Tool for an Industrial Robot

• US 20070276538A1
• Filed: 04/06/2004
• Published: 11/29/2007
• Est. Priority Date: 12/17/2003
• Status: Abandoned Application

• Current Assignee: ABB Research Ltd. (ABB Ltd.)
• Original Assignee: ABB Research Ltd. (ABB Ltd.)
• Inventors: Scheible, Guntram, Gentzell, Tobias, Frey, Jan-Erik, Kjellsson, Jimmy, Strand, Martin, Bryne, Gisle
• Application Number:
  US10/583,387
• Publication Number:
  US 20070276538A1
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 19/0025 Means for supplying energy to the end effector
• CPC Class Codes: B25J 19/0045 Contactless power transmission, e.g. by magnetic induction
• CPC Class Codes: G05B 2219/33203 Wireless transmission of power and data, inductively, rotary transformer

Abstract

A robot or manipulator including a wireless power supply and a wireless communication device. One or more actuators on the robot tool may be wirelessly powered and wirelessly controlled. The robot tool may have one or more wireless communication members for transmission of data from sensors on the tool. The power supply includes a primary power supply member and secondary power supply member. Tool changes may be carried out automatically by the robot. In other aspects of the invention a method, a control system and a computer program for carrying out the method are described.

Claims

14. A method to control an industrial robot with a control unit (25, 325) and with a tool (1, 301) comprising at least one actuator, said industrial robot having at least one robot arm with a tool holder arranged on the arm, characterised by:

providing a contactless power supply (12, 12′

) to said at least one actuator of said tool (1, 301), and

transmitting and/or receiving control signals to at least one wireless node (21, 321, 321′

-323′

) arranged on said tool.

15. A method according to claim 14, characterised by the control unit (25, 325, 325′

) providing control signals to cause the actions of;

moving the robot arm and arranging the tool in a storage position (66) for present said tool,

releasing a locking member (61) of the tool,

moving the robot arm to a second tool arranged at a second storage position (67),

actuating the locking member.

16. A method according to claim 15, characterised by moving to the next task in the control program of the robot.

17. A method according to claim 16, characterised by stopping and waiting before moving to the next task in the control program of the robot in the event that a common reference value is not acceptable.

18. A method according to claim 15, characterised by moving to a home position of the robot.

19. A method according to claim 14, characterised by providing control signals from the control unit (325, 325′

) dependent on a signal from a wirelessly controlled peripheral device (73) and/or a storage rack (75, 77).

21. A computer program comprising computer code means and/or software code portions for making a computer or processor perform a method according to any of claims 14-19.

22. A computer program product comprising the computer program according to claim 21 comprised in one or more computer readable media.

35. A control system according any previous claim 23-34, characterised by one or more computer programs comprising computer code means and/or software code portions for making a computer or processor perform a method according to any of claims 14-19.

20. A graphical user interface for controlling an industrial robot with a tool (301) comprising at least one actuator, said industrial robot having at least one robot arm with a tool holder arranged on the arm, characterised by a display of a computing device or portable computing device (78) with means for monitoring and/or interacting with a robot tool (1, 301) comprising at least one wireless communication member (21, 321) and a contactless power supply (12).

23. A control system for an industrial robot equipped with a tool (301) comprising at least one actuator, said industrial robot having at least one robot arm with a tool holder arranged on the arm, and a robot control unit (325, 325′

), characterised in that said at least one tool (301) is arranged with a contactless power supply means (12), and a wireless communication member (321) for communication with a control unit (320).

1. A tool for an industrial robot comprising at least one actuator, said industrial robot having at least one arm with a tool holder arranged on the arm, characterized in that

the tool (1, 301) comprises at least one wireless communication member (21, 321) and a contactless power supply (12, 12′

) for the at least one actuator (4).

2. A tool according to claim 1, characterised in that the power supply (10, 12) includes a power supply member (12) comprising a logic member (16) arranged to provide two or more power supplies (31, 32) of which at least one power supply (32) is separately controllable.

3. A tool according to claim 1, characterised by comprising at least one sensor.

4. A tool according to claim 3, characterised in that the sensor receives power from the contactless power supply.

5. A tool according to claim 1, characterised in that the power supply is based on electromagnetic induction devices.

6. A tool according to claim 5, characterised by comprising one or more coils (11, 311) for induction of a time-varying voltage arranged connected relative a power supply (12).

7. A tool according to claim 1, characterised in that the wireless communication member a radio technology working in a high frequency band from 400 MHz and higher with significant interference suppression means by spread spectrum technology.

8. A tool according to claim 7, characterised in that the radio technology works in frequencies compatible with the ISM band or any other suitable radio band.

9. A tool according to claim 1, characterised in that the or each wireless communication member (21-23, 321-323) of the tool (1, 301) is arranged with means for wireless transmission of data to a control unit of the robot from an actuator and/or sensor arranged with the tool.

10. A tool according to claim 9, characterised in that the or each wireless communication member (321-323) is arranged with means for receiving instructions and/or data for an actuator arranged with the tool from a control unit (325, 325′

) of the robot.

11. A tool according to claim 1, characterised in that the power supply has means (16) for detecting a signal comprised in the power of the power supply.

12. A tool according to claim 11, characterised in that the signal is overlaid on a time varying voltage.

13. A tool according to claim 1, characterised in that the tool comprises a means (61) for locking the tool to the tool holder of the robot.

24. A control system according to claim 23, characterised in that the industrial robot is arranged with a wireless power supply means (311) on the robot arm or the tool holder (345).

25. A control system according to claim 24, characterised in that the tool of the industrial robot is arranged with at least one contactlessly powered actuator.

26. A control system according to claim 23, characterised in that the tool of the industrial robot is arranged with at least one sensor arranged for wireless communication with a control unit.

27. A control system according to any of claims claim 23-26, characterised in that the wireless communication to the robot tool may be carried out using a wireless protocol compatible with any standard issued by the Bluetooth Special Interest Group (SIG), any variation of IEEE-802.11, WiFi, Ultra Wide Band (UWB), ZigBee or IEEE-802.15.4, IEEE-802.13, or equivalent or similar;

WAPI according to GB15629.11-2003 or later.

28. A control system according to any of claims claim 23-27, characterised by in that the wireless communication to the robot tool is carried out using a broad spectrum wireless protocol in a high frequency band, the ISM band or a band up to 4 GHz or more with significant interference suppression means by spread spectrum technology.

29. A control system according to claim 28, characterised in that a broad spectrum wireless protocol is used for wireless communications in which each or any data packet may be re-sent at other frequencies of the broad spectrum a plurality of times.

30. A control system according any previous claim 23-29, characterised by comprising a wirelessly controlled peripheral device (73).

31. A control system according claim 30, characterised in that the wirelessly controlled peripheral device (73) is equipped with a contactless power supply.

32. A control system according claim 30, characterised in that the wireless peripheral device (73) comprises any device from the list of:

turntable, tool changer, jig, tool.

33. A control system according claim 30, characterised in that the wireless peripheral device (73) comprises any rotating or moveable or transfer device from the list of:

turntable, tool changer, jig, tool.

34. A control system according claim 30, characterised in that at least one of the one or more tool storage members (75, 77) is wirelessly controlled.

36. Use of a tool according to any of claims 1-11 for operations with a robot or automation application (1) in an industrial or commercial installation or place of work.

37. Use of a system according to any of claims 23-35 to control operations with a robot or automation application (1) in an industrial or commercial installation to carry an operation comprising any from the list of:

fitting parts to automobiles, painting, welding, soldering, riveting, gluing, folding plate, bending plate, hemming plate, fettling, cutting, laser cutting, water-jet cutting, gripping an object, manipulating an object, stacking, pick and place, palletising, depalletising.

34-1. A control system according any previous claim 23-33, characterised in that a wireless peripheral device (73) and/or a storage member (75, 77) is controlled at least in part by a programmable logic controller.