator segments, which are linked together by hinged joints;

a robot controller for controlling robot manipulator movement via execution of a robot program;

at least one temperature sensor for providing measured temperature values;

at least one heatable cover attached onto at least one manipulator segment for applying heat energy thereon and attached on at least two adjacent manipulator segments which are linked together by a common hinged joint;

a control unit for controlling an amount of heat energy dependent on measured temperature values of the at least one temperature sensor; and

a flexible tube in between the heatable covers attached on the adjacent manipulator segments, which surrounds the common hinged joint and at least a part of the heatable covers.

2. Robot manipulator system according to claim 1, wherein the control unit is part of the robot controller.

3. Robot manipulator system according to claim 1, comprising:

an additional device mounted on the robot manipulator; and

an additional heatable cover attached on the additional device.

4. Robot manipulator system according to claim 1, wherein the at least one heatable cover comprises:

a thermal insulating outer layer for thermal insulation of an environment.

5. Robot manipulator system according to claim 1, wherein the at least one heatable cover comprises:

a thermal conducting inner layer for heat energy distribution towards the manipulator segments.

6. Robot manipulator system according to claim 1, wherein the robot controller is configured to reduce a movement speed as planned while executing a robot program when a measured temperature value of the at least one temperature sensor is lower than a predetermined limit.

7. Robot manipulator system according to claim 1, wherein the robot controller is configured to execute a steady motion robot program when no further robot program is selected for execution.

8. Robot manipulator system according to claim 1, comprising:

an additional device mounted on the robot manipulator; and

an additional heatable cover attached on the additional device.

9. Robot manipulator system according to claim 1, wherein the at least one heatable cover comprises:

an electrical heater.

10. Robot manipulator system, comprising:

a robot manipulator with a kinematic chain of stiff robot manipulator segments, which are linked together by hinged joints;

a robot controller for controlling robot manipulator movement via execution of a robot program;

at least one temperature sensor for providing measured temperature values;

at least one heatable cover attached onto at least one manipulator segment for applying heat energy thereon; and

a control unit for controlling an amount of heat energy dependent on measured temperature values of the at least one temperature sensor,

wherein the heatable cover is attached as a flexible tube around a hinged joint, where the heatable cover comprises;

a wire-like heating element that is arranged as a helix or meander mainly crosswise to a longitudinal extension of the hinged joint.

11. Robot manipulator system according to claim 10, wherein the at least one heatable cover comprises:

an electrical heater.

12. Robot manipulator system according to claim 11, comprising:

several heatable covers attached onto the robot manipulator, which include associated temperature sensors on their inner side to provide values of measured temperatures to an evaluation device for determining a lowest measured temperature therefrom, whereas a value of the lowest measured temperature will be provided to the robot controller.

13. Robot manipulator system according to claim 10, comprising:

heatable covers attached on at least two adjacent manipulator segments which are linked together by a common hinged joint.

14. Robot manipulator system, comprising:

a robot manipulator with a kinematic chain of stiff robot manipulator segments, which are linked together by hinged joints;

a robot controller for controlling robot manipulator movement via execution of a robot program;

at least one temperature sensor for providing measured temperature values;

at least one heatable cover attached onto at least one manipulator segment for applying heat energy thereon;

a control unit for controlling an amount of heat energy dependent on measured temperature values of the at least one temperature sensor;

an additional device mounted on the robot manipulator; and

an additional heatable cover attached on the additional device,

wherein an attached heatable cover comprises;

a sensor on its outer side for measuring an ambient temperature and/or a sensor on its inner side for measuring temperature of a covered area of an associated manipulator segment of the additional device.

15. Robot manipulator system according to claim 14, wherein the control unit is configured such that an amount of heat to be applied by the at least one heatable cover will depend on measured values of the ambient temperature and measured values of the temperature of at least one manipulator segment.

16. Robot manipulator system according to claim 14, comprising:

several heatable covers attached onto the robot manipulator, which include associated temperature sensors on their inner side to provide values of measured temperatures to an evaluation device for determining a lowest measured temperature therefrom, whereas a value of the lowest measured temperature will be provided to the robot controller.