Industrial robot comprising a portable operating unit which a movable key device for identification of the robot

• US 7,451,016 B2
• Filed: 04/02/2002
• Issued: 11/11/2008
• Est. Priority Date: 04/02/2001
• Status: Expired due to Fees

• Current Assignee: ABB AB (ABB Limited)
• Original Assignee: ABB AB (ABB Limited)
• Inventors: Endresen, Jan, Carlson, Erik, Johannessen, Svein
• Primary Examiner(s): Tran; Khoi H.
• Assistant Examiner(s): JEN, MINGJEN
• Application Number:
  US10/473,743
• Publication Number:
  US 20040148058A1
• Time in Patent Office: 2,415 Days
• Field of Search: 318/568.11, 318/568.12, 318/567, 318/569, 318/568.1, 318/568.15, 340/10.1, 340/10.51, 340/10.52, 340/10.5, 340/10.42, 340/5.5, 340/5.51, 340/5.6, 901/3, 901/4, 901/6, 901/8, 901/9, 901/46
• US Class Current: 700/245
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/33105 Identification of type of connected module, motor, panel
• CPC Class Codes: G05B 2219/33192 Radio link, wireless
• CPC Class Codes: G05B 2219/34456 Authorize control of machine, robot if control panel has been connected
• CPC Class Codes: G05B 2219/36104 IC card
• CPC Class Codes: G05B 2219/36115 Card
• CPC Class Codes: G05B 2219/39001 Robot, manipulator control
• CPC Class Codes: G05B 2219/39384 Control unit near robot, control and teaching panel in safe zone

Abstract

An industrial robot system including a plurality of industrial robots. Each robot includes a manipulator, a control unit for automatically operating the manipulator, and a movable key device configured to store information about the identity of the robot to which the moveable key device belongs. A portable operating unit is configured to teach and program the robots. The portable operating unit is adapted for wireless communication with each control unit. The portable operating unit includes a member for receiving one of the moveable key devices, a reader for reading a robot identity from the received moveable device, and a communication establisher for establishing wireless communication between the operating unit and the control unit of the identified robot upon reading the robot identity from the moveable key device.

Claims

1. An industrial robot system, comprising:

a plurality of industrial robots, each robot comprising

a manipulator,

a control unit comprising means for automatically operating the manipulator,

a movable key device configured to store information about the identity of the robot to which the moveable key device belongs, and

a first receiving member configured to receive the movable key device of the robot to which the movable key device belongs; and

a portable operating unit configured to teach and program the robots, wherein the portable operating unit is adapted for wireless communication with each control unit, and wherein the portable operating unit comprises a second receiving member configured to receive one of the moveable key devices removed from one of the first receiving members of one of the robots, a sensor configured to read a robot identity from the received moveable device, and a processor configured to establish wireless communication only between the portable operating unit and the control unit of the identified robot upon reading the robot identity from the moveable key device.

2. The industrial robot system according to claim 1, wherein the first receiving member is arranged at or connected to the control unit.

3. The industrial robot according to claim 2, wherein the control unit further comprises a timer for measuring an time elapsed between a point of time when the moveable key device is removed from the first receiving member until communication is established between the portable operating unit and the control unit.

4. The industrial robot system according to claim 3, wherein the control unit further comprises a comparison module for comparing the elapsed time with a predetermined maximum time and executing an emergency stop of the manipulator depending on the comparison.

5. The industrial robot system according to claim 2, wherein the control unit further comprises a sensor for sensing the presence of the moveable key device in the first receiving member and for enabling automatic operation of the manipulator in presence of the moveable key device.

6. The industrial robot according to claim 2, wherein the control unit further comprises means for determining whether the moveable key device received by the first receiving member carries the same identification as the robot.

7. The industrial robot system according to claim 1, wherein the portable operating unit further comprises a display for displaying the identity of the robot.

8. The industrial robot system according to claim 1, wherein the portable operating unit further comprises a sensor for sensing a presence of the moveable key device and means for enabling manual operation of the manipulator in presence of the moveable key device in the in the second receiving member of the operating unit.

9. The industrial robot system according to claim 1, further comprising:

a base station configured to carry out the communication between the portable operating unit and the control unit, wherein the movable key device is adapted for carrying information about the address of the base station.

10. The industrial robot according to claim 1, wherein the moveable key device comprises an electronic hardware device.

11. The industrial robot according to claim 10, wherein the electronic hardware device comprises a processor.

12. The industrial robot according to claim 1, wherein the movable key device comprises an emergency stop button.

13. The industrial robot according to claim 1, wherein the control unit further comprises a detector for detecting a lack of robot identity in the movable key device and means for transferring the identity of the robot to the movable key device.

14. The industrial robot according to claim 1, wherein the control unit further comprises a detector for detecting lack of robot identity in the control unit itself and means for transferring the identity of the robot from the movable key device to the control unit.

15. A portable unit for teaching and programming a plurality of industrial robots, each robot comprising a manipulator, a control unit having means for automatically operating the manipulator, a movable key device configured to store information about the identity of the robot to which the moveable key device belongs, and a first receiving member configured to receive the movable key device of the robot to which the movable key device belongs, the operating unit comprising:

a second receiving member for receiving one of the moveable key devices removed from one of the first receiving members of one of the robots;

a sensor configured to read the robot identity from the received moveable key device; and

a processor configured to establish wireless communication between the portable operating unit and the control unit of only the identified robot upon reading the robot identity from the moveable key device.

16. The operating unit according to claim 15, further comprising:

a display for displaying the identity of the robot.

17. The operating unit according claim 15, further comprising:

a sensor for sensing the presence of the key device and means for enabling manual operation of the manipulator in presence of the key device in the operating unit.

18. A method for controlling a plurality of industrial robots, each robot comprising a manipulator, a control unit comprising means for automatically operating the manipulator, a movable key device configured to store information about the identity of the robot to which the moveable key device belongs, and a first receiving member configured to receive the movable key device of the robot to which the movable key device belongs, the method comprising:

moving one of the moveable key devices from one of the first receiving units of one of the robot to a second receiving unit operatively connected to the portable operating unit;

transferring said information about the robot identity from the moveable key device to the portable operating unit; and

establishing a wireless communication between the operating unit and the control unit only of the identified robot when the operating unit has received the information about the robot identity.

19. The method according to claim 18, further comprising:

enabling the operation of the operating unit upon receiving the key device in the operating unit.

20. The method according to claim 18, further comprising:

measuring a time elapsed between when the movable key device is removed from the place at or in connection with the control unit until the communication is established between the operating unit and the control unit.

21. The method according to claim 18, further comprising:

checking whether the movable key device moved to a place at or in connection with the control unit carries the same identification as the robot connected to the control unit.

22. The method according to claim 18, the industrial robots are arranged at a spot welding station, the method further comprising:

controlling operation of the robots at the spot welding station.