Method and apparatus for controlling handling devices

#The invention relates to a method for the synchronous control of a plurality of handling devices, such as industrial robots. It also relates to an apparatus for the synchronous control of a handling device in a union or group of a plurality of such handling devices and constructed for performing a method of the aforementioned type.

#Automated handling devices, such as industrial robots, are used for very varied tasks in modern industrial practice. It is often necessary for several robots, in each case controlled by a robot control, to perform in time-matched manner, i.e. synchronously certain handling actions. For this purpose it is generally necessary for certain operating actions to be simultaneously performed on a plurality of robot controls. Said operating actions can e.g. be the distribution of a starting command for a group of cooperating robots. In addition, certain commands are regularly linked with state conditions, which must be fulfilled on all the controls before a specific control command or program instructions initiated by the latter can be synchronously performed by a plurality of robot controls.

#US 2002/0029095 A1 (corresponding to EP 1 186 286 A2) discloses a synchronous control of cooperating robots, in which one robot control functions as the master and further robot controls as slaves. The master control transmits start commands and both position and interpolation data to all the slaves and then, following the reply or acknowledgement, perform synchronous movement or control sequences with respect to a starting time. In the case of a stop command of one of the cooperating robots, all the participating robots are decelerated in accordance with an identical stopping process.

#Further advantages and features of the invention can be gathered from the following description of embodiments with reference to the attached drawings, wherein show:

#FIG. 1 A block diagram of a group of control apparatuses according to the invention.

#FIG. 2 A first flow chart of the inventive control method based on the starts of a robot group.

#FIG. 1 shows a plurality of robots 1, 2, 3, 4, which cooperate in a common work area or cell, i.e. which always or partly move in coordinated manner with one another in space and/or time. Each robot 1, 2, 3, 4 has a robot control 1.1, 2.1, 3.1, 4.1. Each control 1.1, 2.1, 3.1, 4.1 has storage means 1.2, 2.2, 3.2, 4.2 for storing a control program for the particular robot 1, 2, 3, 4; input means 1.3a, 2.3a, 3.3a, 4.3a for initiating a control command to be distributed for synchronization purposes; transmitting means 1.3b, 2.3b, 3.3b, 4.3b for transmitting an initiated command to other controls 1.1–4.1 participating in a synchronization; receiving means 1.3c, 2.3c, 3.3c, 4.3c for receiving a command transmitted by another participating control 1.1–4.1; processing means 1.4a, 2.4a, 3.4a, 4.4a for processing the control program in accordance with the control command and optionally for checking the initiated or received command; and decision means 1.4b, 2.4b, 3.4b, 4.4b for unblocking or blocking the transmission and/or for ordering a solely local implementation of an initiated control command.

#The input means 1.3a–4.3a, transmitting means 1.3b–4.3b and receiving means 1.3c–4.3c are implemented in constructionally combined form as a network card 1.3–4.3 for each of the controls 1.1–4.1 in the embodiment according to FIG. 1. By means of the network cards 1.3–4.3 the controls 1.1–4.1 are interconnected by lines 5 and a central hub 6 via a network with star topology. The hub 6 can be constructed as a simple, passive hub or as a switching hub or switch.

#For controlling the network cards 1.3–4.3, each of the controls 1.1–4.1 in the embodiment shown have suitable driver means 1.5, 2.5, 3.5, 4.5.