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1. (WO2017198306) IMPROVED INDUSTRIAL OBJECT HANDLING ROBOT
Latest bibliographic data on file with the International Bureau   

Pub. No.: WO/2017/198306 International Application No.: PCT/EP2016/061363
Publication Date: 23.11.2017 International Filing Date: 20.05.2016
IPC:
B25J 9/16 (2006.01) ,B25J 9/00 (2006.01) ,G05B 19/418 (2006.01)
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
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
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
418
Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
Applicants:
ABB SCHWEIZ AG [CH/CH]; Brown Boveri Strasse 6 5400 Baden, CH
Inventors:
LAGER, Anders; SE
AUDIBERT, Raoul; SE
Agent:
SAVELA, Reino; SE
Priority Data:
Title (EN) IMPROVED INDUSTRIAL OBJECT HANDLING ROBOT
(FR) ROBOT DE MANIPULATION D'OBJET INDUSTRIEL AMÉLIORÉ
Abstract:
(EN) An arrangement for handling objects on an object transporting device (26) comprises an industrial robot and an object handling control device. The device estimates candidate handling positions (OP1, OP2, OP3, OP4, OP5, OP6, OP7) for at least one candidate object based on a first assumption; determines for each candidate handling position whether it lies within a working volume (wv1) of the robot; selects one of the candidate positions (OP1) at a first decision instant, the selection being at least partially based on the result of the determining;and handles an object at an actual handling position corresponding to the selected candidate handling position, the handling being performed after a usage time of the robot, the usage time comprising the time for moving the robot from the robot position at the first decision instant to the actual handling position, and the time for handling the object.
(FR) La présente invention concerne un agencement pour manipuler des objets sur un dispositif de transport d'objet (26) qui comprend un robot industriel et un dispositif de commande de manipulation d'objet. Le dispositif estime des positions de manipulation candidates (OP1, OP2, OP3, OP4, OP5, OP6, OP7) pour au moins un objet candidat sur la base d'une première hypothèse; détermine pour chaque position de manipulation candidate s'il est situé dans un volume de travail (wv1) du robot; sélectionne l'une des positions candidates (OP1) à un premier instant de décision, la sélection étant au moins partiellement basée sur le résultat de la détermination; et traite un objet à une position de manipulation réelle correspondant à la position de manipulation candidate sélectionnée, la manipulation étant effectuée après un temps d'utilisation du robot, le temps d'utilisation comprenant le temps de déplacement du robot de la position du robot au premier instant de décision à la position de manipulation réelle, et le temps de manipulation de l'objet.
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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)