公开(公告)号：US09254567B2

公开(公告)日：2016-02-09

申请号：US14165161

申请日：2014-01-27

Applicant: ABB Technology AG

Inventor： Fan Dai ,  Oliver Becker

IPC: B25J9/00 ,  B25J9/16 ,  G05B19/05

CPC classification number: B25J9/16 ,  G05B19/056

Abstract: A system and method for commanding a robot by a programmable logic controller are disclosed. The system can include a programmable logic controller, at least two function blocks with at least one input for triggering an execution of a PLC function and at least one output indicating status of a function block. Each function block corresponds to a movement segment of a movement path of a robot to be commanded. A command queue can store and send orchestrated robot commands to the robot. Backwards motion of the robot can be performed by stopping execution of not yet executed robot commands for forward motion, and sequentially resending at least one executed robot command stored in the command queue in a contrawise sequence.

Abstract translation: 公开了一种用于由可编程逻辑控制器命令机器人的系统和方法。 该系统可以包括可编程逻辑控制器，至少两个功能块，其具有用于触发PLC功能的执行的至少一个输入和指示功能块的状态的至少一个输出。 每个功能块对应于要被命令的机器人的移动路径的移动段。 命令队列可以存储和发送协调的机器人命令到机器人。 机器人的向后运动可以通过停止执行尚未执行的机器人命令以进行前进运动来执行，并且以相反的顺序依次重新发送存储在命令队列中的至少一个执行的机器人命令。

公开(公告)号：US20160176115A1

公开(公告)日：2016-06-23

申请号：US14910264

申请日：2014-06-26

Applicant: ABB TECHNOLOGY AG

Inventor： Oliver Becker

IPC: B29C67/00

CPC classification number: B29C67/0088 ,  B25J9/1679 ,  B29C64/112 ,  B29C64/393 ,  B29L2031/00 ,  B33Y10/00 ,  B33Y50/02 ,  G05B19/4099 ,  G05B2219/45083 ,  G05B2219/49023

Abstract: A printing system for three-dimensional objects has a control unit for storing and executing a robot program and an industrial robot which is controlled by the control unit and which has an arm with several members, wherein the tip of the arm is movable along a predetermined movement path according to path data of the robot program. A printing unit is mounted on the tip of the robot arm and is controlled by the control unit, which has at least one print nozzle for applying pointwise a respective portion of a print material at respective coordinates according to object data of the robot program.

Abstract translation: 用于三维物体的打印系统具有用于存储和执行机器人程序的控制单元和由控制单元控制并具有多个构件的臂的工业机器人，其中臂的尖端可沿预定的 运动路径根据机器人程序的路径数据。 打印单元安装在机器人手臂的尖端上，并且由控制单元控制，该控制单元具有至少一个打印喷嘴，用于根据机器人程序的对象数据在各个坐标处点击打印材料的相应部分。

公开(公告)号：US10987870B2

公开(公告)日：2021-04-27

申请号：US14910264

申请日：2014-06-26

Applicant: ABB Technology AG

Inventor： Oliver Becker

IPC: B29C64/393 ,  B25J9/16 ,  G05B19/4099 ,  B29C64/112 ,  B29C67/00 ,  B33Y10/00 ,  B33Y50/02 ,  B29L31/00

Abstract: A printing system for three-dimensional objects has a control unit for storing and executing a robot program and an industrial robot which is controlled by the control unit and which has an arm with several members, wherein the tip of the arm is movable along a predetermined movement path according to path data of the robot program. A printing unit is mounted on the tip of the robot arm and is controlled by the control unit, which has at least one print nozzle for applying pointwise a respective portion of a print material at respective coordinates according to object data of the robot program.

公开(公告)号：US20140142754A1

公开(公告)日：2014-05-22

申请号：US14165161

申请日：2014-01-27

Applicant: ABB Technology AG

Inventor： Fan DAI ,  Oliver Becker

IPC: B25J9/16

CPC classification number: B25J9/16 ,  G05B19/056

Abstract: A system and method for commanding a robot by a programmable logic controller are disclosed. The system can include a programmable logic controller, at least two function blocks with at least one input for triggering an execution of a PLC function and at least one output indicating status of a function block. Each function block corresponds to a movement segment of a movement path of a robot to be commanded. A command queue can store and send orchestrated robot commands to the robot. Backwards motion of the robot can be performed by stopping execution of not yet executed robot commands for forward motion, and sequentially resending at least one executed robot command stored in the command queue in a contrawise sequence.

Abstract translation: 公开了一种用于由可编程逻辑控制器命令机器人的系统和方法。 该系统可以包括可编程逻辑控制器，至少两个功能块，其具有用于触发PLC功能的执行的至少一个输入和指示功能块的状态的至少一个输出。 每个功能块对应于要被命令的机器人的移动路径的移动段。 命令队列可以存储和发送协调的机器人命令到机器人。 机器人的向后运动可以通过停止执行尚未执行的机器人命令以进行前进运动来执行，并且以相反的顺序依次重新发送存储在命令队列中的至少一个执行的机器人命令。