IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0281528
(2007-03-02)
|
등록번호 |
US-8779715
(2014-07-15)
|
우선권정보 |
DK-2006 00308 (2006-03-03) |
국제출원번호 |
PCT/IB2007/050683
(2007-03-02)
|
§371/§102 date |
20090223
(20090223)
|
국제공개번호 |
WO2007/099511
(2007-09-07)
|
발명자
/ 주소 |
- Kassow, Kristian
- Østergaard, Esben Hallundbæk
- Støy, Kasper
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
5 인용 특허 :
14 |
초록
▼
A programmable robot system includes a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint. The system furthermore includes a controllable drive mechanism provided in at least some of the joints and a control system for controlling the drive
A programmable robot system includes a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint. The system furthermore includes a controllable drive mechanism provided in at least some of the joints and a control system for controlling the drive mechanism. The robot system is furthermore provided with user a interface mechanism including a mechanism for programming the robot system, the user interface mechanism being either provided externally to the robot, as an integral part of the robot or as a combination hereof, and a storage mechanism co-operating with the user interface mechanism and the control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.
대표청구항
▼
1. A programmable robot system comprising: (a) a robot comprising a number of individual arm sections, where adjacent arm sections are interconnected by a joint;(b) a controllable drive provided in at least some of said joints which drives said joints;(c) a control system for controlling each said c
1. A programmable robot system comprising: (a) a robot comprising a number of individual arm sections, where adjacent arm sections are interconnected by a joint;(b) a controllable drive provided in at least some of said joints which drives said joints;(c) a control system for controlling each said controllable drive;(d) a user interface system comprising programming for the control system, said user interface system being provided externally to the robot as a remote control; and(e) a storage co-operating with said user interface system and said control system for storing information related to one of the movement and further operations of the robot or of a robot tool mounted on the robot; andwherein said remote control further comprises a touch screen upon which a 3D-representation of the robot is shown together with icons for positioning and orienting the robot or robot tool; andwherein positioning and orienting movements of the robot directed by a user with the icons on the touch screen of the remote control result in physical positioning and orienting changes to the robot which are shown by the 3D-representation of the robot on the touch screen. 2. A programmable robot system according to claim 1, wherein said control system comprises a trigger for controlling triggering of actions performed by one of the robot or the tool mounted on the robot; andwherein said trigger for triggering comprises a sensor which is placed on one of an external portion of the robot or an external element in the surroundings of the robot. 3. A programmable robot system according to claim 1, characterized in that the programming of the remote control comprises software applications containing one or more wizards that can be chosen by a user for aid during programming of the robot. 4. A programmable robot system according to claim 1, characterized in that the remote control, at least during programming of the robot with said programming, has access to pre-programmed templates describing preferred movements, actions and other characteristics relevant to the robot in relation to one of specific operations or surroundings. 5. A programmable robot system according to claim 1, characterized in that said remote control comprises: (a) an external programming and control unit which is provided with the touch screen which touch screen displays one of menus or computer-generated pictures of the robot at least during programming and an initial control/supervision of the robot, and where the touch screen includes a mechanism for entering directions and information to the control system of the robot; and(b) one of an external sensor or an entry mechanism, said external sensor being for one of a) placement on chosen portions of the robot, or b) placement remote from said programming and control unit, and said entry mechanism being for tracing paths in space which will be followed by portions of the robot during programming and operation of the robot. 6. A programmable robot system according to claim 5, characterized in that said entry mechanism comprises a 3D-mouse (“space mouse”) or a joystick. 7. A programmable robot system according to claim 1, characterized in that computer-generated images of pertinent parts of the surroundings of the robot are displayed on the touch screen. 8. A programmable robot system according to claim 1, wherein said icons for positioning and orienting the tool comprise a) icons for setting the co-ordinates of roll, pitch and yaw of the robot tool and b) icons for positioning the robot tool vertically and horizontally, andwherein said touch screen furthermore displays icons for rotating the respective joints of the robot. 9. A programmable robot system according to claim 1, wherein said joint comprises a safety brake comprising a solenoid, which upon activation of the brake displaces a ratchet into engagement with an annular member mounted on the motor axle, whereby the annular member can rotate relative to the motor axle, but with friction between the annular member and the motor axle; andwherein said solenoid is mounted on a printed circuit board (PCB) that is fixed relative to the housing of the joint. 10. A programmable robot system according to claim 1, wherein the 3D-representation of the robot on the touch screen also shows actual movements of the robot during actual operation of the robot. 11. A remote control for a programmable robot which is external to the programmable robot comprising: a control system of the programmable robot; anda touch screen which (a) shows menus relating to programming steps to be performed by a user during programming of the programmable robot together with icons for positioning and orienting a robot tool of the programmable robot,(b) shows a computer generated representation of the programmable robot, wherein said computer generated representation is a 3 dimensional representation of the robot showing actual movements of the robot at least during programming of the robot, and(c) enters instructions to the control system for positioning and orienting movements of the robot which result in physical positioning and orienting changes to the robot which are shown by the 3D-representation of the robot on the touch screen. 12. A remote control according to claim 11, further comprising storage for storing information relating to programming and operations of the robot and also for storing information relating to the surroundings of the robot. 13. A remote control according to claim 11, wherein said control system is for controlling said position and movement of the tool including indicating one of the position or orientation of the tool at a number of positions in space and storing said position or orientation in a storage in the control system, where at least one of said positions or orientations of the tool is in the vicinity of an object to be handled by the tool. 14. A remote control according to claim 13, wherein the control system further senses or identifies said object at said at least one position of the tool. 15. A remote control according to claim 11, wherein said icons for positioning and orienting the tool comprises a) icons for setting the co-ordinates roll, pitch and yaw of the robot tool and b) icons for positioning the robot tool vertically and horizontally, andwherein said touch screen furthermore displays icons for rotating the respective joints of the robot. 16. A remote control according to claim 11, wherein the 3 dimensional representation of the robot on the touch screen also shows actual movements of the robot during actual operation of the robot.
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