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1. 发明申请

WO2007107278A3 MANIPULATOR WITH CONTROL MEANS AND A REMOTE MAIN CONTROLLER COMMUNICATING VIA WIRELESS MEANS 审中-公开
公开(公告)号：WO2007107278A3
公开(公告)日：2007-09-27
申请号：PCT/EP2007/002247
申请日：2007-03-14
申请人： ABB RESEARCH LTD. , GENTZELL, Tobias , ERIKSSON, Peter , KJELLSON, Jimmy , FREY, Jan-Erik , STRAND, Martin
发明人： GENTZELL, Tobias , ERIKSSON, Peter , KJELLSON, Jimmy , FREY, Jan-Erik , STRAND, Martin
IPC分类号： B25J9/16
摘要： The manipulator according to the invention exhibits an improved structure since the communication between the main controller (1) in the remote unit and the controllers (7) in the workplace unit is performed via a wireless communication channel (12) which is preferably a radio channel. Accordingly, no cables are required to connect the main controller (1) and the control units (7) for communication purposes. However, the controllers (7) of the manipulator according to the invention are connected to encoders (6) or resolvers (6) to receive information about the actual position of the controlled manipulator axis (N). Further, the controllers (7) of a manipulator according to the invention are connected to drivers (5) for supplying power to the motors (3) causing the movement of the manipulator. Thus, the controller performs the control of the manipulator movements in a direct and local manner, however, being remotely controlled by the main controller via a wireless communication channel.

2. 发明申请

WO2007107278A2 MANIPULATOR, FOR EXAMPLE AN INDUSTRIAL ROBOT 审中-公开
标题翻译：操纵器，例如工业机器人
公开(公告)号：WO2007107278A2
公开(公告)日：2007-09-27
申请号：PCT/EP2007002247
申请日：2007-03-14
申请人： ABB RESEARCH LTD , GENTZELL TOBIAS , ERIKSSON PETER , KJELLSON JIMMY , FREY JAN-ERIK , STRAND MARTIN
发明人： GENTZELL TOBIAS , ERIKSSON PETER , KJELLSON JIMMY , FREY JAN-ERIK , STRAND MARTIN
CPC分类号： B25J9/161
摘要： The manipulator according to the invention exhibits an improved structure since the communication between the main controller (1) in the remote unit and the controllers (7) in the workplace unit is performed via a wireless communication channel (12) which is preferably a radio channel. Accordingly, no cables are required to connect the main controller (1) and the control units (7) for communication purposes. However, the controllers (7) of the manipulator according to the invention are connected to encoders (6) or resolvers (6) to receive information about the actual position of the controlled manipulator axis (N). Further, the controllers (7) of a manipulator according to the invention are connected to drivers (5) for supplying power to the motors (3) causing the movement of the manipulator. Thus, the controller performs the control of the manipulator movements in a direct and local manner, however, being remotely controlled by the main controller via a wireless communication channel.
摘要翻译：根据本发明的机械手表现出改进的结构，因为远程单元中的主控制器（1）和工作单元中的控制器（7）之间的通信是经由无线通信信道（12）执行的，无线通信信道（12）优选地是无线电信道。因此，为了通信目的，不需要电缆来连接主控制器（1）和控制单元（7）。然而，根据本发明的操纵器的控制器（7）连接到编码器（6）或旋转变压器（6），以接收关于受控操纵器轴线（N）的实际位置的信息。此外，根据本发明的操纵器的控制器（7）连接到用于向电动机（3）供电的驱动器（5），引起机械手的移动。因此，控制器以直接和局部的方式执行操纵器运动的控制，然而，通过无线通信信道由主控制器远程控制。

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