© ABB Group December 9, 2011 | Slide 1
History, applications, market2011-12-05,
© ABB Group December 9, 2011 | Slide 2
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 market
© ABB Group December 9, 2011 | Slide 3
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 December 9, 2011 | Slide 4
The world’s first robot?
Leonardo da Vinci’s robot
design from 1495
A knight in German-
Italian medieval armour
• Sitting up
• Moving its arms
• Moving its neck
• Moving its jaw
© ABB Group December 9, 2011 | Slide 5
The world’s first robot?
17th century
© ABB Group December 9, 2011 | Slide 6
The world’s first robot?
Digesting Duck
created by Jacques de
Vaucanson in 1739
was able to eat grains, flap
it wings and excrete
© ABB Group December 9, 2011 | Slide 7
The world’s first robot?
The human machine
Barbarossa with his
creator 1900
Automaton =
self-operating machine
© ABB Group December 9, 2011 | Slide 8
What is a robot?
© ABB Group December 9, 2011 | Slide 9
IFR uses ISO definition
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
© ABB Group December 9, 2011 | Slide 11
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
Joseph
George
© ABB Group December 9, 2011 | Slide 12
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 December 9, 2011 | Slide 13
Some milestones of the industrial robot
1960’s, Hudraulic and pneumatic robotsUnimate, Electrolux MHU
1971, Cincinnati Milacron, first mini computer controlled robot
1973, ASEAFirst electrically driven, micro-processor controlled, antropomorphic robot, IRB 6
1970’s, Many new suppliersRobots & Humans in competition
1981, Asea buys Electrolux MHU robots
1985, Asea buys Trallfa paint robots
1980’s, Shake-out, acquisitions1986: some 300 robot suppliers globally
1990’s, Robots for non-industrial useRobots & Humans in coexistence
2000’s, Robots & Humans in collaborationand what’s next?
2010’s, Robots & Humans colleagues? IRB 6
© ABB Group December 9, 2011 | Slide 16
The first years
1960’s 1970’s 1980’s
Thanks to ABB
© ABB Group December 9, 2011 | Slide 20
Outline
Robot history
Applications
ABB Robotics history and trends
Robotics market
© ABB Group December 9, 2011 | Slide 21
Major applications
Arc welding
Spot welding
Material handling
© ABB Group December 9, 2011 | Slide 22
Growing applications
Packaging/palletizing
Picking
Bio applications
© ABB Group December 9, 2011 | Slide 23 23
Dedicated robots
4-axis
palletizing
robot
Integrated
arc welding
media supply
Integrated
spot welding
media supply
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Surgery robots
CyberKnife® Stereotactic Radiosurgery System
© ABB Group December 9, 2011 | Slide 25
Luggage handling robots at airports
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Library robots sorting books
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Entertainment robots
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Cow milking robots
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Dumper cleaning robots
© ABB Group December 9, 2011 | Slide 30
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 December 9, 2011 | Slide 31
Robots Unlimited?
Tomorrow
Personal robots
Repairing blood vessels (micro robots)
Repairing machines (mini robots)
…..
© ABB Group December 9, 2011 | Slide 32
Outline
Robot history
Applications
ABB Robotics history and trends
Robotics market
© ABB Group December 9, 2011 | Slide 33
We developed the world's first paint robot
Developed 1964 - 67
First sold 1969
© ABB Group December 9, 2011 | Slide 34
We developed the world’s first electrical robot
IRB 6
1974-1991
IRB 60
1975-1990
IRB 90
1982-1991
© ABB Group December 9, 2011 | Slide 35
IRB 1000
1984 to 1990
IRB 300
1985-1986
Manipulators for assembly
IRBM
Magazine
© ABB Group December 9, 2011 | Slide 37
First modular robot
IRB 6000
1991 - 1994
© ABB Group December 9, 2011 | Slide 39
Controllers
S2 1983 - 1991 S3 1987 - 1996 S4 1994 - 1999
S4C 1996 - 2000
S4Cplus 2000 - 2007
S1 1974 - 1982
IRC5 2004 -
© ABB Group December 9, 2011 | Slide 40
Auxiliary products
S2 Offline programming system PC software
First 1981
Vision system
S2 integrated, some 200 units
sold 1982 -1989
LaserTrak
Seam tracker for arc welding
applications 1983 - 1988
© ABB Group December 9, 2011 | Slide 43
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 December 9, 2011 | Slide 44
Acquisitions
1989
1990
1990
1991
1992
1992
1993
1995
1996
1996
1989
1990
1990
1991
1992
1992
1993
1995
1996
1996
Powertrain Assembly
Spot Welding
Waterjet Cutting
Robotics Painting
Arc Welding
Packaging and Palletizing
B-I-W / Robotics
Paint Application
Powertrain Assembly
B-I-W and Press Automation
Powertrain Assembly
Spot Welding
Waterjet Cutting
Robotic Painting
Arc Welding
Packaging and Palletizing
B-I-W / Robotics
Paint Application
Powertrain Assembly
B-I-W and Press Automation
DEMTA, Germany
Cincinnati Milacron, USA
JV ABB Ingersoll Rand
Graco Robotics, USA
ESAB Robotics, Europe, Americas
Astrobotic, France
Preciflex Systems / ACMA, France
Capponi Alesina, Italy
Wilson Automation, USA
Olofström Automation, Sweden, Canada
DEMTA, Germany
Cincinnati Milacron, USA
JV ABB Ingersoll Rand
Graco Robotics, USA
ESAB Robotics, Europe, Americas
Astrobotic, France
Preciflex Systems / ACMA, France
Capponi Alesina, Italy
Wilson Automation, USA
Olofström Automation, Sweden, Canada
© ABB Group December 9, 2011 | Slide 45
Outline
Robot history
Applications
ABB Robotics history and trends
Robotics market
© ABB Group December 9, 2011 | Slide 46
ABB experience – about 200,000 installations
Other Appl.
12%
Paint
Finishing
8%
Other
Processing
10%
Spot
Welding
20%
MT/MH
35%
Arc Welding
15%
© ABB Group December 9, 2011 | Slide 47
Robotics market by industry – Worldwide
© ABB Group December 9, 2011 | Slide 48
Annual shipments per geographic area
© ABB Group December 9, 2011 | Slide 49
Robot market – Mexico
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
© ABB Group December 9, 2011 | Slide 50
IRC5 Basic Programming
The Fundamentals of Robot Programming
IRC5 Program File structure
MODULE MainModule
PROC main()
Rotuine1;
Routine2;
ENDPROC
PROC Routine1()
MoveL;
ENDPROC
PROC Routine2()
MoveL;
ENDPROC
ENDMODULE
<?xml version="1.0" encoding="ISO-8859-1" ?>
<Program>
<Module>ModuleA.mod</Module>
<Module>MainModule.mod</Module>
</Program>
NewProgramName.pgf
MainModule.mod
Folder NewProgramName
MODULE ModuleA
PROC RoutineA1()
MoveL;
MoveL;
ENDPROC
ENDMODULE
ModuleA.mod
There are two types of Modules:
Program (.mod)
System (.sys)
A module consists of:
Routines
Data
Module Types
MainModuleMain
Data
rPickUp rDropOff
MoveJ or MoveL?
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.
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.
MoveJ
MoveL
Move Instructions
MoveL pHome, v500, z5, tGripper
In the instruction above:
The robot is moving to _________________
At a speed of ________________________
With a zone of _______________________
And a TCP of ________________________
pHome
v500
z5
tGripper
MoveJ pHome, v500, z5, tGripper
Move Instructions
Basic I/O Instructions
The two instructions for turning an output ON are
_________ and __________.
The two instructions for turning an output OFF are
_________ and __________.
To just change the status of an output use
_______________.
Set SetDO
Reset
InvertDO
SetDO
To turn an output on for a short time, then off again
use _____________.
To change the amount of Pulse time go into
____________.
PulseDo
Opt. Arg.
Basic I/O Instructions
The ______________ instruction is used for waiting
for a single input.
The ______________ instruction is used to wait for a
complicated condition.
The ______________ instruction is used for waiting
for an amount of time.
WaitDI
Waittime
WaitUntil
I/O Instructions
I/O Timing
p40
p30 p20 DT
DT is a time dependant on processor load.
p10
Indicates when output comes on.
P40
P30
I/O Timing
P20
p10
Indicates when output comes on.
Sistema Motor Drive
Circuitos Motor Drive
Vista General del Sistema de Drives
DIAGRAMA DE BLOQUES DEL
SISTEMA DE DRIVES.
COMPUTADORA DE EJES
COMPUTADORA
PRINCIPAL DRIVE UNIT MOTOR
RESOLVER
Serial Measurement Board
CONTROL DE
CORRIENTE
CONTROL DE
VELOCIDAD
CONTROL DE
POSICIÓN
GENERADOR
MOVIMIENTOM
R
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
El rectificador provee 340 VDC a los drives a través de la
Barra Bus
Motor – IRC5
Barras
Bus
Drives
Rectificador
Módulo de Potencia: Robot pequeño con ejes ext.
RectificadorDrives*Capacitor
Computadora
de ejes
* Vacío para robots pequeños, si no hay ejes externos
Drives para
ejes ext.
K42K43
Estructura del motor
Motor – IRC5
Magnetos del
Rotor
Bobina del Estator Rodamientos
ResolverFreno
Flecha
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 December 9, 2011 | Slide 71