公开(公告)号：WO2009043369A1

公开(公告)日：2009-04-09

申请号：PCT/EP2007/060377

申请日：2007-10-01

Applicant: ABB TECHNOLOGY AB ,  KARLSSON, Jan H ,  LASSURI, Antero

Inventor： KARLSSON, Jan H ,  LASSURI, Antero

IPC: B25J9/00 ,  B25J19/06 ,  B25J21/00 ,  F16P3/12

CPC classification number: B25J19/06 ,  B25J9/0096 ,  B25J21/00 ,  F16P3/12 ,  F16P3/142 ,  F16P3/144 ,  F16P3/147

Abstract: The present invention relates to an industrial robot system comprising a workcell including a load area and a process area, a detector (6) detecting when a human enters the load area, a manipulator located in the workcell, at least one positioner adapted to hold a workpiece and to change the orientation of the workpiece about at least one axis while the manipulator processes the workpiece, and a station exchanger movable about an axis and adapted to move, upon command, the manipulator or the positioner between the load and process area. Each of the axes is provided with a motor (M1-M3) and a drive unit (53-55). An axis controller (50) is adapted to switch between executing a first task in which the axes of the positioner and the station exchanger are commanded to a standstill, and a second task in which the axes of the positioner and the station exchanger are allowed to move. A safety controller (58) is adapted to supervise, upon detecting that a human is entering the load area, whether any of the station exchanger or the positioner is moving, and to generate a signal which disables the drive unit of the moving axis if it is detected that any of the supervised axes is moving.

Abstract translation: 工业机器人系统技术领域本发明涉及一种包括工作单元的工业机器人系统，该工作单元包括负载区域和处理区域，检测器（6）检测何时人进入加载区域，位于工作单元中的操纵器，至少一个定位器， 工件，并且当操纵器处理工件时，改变工件围绕至少一个轴线的定向;以及站点交换器，可围绕轴线移动并适于在操作器或定位器之间在负载和处理区域之间移动。 每个轴都设有电机（M1-M3）和驱动单元（53-55）。 轴控制器（50）适于在执行定位器和站交换机的轴被命令停止的第一任务之间进行切换，以及第二任务，其中定位器和站交换机的轴被允许 移动。 安全控制器（58）在检测到人正在进入负载区域时，是否监视站台交换机或定位器是否正在移动，并且产生一个信号，如果它是移动轴，则该信号禁止驱动单元 检测到任何受监督的轴正在移动。

公开(公告)号：EP2212064A1

公开(公告)日：2010-08-04

申请号：EP07820762.8

申请日：2007-10-01

Applicant: ABB Technology AB

Inventor： KARLSSON, Jan H ,  LASSURI, Antero

IPC: B25J9/00 ,  B25J19/06 ,  B25J21/00 ,  F16P3/12

CPC classification number: B25J19/06 ,  B25J9/0096 ,  B25J21/00 ,  F16P3/12 ,  F16P3/142 ,  F16P3/144 ,  F16P3/147

Abstract: The present invention relates to an industrial robot system comprising a workcell including a load area and a process area, a detector (6) detecting when a human enters the load area, a manipulator located in the workcell, at least one positioner adapted to hold a workpiece and to change the orientation of the workpiece about at least one axis while the manipulator processes the workpiece, and a station exchanger movable about an axis and adapted to move, upon command, the manipulator or the positioner between the load and process area. Each of the axes is provided with a motor (M1-M3) and a drive unit (53-55). An axis controller (50) is adapted to switch between executing a first task in which the axes of the positioner and the station exchanger are commanded to a standstill, and a second task in which the axes of the positioner and the station exchanger are allowed to move. A safety controller (58) is adapted to supervise, upon detecting that a human is entering the load area, whether any of the station exchanger or the positioner is moving, and to generate a signal which disables the drive unit of the moving axis if it is detected that any of the supervised axes is moving.

公开(公告)号：EP2212064B1

公开(公告)日：2011-03-16

申请号：EP07820762.8

申请日：2007-10-01

Applicant: ABB Technology AB

Inventor： KARLSSON, Jan H ,  LASSURI, Antero

IPC: B25J9/00 ,  B25J19/06 ,  B25J21/00 ,  F16P3/12

CPC classification number: B25J19/06 ,  B25J9/0096 ,  B25J21/00 ,  F16P3/12 ,  F16P3/142 ,  F16P3/144 ,  F16P3/147

Abstract: The present invention relates to an industrial robot system comprising a workcell including a load area and a process area, a detector (6) detecting when a human enters the load area, a manipulator located in the workcell, at least one positioner adapted to hold a workpiece and to change the orientation of the workpiece about at least one axis while the manipulator processes the workpiece, and a station exchanger movable about an axis and adapted to move, upon command, the manipulator or the positioner between the load and process area. Each of the axes is provided with a motor (M1-M3) and a drive unit (53-55). An axis controller (50) is adapted to switch between executing a first task in which the axes of the positioner and the station exchanger are commanded to a standstill, and a second task in which the axes of the positioner and the station exchanger are allowed to move. A safety controller (58) is adapted to supervise, upon detecting that a human is entering the load area, whether any of the station exchanger or the positioner is moving, and to generate a signal which disables the drive unit of the moving axis if it is detected that any of the supervised axes is moving.