ABB Robotics history and trends

Transcription

2011-12-05,
History, applications, market
© ABB Group
December 9, 2011 | Slide 1
Outline
 Robot
history
Introducción a la Robótica,
Morfologia, Tipos de Robots,
Principlaes Aplicaciones
 Main
Applications
Arc Welding, Material Handling, Spot
Welding
 ABB
Robotics history and trends
 Robotics
© ABB Group
market
The world’s first robot?
Al-Jazari (1136-1206), an Arab Muslim
inventor, designed and constructed a
number of automatic machines, including
kitchen appliances, musical automata
powered by water, and the first
programmable humanoid robot in 1206.
Al-Jazari's robot was a boat with four
automatic musicians that floated on a
lake to entertain guests at royal drinking
parties. His mechanism had a
programmable drum machine with pegs
(cams) that bump into small levers that
operate the percussion. The drummer
could be made to play different rhythms
and different drum patterns by moving
the pegs to different locations
© ABB Group
Leonardo da Vinci’s robot
design from 1495
A knight in GermanItalian medieval armour
• Sitting up
• Moving its arms
• Moving its neck
• Moving its jaw
© ABB Group
17th century
© ABB Group
Digesting Duck
created by Jacques de
Vaucanson in 1739
was able to eat grains, flap
it wings and excrete
© ABB Group
The human machine
Barbarossa with his
creator 1900
Automaton =
self-operating machine
© ABB Group
What is a robot?
© ABB Group
IFR uses ISO definition
© ABB Group

There are many definitions

ISO defines a robot as "an automatically
controlled, reprogrammable, multipurpose,
manipulator programmable in three or
more axes, which may be either fixed in
place or mobile for use in industrial
automation applications
IFR = International Federation of Robotics
The Father of the Industrial Robot

1954: George Devol patented the first teachable robot

1956: George Devol and Joseph Engelberger started the
first robot company

1961: Joseph Engelberger sold the first Unimate robot
to GM for tending a die casting machine.

Unimate: hydraulic driven, polar type
George
Joseph
© ABB Group
The Father of the Electrical Robot

Oct 1971 – April 1972
Björn Weichbrodt created a concept for a
completely new type of robot

April 1972 – February 1973
Björn and his project team of 20 persons
developed the first microprocessor controlled,
electrically driven, antropomorphic type robot

1974
The first IRB 6 was sold to Magnusson in
Genarp, Sweden, for polishing of stainless steel
tubes
© ABB Group
Some milestones of the industrial robot

1960’s, Hudraulic and pneumatic robots
Unimate, Electrolux MHU

1971, Cincinnati Milacron, first mini computer controlled
robot

1973, ASEA
First electrically driven, micro-processor controlled,
antropomorphic robot, IRB 6

1970’s, Many new suppliers
Robots & Humans in competition

1981, Asea buys Electrolux MHU robots

1985, Asea buys Trallfa paint robots

1980’s, Shake-out, acquisitions
1986: some 300 robot suppliers globally

1990’s, Robots for non-industrial use
Robots & Humans in coexistence

2000’s, Robots & Humans in collaboration
and what’s next?

2010’s, Robots & Humans colleagues?
© ABB Group
IRB 6
The first years
Thanks to ABB
1960’s
© ABB Group
1970’s
1980’s
Outline
 Robot
history
 Applications
 ABB
 Robotics
© ABB Group
market
Major applications
Arc welding
Material handling
Spot welding
© ABB Group
Growing applications
Packaging/palletizing
Picking
Bio applications
© ABB Group
Dedicated robots
4-axis
palletizing
robot
Integrated
arc welding
media supply
Integrated
spot welding
media supply
© ABB Group
23
Surgery robots
CyberKnife® Stereotactic Radiosurgery System
© ABB Group
Luggage handling robots at airports
© ABB Group
Library robots sorting books
© ABB Group
Entertainment robots
© ABB Group
Cow milking robots
© ABB Group
Dumper cleaning robots
© ABB Group
Robots Unlimited?

Today

Home – vacuum cleaners, lawn movers…..

Care – surgery, transport, feeding, artificial muscles…..

Controlled via internet – games, surgery, toys

Hobby – building and programming own robots

Others – ventilation, subwater, nuclear…..

…….
© ABB Group
Robots Unlimited?

Tomorrow

Personal robots

Repairing blood vessels (micro robots)

Repairing machines (mini robots)

…..
© ABB Group
Outline
 Robot
history
 Applications
 ABB
 Robotics
© ABB Group
market
We developed the world's first paint robot
Developed 1964 - 67
First sold 1969
© ABB Group
We developed the world’s first electrical robot
IRB 6
1974-1991
IRB 90
1982-1991
IRB 60
1975-1990
© ABB Group
Manipulators for assembly
IRB 300
1985-1986
© ABB Group
IRB 1000
1984 to 1990
IRBM
Magazine
First modular robot
IRB 6000
1991 - 1994
© ABB Group
Controllers
S1 1974 - 1982
S2 1983 - 1991
S3 1987 - 1996
S4C 1996 - 2000
S4Cplus 2000 - 2007
© ABB Group
IRC5 2004 -
S4 1994 - 1999
Auxiliary products

S2 Offline programming system PC software


Vision system


S2 integrated, some 200 units
sold 1982 -1989
LaserTrak

© ABB Group
First 1981
Seam tracker for arc welding
applications 1983 - 1988
General trends
Robots have over the last 25 years:

Increased accuracy 1.0 - 0.1 mm

Increased performance i. e. acceleration

Increased functionality from 16 to several hundred)

Improved user interfaces (4 digits  Windows type indefinite)

Increased communication interfaces
(16 in/out  1024 signals, field buses, Ethernet)

Increased process control

Increased computational power (8 kb  13 Mb)

Improved quality, MTBF, uptime
© ABB Group
Acquisitions
1989 DEMTA, Germany
Powertrain Assembly
1990 Cincinnati Milacron, USA
Spot Welding
1990 JV ABB Ingersoll Rand
Waterjet Cutting
1991 Graco Robotics, USA
Robotic
RoboticsPainting
Painting
1992 ESAB Robotics, Europe, Americas
Arc Welding
1992 Astrobotic, France
Packaging and Palletizing
1993 Preciflex Systems / ACMA, France
B-I-W / Robotics
1995 Capponi Alesina, Italy
Paint Application
1996 Wilson Automation, USA
Powertrain Assembly
1996 Olofström Automation, Sweden, Canada B-I-W and Press Automation
© ABB Group
Outline
 Robot
history
 Applications
 ABB
 Robotics
© ABB Group
market
ABB experience – about 200,000 installations
Other Appl.
12%
Arc Welding
15%
Other
Processing
10%
Spot
Welding
20%
Paint
Finishing
8%
MT/MH
35%
© ABB Group
Robotics market by industry – Worldwide
© ABB Group
Annual shipments per geographic area
© ABB Group
Robot market – Mexico
© ABB Group

Robot shipments to Mexico slightly increased in 2009
to1,100 units

European and Asian motor vehicle suppliers ordered
industrial robots to increase their capacities

Mexico started to gain importance as a production site for
the automotive industry for financial reasons
IRC5 Basic Programming

© ABB Group
The Fundamentals of Robot Programming
IRC5 Program File structure
Folder
NewProgramName
NewProgramName.pgf
<?xml
version="1.0" encoding="ISO-8859-1" ?>
<Program>

<Module>ModuleA.mod</Module>

<Module>MainModule.mod</Module>
</Program>
MainModule.mod
MODULE MainModule
PROC main()
Rotuine1;
Routine2;
ENDPROC
ModuleA.mod
MODULE ModuleA
PROC RoutineA1()
MoveL;
MoveL;
ENDPROC
ENDMODULE
PROC Routine1()
MoveL;
ENDPROC
PROC Routine2()
MoveL;
ENDPROC
ENDMODULE
Module
There
Types
are two types of Modules:
Program
System
A
module consists of:
Routines
Data
MainModule
Main
rPickUp
Data
rDropOff
(.mod)
(.sys)
MoveJ or MoveL?
MoveJ
Joint
interpolation is often the fastest way to move between two points
as the robot axes follow the closest path between the start point and the
destination point (from the perspective of the axis angles). Use when in
open spaces such as moving from one fixture to another.
MoveL
LINEAR
interpolation is the most accurate motion between two points.
The robot will maintain a straight line of the TCP from the starting point to
the end point. If this is not possible an event will be generated. Use
when robot is moving close to other objects such as fixtures or
parts.
Move Instructions
MoveJ
pHome, v500, z5, tGripper
MoveL pHome, v500, z5, tGripper
In
the instruction above:
The
At
robot is moving to _________________
pHome
v500
a speed of ________________________
With
a zone of _______________________
z5
And
a TCP of ________________________
tGripper
Move Instructions
Basic I/O Instructions
The
two instructions for turning an output ON are
_________
and __________.
Set
SetDO

The two instructions for turning an output OFF are
_________
and __________.
Reset
SetDO

To just change the status of an output use
_______________.
InvertDO
To
turn an output on for a short time, then off again
PulseDo
use _____________.
To change the amount
Opt. Arg.
____________.
of Pulse time go into
Basic I/O Instructions

The
______________
instruction is used for waiting
WaitDI
for a single input.

The ______________
instruction is used to wait for a
WaitUntil
complicated condition.

The ______________
instruction is used for waiting
Waittime
for an amount of time.
I/O Instructions
I/O Timing
Indicates
when output comes on.
p10
p40
p30
DT
DT
is a time dependant on processor load.
p20
I/O Timing
Indicates
when output comes on.
p10
P40
P30
P20
Sistema Motor Drive
Circuitos Motor Drive
Vista General del Sistema de Drives
DIAGRAMA
DE BLOQUES DEL
SISTEMA DE DRIVES.
COMPUTADORA
PRINCIPAL
COMPUTADORA
GENERADOR
CONTROL
MOVIMIENTO
POSICIÓN
Serial
DE
DRIVE
DE EJES
CONTROL
DE
VELOCIDAD
Measurement Board
UNIT
CONTROL
DE
CORRIENTE
MOTOR
M
R
RESOLVER
Dentro
del controlador
Dentro
del manipulador
Flexible Controller

Control module



Contains computer unit, safety interface,
control panel, space for standard and
customer options
Drive module

Contains drive system, axis computer,
transformer, mains connection & filter

Building block for MultiMove application (up to
4 drive cabinets connected to a single control
cabinet)
Height 1250 mm, footprint 700 * 700 mm
Motor – IRC5

El rectificador provee 340 VDC a los drives a través de la
Barra Bus
Rectificador
Barras
Bus
Drives
Módulo de Potencia: Robot pequeño con ejes ext.
K42K43
*Capacitor
Drives
Rectificador
Computadora
de
ejes
Drives
ejes
*
Vacío para robots pequeños, si no hay ejes externos
para
ext.
Motor – IRC5

Magnetos
Estructura del motor
del
Bobina
del Estator
Rodamientos
Rotor
Flecha
Freno
Resolver
Entradas y Salidas en
IRC5
Entradas y Salidas en IRC 5

Estructura del diseño de E/S

Buses de Campo Maestros en IRC5

Ejemplos de configuración de E/S

E/S Simuladas
Buses de campo Maestros soportados en IRC5
Ethernet
IP Maestro/Esclavo
© ABB Group

ABB Robotics history and trends

Transcription

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