DE102009060819A1 - Method for executing condition diagnosis at robot and robot component, involves determining characteristics having information about condition of robot component from deviations of course of movement of robot component - Google Patents
Method for executing condition diagnosis at robot and robot component, involves determining characteristics having information about condition of robot component from deviations of course of movement of robot component Download PDFInfo
- Publication number
- DE102009060819A1 DE102009060819A1 DE102009060819A DE102009060819A DE102009060819A1 DE 102009060819 A1 DE102009060819 A1 DE 102009060819A1 DE 102009060819 A DE102009060819 A DE 102009060819A DE 102009060819 A DE102009060819 A DE 102009060819A DE 102009060819 A1 DE102009060819 A1 DE 102009060819A1
- Authority
- DE
- Germany
- Prior art keywords
- robot
- sensor
- robot component
- inclinometer
- component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39177—Compensation position working point as function of inclination tool, hand
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40595—Camera to monitor deviation of each joint, due to bending of link
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Erkennung von Verschleiß und Schäden an Robotern.The The invention relates to a method for detecting wear and Damage to robots.
Es ist bekannt, dass insbesondere die Lebensdauer der Robotergetriebe und anderer Komponenten, wie z. B. Lager, begrenzt ist und sich vor allem bei Robotergetrieben frühzeitiger Verschleiß einstellt. Als Resultat ergeben sich Positionsänderungen im Vergleich zur erwarteten Position, was die Arbeitsqualität beeinflusst. Dieser Verschleiß läßt sich z. B. durch manuelle Spielprüfung am Roboter erkennen. Man hebt den Roboterarm an, überwindet die Lose und kann so bei z. B. Farbspritzrobotern bis zu 80 mm Spiel erkennen. Derartige Prüfungen erfordern einen Anlagenstillstand. Zugleich besteht die Gefahr, dass schon viele Teile mit Qualitätsabweichungen produziert wurden, wenn bei einem Anlagenstillstand eine Prüfung des Spiels nach der oben beschriebenen Methode erfolgt. In manchen Anwendungen wurden deshalb Kalibrierabläufe eingefügt. Dies bedeutet, dass gewisse Fixpunkte anzufahren sind, ein Soll/Istvergleich der Position stattfindet und entsprechend korrigiert wird, wenn eine Positionsänderung durch Verschleiß vorliegt.It is known that in particular the life of the robotic gear and other components, such as. B. bearings, is limited and itself Especially in robot gears premature wear sets. As a result, changes in position result in comparison to the expected position, which affects the quality of work. This wear can be z. B. by recognize manual game check on the robot. You lift that Robot arm, overcomes the lots and can be at z. B. Color spray robots detect up to 80 mm play. Such tests require a plant shutdown. At the same time there is the danger that already produces many parts with quality deviations when a plant shutdown is a check of the Play according to the method described above. In some applications therefore calibration procedures have been added. This means that certain fixed points are to be approached, a target / actual comparison the position takes place and is corrected accordingly, if a change in position due to wear is present.
Aus
der
In
der
Es ist Aufgabe der vorliegenden Erfindung, diese bekannten Verfahren zur Diagnose von Robotern, ihrer Getriebe und anderer Komponenten zu verbessern, indem hochauflösende, ggf. mehrdimensionale Inklinometer oder Verschiebungsmessgeräte am Roboterarm angebracht werden, um Winkel- bzw. Positionsänderungen schon im Produktionsprozess zu erkennen und so eine vorbeugende Instandhaltung zu ermöglichen.It object of the present invention, these known methods for diagnosing robots, their gearboxes and other components improve by high-resolution, possibly multi-dimensional Inclinometer or displacement measuring devices on the robot arm be attached to angle or position changes already recognizable in the production process and thus a preventive To enable maintenance.
Diese Sensoren erleichtern des weiteren die Lagebestimmung bzw. gestatten es, verschleiss- und schadensbedingte Zusatzverlagerungen, Zusatzbewegungen und niederfrequente Zusatzschwingungen des Roboterarms schon im laufenden Produktionsprozess zu erkennen. In die Steuerung des Roboters lassen sich damit sogar Abläufe automatisiert integrieren, um die Soll/Ist-Lage auf Basis der Messwerte der Sensoren zu korrigieren, wobei auch zusätzliches Spiel durch beginnenden oder fortgeschrittenen Verschleiß von Lager und Getrieben berücksichtigt wird. So entsteht auch eine weitere Möglichkeit, eine zustandsorientierte Instandhaltung durchzuführen.These Sensors also facilitate the orientation or allow it, wear and damage-related additional displacements, additional movements and low frequency additional vibrations of the robot arm already in Recognize ongoing production process. Into the controller of the robot even automated processes can be integrated, to correct the target / actual position on the basis of the measured values of the sensors, being also additional game through incipient or advanced Wear of bearings and gears taken into account becomes. This also creates another possibility, a condition-oriented To carry out maintenance.
Geeignete
Inklinometer können als MEMS-Inklinometer ausgeführt
sein. Andere Messgeräte für den Winkel zur Gravitationsrichtung
oder für die Verschiebung sind ebenfalls möglich,
zum Beispiel faseroptische Inklinometer oder Verschiebungsmessgeräte,
wie sie z. B. in der
Die
einzige
Diese
Auswerteeinheit
Der
Sensor
Weitere
Ausführungsformen der Sensoren
Die
Verbindungen
Sind
die Sensoren
In
der Auswerteeinheit
Weiter
ist erfindungsgemäß vorgesehen, dass entweder
in der Auswerteeinheit
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - EP 1284414 A2 [0003] - EP 1284414 A2 [0003]
- - US 5049797 [0004, 0007] US 5049797 [0004, 0007]
- - JP 2003-287411 [0007] JP 2003-287411 [0007]
- - US 2005/169568 A1 [0007] US 2005/169568 A1 [0007]
- - DE 3911307 A1 [0007, 0010] - DE 3911307 A1 [0007, 0010]
Claims (11)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009060819A DE102009060819A1 (en) | 2008-12-30 | 2009-12-28 | Method for executing condition diagnosis at robot and robot component, involves determining characteristics having information about condition of robot component from deviations of course of movement of robot component |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008063394 | 2008-12-30 | ||
DE102008063394.1 | 2008-12-30 | ||
DE102009060819A DE102009060819A1 (en) | 2008-12-30 | 2009-12-28 | Method for executing condition diagnosis at robot and robot component, involves determining characteristics having information about condition of robot component from deviations of course of movement of robot component |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102009060819A1 true DE102009060819A1 (en) | 2010-07-01 |
Family
ID=42221147
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102009060819A Ceased DE102009060819A1 (en) | 2008-12-30 | 2009-12-28 | Method for executing condition diagnosis at robot and robot component, involves determining characteristics having information about condition of robot component from deviations of course of movement of robot component |
Country Status (1)
Country | Link |
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DE (1) | DE102009060819A1 (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3911307A1 (en) | 1989-04-07 | 1990-10-18 | Busch Dieter & Co Prueftech | METHOD FOR DETERMINING WHETHER TWO SHAFTS ARRANGED IN ORDER ARE ALIGNED OR STABILIZED WITH REGARD TO THEIR AXIS |
US5049797A (en) | 1990-07-02 | 1991-09-17 | Utah State University Foundation | Device and method for control of flexible link robot manipulators |
EP1284414A2 (en) | 2001-08-13 | 2003-02-19 | Siemens Aktiengesellschaft | Diagnosis of robot transmissions |
JP2003287411A (en) | 2002-03-27 | 2003-10-10 | Tokyo Sokki Kenkyusho Co Ltd | Fbg type angle sensor, and displacement gauge and inclinometer using the same |
US20050169568A1 (en) | 2003-11-28 | 2005-08-04 | Prime Optical Fiber Corporation | Optical fiber inclinometer |
-
2009
- 2009-12-28 DE DE102009060819A patent/DE102009060819A1/en not_active Ceased
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3911307A1 (en) | 1989-04-07 | 1990-10-18 | Busch Dieter & Co Prueftech | METHOD FOR DETERMINING WHETHER TWO SHAFTS ARRANGED IN ORDER ARE ALIGNED OR STABILIZED WITH REGARD TO THEIR AXIS |
US5049797A (en) | 1990-07-02 | 1991-09-17 | Utah State University Foundation | Device and method for control of flexible link robot manipulators |
EP1284414A2 (en) | 2001-08-13 | 2003-02-19 | Siemens Aktiengesellschaft | Diagnosis of robot transmissions |
JP2003287411A (en) | 2002-03-27 | 2003-10-10 | Tokyo Sokki Kenkyusho Co Ltd | Fbg type angle sensor, and displacement gauge and inclinometer using the same |
US20050169568A1 (en) | 2003-11-28 | 2005-08-04 | Prime Optical Fiber Corporation | Optical fiber inclinometer |
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Effective date: 20110408 |
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R002 | Refusal decision in examination/registration proceedings | ||
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