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1. (WO2017036520) SYSTEM AND METHOD FOR GENERATING A ROBOT PROGRAM WITH A HAND-HELD TEACHING DEVICE
Latest bibliographic data on file with the International Bureau   

Pub. No.: WO/2017/036520 International Application No.: PCT/EP2015/070005
Publication Date: 09.03.2017 International Filing Date: 02.09.2015
IPC:
G05B 19/423 (2006.01) ,B25J 9/16 (2006.01) ,G05B 19/409 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
42
Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
423
Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
409
characterised by using manual data input (MDI) or by using control panel, e.g. controlling functions with the panel; characterised by control panel details, by setting parameters
Applicants:
ABB SCHWEIZ AG [CH/CH]; Brown Boveri Strasse 6 5400 Baden, CH
Inventors:
DAI, Fan; DE
WAHRBURG, Arne; DE
MATTHIAS, Björn; DE
DING, Hao; DE
Agent:
EICKMEYER, Dietmar; DE
Priority Data:
Title (EN) SYSTEM AND METHOD FOR GENERATING A ROBOT PROGRAM WITH A HAND-HELD TEACHING DEVICE
(FR) SYSTÈME ET PROCÉDÉ POUR LA GÉNÉRATION D'UN PROGRAMME DE ROBOT AVEC UN DISPOSITIF D'APPRENTISSAGE TENU À LA MAIN
Abstract:
(EN) A robot teaching system and method by applying a force on a teaching pendant (mechanical interaction tool 14,44,84), wherein the sensed force and teaching pendant's position and orientation is transmitted to the robot controller (20,68,116,158) to be stored. The teaching pendant may comprise a gripper with finger (46,48,86) operated by a spring mechanism (88). The robot arm is moved according to the applied force, position and orientation of the teaching pendant and a robot program is generated based on these data. During future execution of the a robot program, a robot gripper is foreseen to automatically apply a force on a workpiece or an object to be gripped, which is corresponding exactly to the afore mentioned manually applied force.
(FR) La présente invention concerne un système et un procédé d'apprentissage pour robot par l'application d'une force sur un pendant d'apprentissage (outil d'interaction mécanique 14, 44, 84), la force détectée et la position et l'orientation d'un pendant d'apprentissage étant transmises à l'unité de commande de robot (20, 68, 116, 158) pour être stockées. Le pendant d'apprentissage peut comprendre un élément de préhension pourvu d'un doigt (46, 48, 86) actionné par un mécanisme à ressort (88). Le bras de robot est déplacé en fonction de la force appliquée, de la position et de l'orientation du pendant d'apprentissage et un programme de robot est généré en fonction de ces données. Pendant l'exécution ultérieure d'un programme de robot, un élément de préhension de robot est prévu pour appliquer automatiquement une force sur une pièce à usiner ou sur un objet à saisir, qui correspond exactement à la force manuellement appliquée mentionnée ci-dessus.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)