Method and system for aligning a tool during programming of an industrial robot

Patent metadata

Field	Value
Publication number	US-11144043-B2
Application number	US-201616061731-A
Country	US
Kind code	B2
Filing date	Feb 2, 2016
Priority date	Feb 2, 2016
Publication date	Oct 12, 2021
Grant date	Oct 12, 2021

Abstract

An industrial robot including a movable robot arm for supporting a tool, and a control unit configured to control the movement of the robot. The control unit is provided with an alignment function for aligning the tool with at least one specified axis. The control unit is configured to supervise the movement of the robot, and to automatically adjust the orientation of the tool so that the tool is aligned with the specified axis upon detecting that the movement of the robot has been stopped and the alignment function is activated. Also disclosed is a method for controlling the industrial robot, and to the use of the method for teaching a robot a path including a plurality of target points by lead-through programming.

First claim

The invention claimed is:

1. A method for controlling an industrial robot having a movable robot arm for supporting a tool, wherein the robot is provided with an alignment function for aligning the tool with at least one specified axis (X w , Y w , Z w ), wherein the method comprises:
activating the alignment function,
detecting movement of the robot, and
automatically adjusting the orientation of the tool so that the tool is aligned with the specified axis upon detecting that the movement of the robot has been stopped.

2. The method according to claim 1 , wherein the method includes adjusting the orientation (Z T ) of the tool so that the tool is aligned with the specified axis (X w , Y w , Z w ) upon detecting that the movement of the robot has been stopped for a defined time period.

3. The method according to claim 1 , wherein the tool is kept aligned with the specified axis (X w , Y w , Z w ) until detecting that the movement of the robot has been resumed.

4. The method according to claim 1 , wherein the method includes releasing the alignment of the tool upon detecting that movement of the robot has been resumed.

5. The method according to claim 1 , wherein the method includes:
determining the angle (V x , V y , V z ) of the tool in relation to the specified axis, and
adjusting the orientation of the tool so that the tool is aligned with the specified axis (X w , Y w , Z w ) if the angle of the tool in relation to the specified axis is less than a limit value.

6. The method according to claim 4 , wherein the limit value is less than 45°, and preferably less than 30°.

7. The method according to claim 1 , wherein a plurality of axes (X w , Y w , Z w ) have been specified, and the method includes:
computing the angles (V x , V y , V z ) of the tool in relation to the specified axes, and
adjusting the orientation of the tool so that the tool is aligned with the nearest of the specified axes upon detecting that the movement of the robot has been stopped.

8. The method according to claim 7 , wherein the tool is aligned with the nearest of the specified axes (X w , Y w , Z w ) if the angle (V x , V y , V z ) of the tool in relation to the nearest axis is less than a limit value.

9. The method according to claim 1 , wherein the method is repeated as long as the alignment function is activated.

10. The method according to claim 1 , wherein the robot is taught a path including a plurality of target points, and the method includes:
activating the alignment function,
manually moving the robot with the tool towards a target point on the path,
detecting when the movement of the robot has been stopped,
automatically adjusting the orientation of the tool so that the tool is aligned with the specified axis (X w , Y w , Z w ) upon detecting that the movement of the robot has been stopped,
storing the position and orientation of the robot at the target point,
manually moving the robot with the tool towards the next target point on the path,
detecting when the movement of the robot has been resumed,
releasing the alignment of the tool upon detecting that the movement of the robot has been resumed, and
repeating the method until the last target point on the path has been taught.

11. A method of teaching a robot a path including a plurality of target points by lead-through programming, comprising the steps of:
activating the alignment function,
detecting movement of the robot, and
automatically adjusting the orientation of the tool so that the tool is aligned with the specified axis upon detecting that the movement of the robot has been stopped.

12. An industrial robot comprising a movable robot arm for supporting a tool, and a control unit configured to control the movement of the robot, wherein the control unit is provided with an alignment function for aligning the tool with at least one specified axis (X w , Y w , Z w ), wherein the control unit is configured to detect the movement of the robot, and to automatically adjust the orientation of the tool so that the tool is aligned with the specified axis upon detecting that the movement of the robot has been stopped and the alignment function is activated.

13. The robot according to claim 12 , wherein the control unit is configured to keep the tool aligned with the specified axis until detecting that the movement of the robot has been resumed.

14. The robot according to claim 12 , wherein the control unit is configured to release the alignment of the tool upon detecting that the movement of the robot has been resumed.

15. The robot according to claim 12 , wherein the control unit is configured to determine the angle (V x , V y , V z ) of the tool in relation to the specified axis (X w , Y w , Z w ), and to adjust the orientation of the tool so that the tool is aligned with the specified axis if the angle of the tool in relation to the specified axis is less than a limit value.

16. The method according to claim 2 , wherein the tool is kept aligned with the specified axis (X w , Y w , Z w ) until detecting that the movement of the robot has been resumed.

17. The method according to claim 2 , wherein the method includes releasing the alignment of the tool upon detecting that movement of the robot has been resumed.

18. The method according to claim 2 , wherein the method includes:
determining the angle (V x , V y , V z ) of the tool in relation to the specified axis, and
adjusting the orientation of the tool so that the tool is aligned with the specified axis (X w , Y w , Z w ) if the angle of the tool in relation to the specified axis is less than a limit value.

19. The method according to claim 2 , wherein the method is repeated as long as the alignment function is activated.

20. The robot according to claim 13 , wherein the control unit is configured to release the alignment of the tool upon detecting that the movement of the robot has been resumed.

Assignees

• Abb Schweiz Ag

Inventors

• Hedlund Annika
• Lundberg Ivan
• Styrud Jonathan
• Nordvall Martin
• Sjöberg Ralph
• Groth Tomas

Classifications

• B23K9/1087

  Arc welding using remote control · CPC title

• G05B2219/36425

  Move manually, touch surface, record position · CPC title

• B25J9/1692

  Calibration of manipulator · CPC title

• G05B19/423 Primary

  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 · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title