Multi-axis robot provided with a control system

• US 20060106492A1
• Filed: 02/03/2004
• Published: 05/18/2006
• Est. Priority Date: 02/04/2003
• Status: Active Grant

• Current Assignee: Staubli Faverges (Stã¤Ubli Holding AG)
• Original Assignee: Staubli Faverges (Stã¤Ubli Holding AG)
• Inventors: Gerat, Vincent, Bonnet Des Tuves, Jean-Michel, Perillat, Pierre
• Granted Patent: US 7,693,604 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05B 2219/33162 Two bus, high speed and low speed bus, linked or not
• CPC Class Codes: G05B 2219/33218 Motor encoders, resolvers on common bus with drives, servo controllers
• CPC Class Codes: G05B 2219/40237 Bus for communication with sensors
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10T 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20311 including power cable or connector
• CPC Class Codes: Y10T 74/20317 including electric motor
• CPC Class Codes: Y10T 74/20341 Power elements as controlling elements

Abstract

The robot comprises: a controller (C), including power modules (22) for supplying the motors (10) of the arm (A) of the robot (R), a CPU unit (26), for calculation and processing and connection means (52, B), between the arm (A), the power modules (22) and the CPU unit (26). The connection means (52, B) comprise a single functional bus (B) which connects a control unit (30), associated with the CPU unit (26), firstly to the power modules (22) and, also, to the digital interfaces (14) with the sensors (12) of the arms (A). Said interfaces (14) are either integrated with the arm (A) or located in the immediate vicinity thereof.

Claims

1. A multi-axis robot comprising an arm (A) for moving a tool (0) in space and actuated by electric motors (10), and a control system comprising:

a controller (C) which includes at least one power module (22) for supplying said motors (10) and at least one calculation and processing unit (26) used in particular to compute the path of the arm (A) and generate control signals for said modules,

link means (52, B) between said arm, said power module and said unit used at least to supply said motors from said module, characterized;

in that said link means (52, B) comprise a set of one or more structural buses (B₁, B₂) linking a control unit (30) associated with said calculation and processing unit (26), on the one hand, to said module (22) and, on the other hand, to at least one digital interface (14) with at least one position sensor (12) on said arm (A), and

in that this assembly forms a single functional bus enabling said module to be controlled by said calculation unit and feedback signals to be transmitted from said arm to said unit and/or said power module, at the frequency of the single functional bus.

2. The robot as claimed in claim 1, characterized in that said single functional bus (B) is divided into at least two structural buses (B₁, B₂) linking, for the first, said control unit (30) to said module (22) and, for the second (B₂) or subsequent buses, said control unit (30) to said interface (14).

3. The robot as claimed in claim 2, characterized in that said first structural bus is a metallic bus (B₁), particularly made of copper.

4. The robot as claimed in claim 1, characterized in that said second structural bus or one of said other buses is an optical fiber bus (B₂).

5. The robot as claimed in claim 1, characterized in that said control unit (30) is linked to said calculation and processing unit (26) by a PCI type bus (28).

6. The robot as claimed in claim 1, characterized in that said control unit (30) is incorporated in said calculation and processing unit (26).

7. The robot as claimed in claim 1, characterized in that it comprises an identification and calibration card (16) incorporated in said functional bus (B).

8. The robot as claimed in claim 2, characterized in that the or each structural bus (B₁, B₂) is designed to be extended by additional connection means (B′

₁, B′

₂) to interact with at least one external unit (12′

, 12″

, 14′

, 14″

, 22′

) processing information.

9. The robot as claimed in claim 1, characterized in that said link means also comprise a power conductor (52) linking said module or modules (22) to said arm (A), independently of said functional bus (B).

10. The robot as claimed in claim 2, characterized in that said first structural bus (B₁) is connected directly or indirectly to power modules (22), each dedicated to a motor of said robot (R).

11. The robot as claimed in claim 1, characterized in that said digital interface is an interface card (14) for computing the speed and/or the acceleration of the movement measured by the or each associated sensor (12), serializing its output signal and, where appropriate, digitizing the output signals of said sensor or sensors when they are analog.

12. The robot as claimed in claim 1, characterized in that said interface is incorporated in the associated sensor and is for computing the speed and the acceleration of the movement measured by said sensor, serializing its output signal and, where appropriate, digitizing the output signal of said sensor when it is analog.

13. The robot as claimed in claim 1, characterized in that said interface is incorporated in said arm or placed at the foot of the arm.