EP3426444A1

EP3426444A1 - Industrial robot having at least two image acquisition devices

Info

Publication number: EP3426444A1
Application number: EP17707515.7A
Authority: EP
Inventors: Dietmar Steidl
Original assignee: KUKA Deutschland GmbH
Current assignee: KUKA Deutschland GmbH
Priority date: 2016-03-07
Filing date: 2017-02-23
Publication date: 2019-01-16
Also published as: WO2017153180A1; DE102016203701A1

Abstract

The invention relates to an industrial robot (1) comprising a robot arm (2) with a plurality of members (12), which are connected via articulations (11), and a robot controller (13) which is designed to adjust the members (12) of the robot arm (2) with respect to one another automatically or in a hand-held operation according to a robot program, wherein at least one of the plurality of members (12) has at least two image acquisition devices (K1, K2), wherein each image acquisition device (K1, K2) is calibrated with respect to its spatial position and orientation in relation to the member (12), to which the image acquisition device (K1, K2) is attached.

Description

Industrial robot with at least two image capture devices

The invention relates to an industrial robot comprising a robot arm having a plurality of links which are connected by joints, and having a robot controller, which is configured to adjust the members of the robot arm in accordance with a Ro ^¬ boterprogramms automatically or in a manual drive mode ge ^¬ against each other.

From DE 10 2007 055 204 AI a robot is known, which has a device attached to the robot arm or integrated in the robot arm for taking an image of an image projected on the surface of the object, wherein a data processing device is adapted to analyze an image data set, associated with an image taken with the apparatus for capturing the image from the image projected on the surface of the object. The recording takes place by means of a camera attached to the robot arm or integrated in the robot arm, wherein the projected image represent virtual input means.

The object of the invention is to provide an industrial robot which can be reliably operated by means of cost-effective and / or simple sensor devices in a secure manner.

The object of the invention is achieved by an industrial ^¬ robot comprising a robot arm having a plurality of links which are connected by joints, and including a Robo ^¬ ters control, which is designed to adjust the members of the robot arm in accordance with a robot program automatically or in a manual drive mode against each other wherein Wenig ^¬ least one of the plurality of members includes at least two Bilderfas ^¬ sungseinrichtungen, each of which image capture device with respect to their spatial position and orientation with respect to the member to which the image ^{sensing ¬} device is attached, is calibrated.

Industrial robots are working machines that can be equipped with tools for the automatic handling and / or machining of objects, such as workpieces, and that are programmable by means of their joints in a plurality of axes of movement, for example with regard to orientation, position and workflow, in order to handle the tool.

The industrial robot comprises the robot arm and a programmable robot controller (control device) which controls or regulates the movements of the industrial robot during operation, by one or more automatically or manually adjustable joints (robot axes) are moved by particular electric drives or motors, and the Robot controller controls the drives according to a robot program automatically or in a manual drive mode or controls. The robot control thus serves to move the Glie ^¬ the robot arm by driving drives of the robot arm. The drives in turn move the axes, ie the joints of the robot arm. In each case two adjacent links of the robot arm can be connected to each other adjustable by a single joint, which represents the respective axis, which is moved by an associated ^¬ drive.

Robotic arms may include, among other things, a frame and a relative to the frame by means of a joint rotatably mounted Karus ^¬ sell include, on which a rocker is pivotally mounted by means of another joint. In turn, an arm jib can be pivotally mounted on the rocker by means of a further joint. The arm boom carries one Robot hand, wherein the extent of the cantilever arm and / or the Ro ^¬ boterhand may have more additional joints. One, several or all joints of the robot arm can be designed as Drehge ^¬ joints. The connected via a plurality of joints having links Ro ^¬ boterarm may be configured as an articulated robot having a plurality of serially arranged one after the limbs and joints, in particular the robot arm may be designed as a six-axis articulated robot. One, several or all joints of the articulated robot can be designed as a rotary joints is ^¬.

The robot controller may be configured to the members of the robot arm in accordance with the robot program automatically or in a manual drive mode against one another in a predetermined positioning of the adjustable joints to verstel ^¬ len, wherein the at least two image acquisition devices in terms of their spatial position and orientation with respect to the member on which the image capturing means are fixed, at least in one of the positioning accuracy of the joints corresponding accuracy are measured.

A positioning accuracy of the adjustable joints in this context is understood in particular to be a measure of exactly how a desired, in particular programmed setpoint position and / or desired orientation of a particular reference point of the robot arm, for example ^¬ a tool reference point, which also as TCP is called ^¬ net, can actually be achieved or achieved. For example, when a programmed target position and / or target orientation of a tool reference point being ^¬ drive by that the axes of the robot are adjusted accordingly by the robot controller, the joints, The tool reference point comes to stand in an actual pose and there has an actual position and a Istorientie ^¬ tion in space, which may differ from the desired target position and target orientation. The maximum position or position deviation of this actual position and actual orientation of the desired position and desired orientation provides the degree of positioning accuracy.

The image capture device is generally formed an image from the surroundings, for example from the working space of the industrial robot or a shelter of Industriero ^¬ boters to detect. By means of the image capture device, the image is captured, forwarded and / or stored in the form of image information. The image capture device can for this purpose have at least one image sensor. The image capture device may in particular be a digital camera. The image capture device may include a camera chip with an associated optical lens. Such camera chips as such are generally known and are used, for example, in mobile telephones, in particular in smartphones.

A calibration of the image capture device means that the image capture device is rigidly attached to the associated member of the robot arm and then determines the exact position and orientation of the image capture device relative to the associated member to which the image capture device is attached, in particular measured and stored. Such a measurement takes place at least in a positioning accuracy of the joints corresponding accuracy. This means that the relative position and position of the image capture device on the associated member is measured and stored at least as accurately as the industrial robot position its robot arm, ie can take his pose or the pose of a tool reference point.

By at least one of the plurality of members includes at least two image acquisition devices, each of which paintings- detecting means with regard to their spatial position and orientation with respect to the member on which the Bilderfas ^¬ sungseinrichtung is fixed, at least in one of the Po ^¬ positioning accuracy of the joints corresponding accuracy is calibrated, For example, the actual spatial position and orientation of the relevant image acquisition device can be determined solely from the known joint positions of the robot arm. If the position and orientation of the image acquisition device with respect to the associated link is known, the position and orientation of the image acquisition device in space can be determined in the space due to the position and orientation of the respective link in space known by the joint positions of the robotic arm, namely in one of the positioning accuracy of the joints ent ^¬ speaking accuracy. Each member is provided with image capturing means equipped kitchens ^¬ tet may have two or more image capturing means. These multiple image sensing devices of a single member may be attached to the member so that they can each detect different spatial sectors. Image capture devices can not only be attached to a single member of the robot arm, but it can have two or more members of the robot arm, in particular all members of the robot arm each have two or more image ^¬ fassungseinrichtungen. Depending on the application, the plurality of image acquisition ^devices , such as cameras, should be integrated directly into the robot structure at strategically important locations and thus one User or application developer or robot programmer. The cameras are already measured or adjusted on the robot, so that the user can use them directly, ie without further measurement. By using, for example, at least two camera chips of different points from the same object, such as a workpiece or the tool of the industrial robot to detect, are then realized in particular Sicherheitsfunktio ^¬ NEN means of the image acquisition devices.

The placement of the image capture devices may preferably be close to the last, ie distal, axis in order to benefit from the degrees of freedom of the axes located in the kinematic chain of the camera with respect to the possible movements of the cameras. However, the image capture devices should be located far enough away from a tool or the flange of the robotic arm so as not to be obscured by the tool on the flange. An accommodation on the robot hand, for example, a six-axis kick robot may be appropriate. By arranging several image capturing devices, in particular camera chip for example on a ring, the FEH ^¬ lumbar degrees of freedom, for example the last one or two axes can be compensated for.

By arranging a plurality of image capture devices on at least one link, it is possible without additional effort, such as external cables or additional interference contours, to develop many different applications using the image information obtained by the image capture devices. In addition to the standard applications, an application program can also allow the development of own applications using the image information obtained by the image acquisition devices. Possible applications for application programs can be at ^¬ play as:

- recognize barcodes of components,

- recognize placement of components,

- support during robot commissioning,

- adjustment of the robot,

- Alignment of most of the axes via special markers on the robot foot or at other strategic positions,

- calibration of the robot coordinate system with respect to its robot cell (for example the markers within the cell h ^¬ le),

- reading in data on the robot foot (for example, Mammes values in a 3D bar code, if they have been lost),

- replacement of a safe adjustment reference button,

- Detection of unauthorized intrusion into shelters of the robot,

Creation of a three-dimensional image of the cell,

Measurement of elements within the cell by means of the image capture devices,

- programming of the robot via augmented reality -

The member may include a member housing surface defining the outer shape of the member and an inwardly extending receiving space extending from the member housing surface within which the image sensing device is fully received.

The link housing surface may be the outer jacket wall of a particularly hollow structural component, which forms the respective member of the robot arm. The structural component can be designed, in particular, for transmitting all forces and moments necessary for carrying the robot arm itself and for carrying and / or moving it from the robot arm tool to be handled. Also, reaction forces and reaction moments, which occur through a combination of tool and workpiece are derived here via the respective structural component. The receiving space can be formed by a recess or an opening in the particular hollow structural component. For each image capture device to be attached to the member, a separate receiving space may be provided. In the receiving space, the respective image capture device is attached. For example, the image capture device can be screwed, ange ^¬ clamped or glued to the member within the receiving space.

The image capture device may include an entrance window through which light rays enter the image capture device from outside to capture an image of the environment of the industrial robot within the image capture device, the entrance window having a window surface flush with the link shell surface of the link on which the Image capture device is attached, terminates or back ^¬ offset relative to the link housing surface. The entrance window can be formed for example by an optical lens of the image capture device. However, the entrance window may also be a light-permeable protective cover which covers the image acquisition device, in particular its optical lens. An outer surface of the entrance window can bün ^¬ dig flush with the housing member surface, or back with respect to the member ^¬ housing surface. This has the advantage that, despite the attachment of the image detection devices to the respective member of the robot arm, the interference contour of the robot arm is not changed, in particular not increased. This has the advantage that, despite the use of image capture devices, the previous robotic ter programs that were created without image capture devices can be reused without further and in particular it is not necessary to have to program an enlarged interference contour to reliably prevent collisions in the robot program.

The limb may comprise at least three image acquisition devices arranged distributed over a circumference of the limb. By providing at least three image capture devices distributed over a circumference of the limb, the environment can be detected optically over an angle of at least 360 degrees completely over the circumference of the limb, without the limb having the image acquisition device only having to be adjusted.

The robot arm may be designed as an articulated robot, in which the plurality of links in a kinematic

Chain sequentially arranged and each two adjacent ^¬ limbs are connected by one of the joints mutually adjustable, wherein a proximal end member of the links forms a base frame, which is designed for fastening the articulated robot to a foundation, and a distal end member of the links forms a hand flange which is configured for attachment of a tool to be handled by the articulated robot, and the Bilderfassungseinrichtun ^¬ gene are located on a member which is immediately upstream in the kinematic chain to the distal end member.

By the image capturing means are arranged on a member which is immediately upstream in the kinematic chain to the distal end member, all the image capturing means proximal upstream joints can be used in the ki ^¬ nematic chain in order, by adjusting the joints, the positions and the orientations of the image capturing means in To align space. So can the Image capture devices occupy the largest number of different poses in the room. Since the last link, ie the flange of the robot arm generally allows only a single rotational movement and, for example, the at least three Bildfas ^¬ sungseinrichtungen arranged on the kinematic chain in the distal end member member arranged upstream member can surround the space around 360 degrees, despite this lack of freedom of the entire space to be captured around the robot arm. The image capture device may have an image sensor connected to the robot controller, such that image information captured by the image sensor is transmitted to the robot controller and the robot controller has a processing device that is configured to determine the joint position values currently acquired by the image sensor at a particular time of acquisition of image information To detect members of the robot arm and assign these joint position values of the members of the robot arm to the image information. Accordingly, the processing device can store the image information acquired by the image acquisition devices and assign each of them the currently assumed joint position values of the limbs of the robot arm. For this purpose, the processing device can use the momentarily assumed joint position values at the time of creation of the

Obtain image information from the robot controller and save linked with the associated image information.

The stored joint position values allow the image information to be assigned to an individual view. In a further different image information and related joint position values can be miteinan ^¬ was compared and evaluated. The image capture device may have an image sensor connected to the robot controller such that image information captured by the image sensor is transmitted to the robot controller and the robot controller has processing means configured to pick up the image currently occupied by the image sensor at a particular time To determine joint position values of the limbs of the robot arm, to determine from the joint position values of the limbs of the robot arm the position and orientation of the image acquisition device with respect to the working space of the industrial robot and to associate this position and orientation of the image acquisition device in the working space with the associated image information. The robot controller or the processing device may be configured to execute a safety-related function of the industrial robot on the basis of image information obtained from the image capture devices and based on spatial locations of the image capture devices associated with the image information.

In all following embodiments, the processing device may optionally be part of the robot controller or be designed as a separate processing device separate from the robot controller. The processing device may be partially or completely implemented as hardware and / or software.

To use the image acquisition devices, in particular cameras, integrated into the robot structure for security functions, basically at least two cameras are to be used which have at least one overlapping region. Within such an overlapping range, safety-related functions are possible in principle, since the Object, for example, a reference marker, is detected by two independent image capture devices or cameras that record the object under different viewing angles. In principle, markers can be any clearly identifiable pattern or object. However, to ensure high availability, the pattern should include redundancy that allows troubleshooting. In practice, 2D codes, such as QR codes, are available for this purpose. Also colored codes are possible.

The robot controller or the processing device can be configured in a first embodiment to move the robot arm into an arm position, in which at least one of the image capture devices detects a separate from the robot arm in a previously known, stored position and orientation in space optical marker and from this optical marker Generates image data, and based on an evaluation of the generated image data and the previously known, stored position and orientation of the optical marker, a current joint position wenigs ^¬ least one of the joints of the robot arm is calculated.

Using a robot, for example, no absolute ^¬ value encoder for the safe position detection of joint positions of the robot arm, but instead donors, ^¬ play as supply with only within a motor revolution an unambiguous position, there is after switching on the robot, the need for the validity to verify the position ^¬ Malig. To this end the robot moves to a pre-programmed position, a is from from within the Ar ^¬ beitsbereichs mounted reference marker in a two-channel time detection range of the cameras. The position of the marker is of two cameras he failsafe ^¬ known. Since the position of the camera on the robot is known, it can be determined by using the securely configured position of the marker the position of the robot up to the axis of the attached cameras are verified. Should additionally also the Po ^¬ sition of the remaining axis can be verified, so can the tool reference point (TCP) is also a marker, in particular be attached with a different identifier, which is moved into the field of view of the cameras.

The robot controller or the processing means may be formed in an alternative or supplementary second embodiment, to move the robot arm in a Armstel- lung in which optically detects at least one of the Bilderfas ^¬ sungseinrichtungen a gehandhabtes by the robot tool and generated by this tool image data and the robot controller or the processing ^{¬ device sent} for further evaluation. If, for example, a robot is to be used to safely monitor the work spaces for a robot, for example with a tool changer, then the problem arises that it must also be prevented that the tool received violates the work space. However, this is only possible with a tool changer, if you have a secure detection of the tool.

Can depending on ^¬ the tool analogous to a marker on the flange of the robot arm or it may be so placed ^¬ introduced more markers that it is attached to the flange tool with the expected tool is compared and thus the geometry of the tool can be taken into account. Several markers can ensure that the tool is detected regardless of the position of the flange of the robot arm. If a wrong or missing tool is detected, the robot can be stopped, in particular safety-switched off. The robot controller or the processing means may be formed in an alternative or supplementary third embodiment, to move the robot arm in a Armstel ^¬ lung, in which at least sungseinrichtungen one of Bilderfas- an optically detected by the robot arm workpiece to be processed and generated from this workpiece image data and transmitted to the robot controller or the processing ^{¬ device} for further evaluation.

Equivalent to safe tool recognition, the workpiece can also be safely detected, provided that a marker is in the

Field of view of the camera attach or the workpiece sel ^¬ ber can be identified by the camera. If geometrically different workpieces can be processed by the robot, this can also be used to monitor a violation of the work space by the workpiece.

The robot controller or the processing device can be configured in an alternative or supplementary fourth embodiment to move the robot arm into at least one arm position, in which at least one of the image acquisition devices at least partially or completely optically detects the working space of the industrial robot and generates image data from this work space transmitted to the robot controller or the processing device for further evaluation. If you want to program working areas in which the robot is allowed to stand on a robot system, or protective areas into which the robot is not allowed to enter, this can be done by an optical teach-in. With an object on which one or more markers are applied, it shows the first robot having a corner of a Arbeitsrau ^¬ mes or a shelter. Subsequently, one shows the Ro ^¬ boter a second, opposite corner of the working space or the shelter. The robot system can detect the position and the angle of the markers both times by means of the image capture devices and thus adjust the work space or the shelter. Depending on the position of the robot arm, convex or concave structures may be suitable for teaching. Than those contained in the applied markers data, the robot system recognizes the area defined by the touch-up virtual objects, and therefore at least knows their funda ^¬ constricting geometric shape. The robot controller or the processing device can be configured in an alternative or supplementary fifth embodiment to move the robot arm into at least one arm position, in which at least one of the image capture devices at least partially or completely optically captures a shelter separate from the workspace of the industrial robot and from this shelter Image ^¬ data generated and transmitted to the robot controller or the processing device for further evaluation.

Instead of a conventional consent button on a hand-held device, the image capture devices can also recognize a human hand gesture, for example. As long as the hand is held in this position, the consent is considered granted. Disappears hand out of the field of view of the image acquisition devices, particularly cameras, or changed the hand signal, it will invalidate the Zustim ^¬ determination.

For ease of recognition of the hand signals, for example, a special glove with applied markers can be used. In addition to consent, other hand gestures or gestures, including with the second hand, may of course be used to serve other safety or non-safety functions of the robot, such as start button, jog mode, or direct Richtungsan ^¬ gifts for movements. For example, a clenched fist with left thumb may instruct the robot to slowly drive to the left. The travel speed can also be adjusted depending on the position of the hand.

The robot controller or the processing device can be configured in an alternative or supplementary sixth embodiment to move the robot arm into at least one arm position, in which at least one of the image capture devices optically detects a person or an identification device associated with a particular person and generates image data therefrom and the image data from the robot controller or processor is compared with stored identification features.

It is also a release of changes to the safety ^¬ configuration possible. If a change is to be made to the safety configuration of the robot, then it can be provided that a person must authenticate himself as a safety operator. This authentication can take place, for example, in that the security operator holds the robot's identification, which can be provided, for example, with a suitable marker, at a defined, short distance in front of the image capture devices or the cameras. As a result, it can be ruled out, for example, that a further robot of the same cell accidentally recognizes and adopts the identification.

Various embodiments of the invention are illustrated in the accompanying schematic drawings by way of example. Concrete features of these embodiments can be found regardless of the specific context in which they are used. When considered individually or in combination, these are general features of the invention.

Show it:

1 is a perspective view of an industrial robot having a robot arm, a robot controller, and a plurality of image capturing devices,

2 shows a schematic sectional view in the axial direction on an arrangement of eight image acquisition devices of an exemplary member of the robot arm,

3 is a schematic sectional view in the axial direction of an arrangement of four image sensing devices of an exemplary member of the robot arm,

4 is a schematic sectional view in the axial direction of an arrangement of two image sensing devices of an exemplary member of the robot arm, FIG. 5 is a schematic sectional view in the axial direction of an arrangement of an image sensing device of an exemplary member of the robot arm,

6 is a schematic sectional view in the axial direction of an arrangement of two image sensing devices of an exemplary member of the robot arm with an overlap region,

7 is a partial sectional view through a member of the robotic arm with an image capture device comprising an entrance window flush with a member housing surface; 8 is a partial sectional view through a member of the robot arm with an image capture device comprising an entrance window, which is arranged set back relative to the link housing surface,

Fig. 9 is a schematic representation of a robot arm with

Image capturing devices that capture a reference mark,

10 is a schematic representation of a robot arm with

Image capture devices that detect a body having three orthogonally arranged reference marks to detect a first boundary of a shelter, and

Fig. 11 is a schematic representation of the robot arm with

Image detection devices according to FIG. 9, which detect the body with three orthogonally arranged reference marks in order to detect a second boundary of the protection space.

FIG. 1 shows a robot 1 having a robot arm 2 and a robot controller 13. In the case of the present exemplary embodiment, the robot arm 2 comprises a plurality of links 12 arranged one after the other and connected by joints 11. The links 12 are, in particular, a frame 3 and a carousel rotatably mounted relative to the frame 3 about a vertically extending axis AI 4. Further members of the robot arm 2 are in the case of vorlie ^¬ ing embodiment, a rocker arm 5, a boom 6 and a preferably multi-axis robot hand 7 with a designed as a flange 8 fastening device 15 for attaching an end effector, not shown, ie tool. The rocker 5 is pivotally mounted at the lower end, for example on a swing bearing head not shown on the carousel 4 about a preferably horizontal axis of rotation A2. At the upper end of the rocker 5, in turn, the arm extension 6 is pivotably mounted about a likewise preferably horizontal axis A3. At the end, this carries the robot hand 7 with its preferably three axes of rotation A4, A5, A6. In the case of the present exemplary embodiment, the arm extension 6 has a first housing component 9 mounted pivotably on the rocker 5. On the first housing part 9, a second housing part 10 of the arm extension 6 is rotatably mounted about the axis A4.

The robot 1 has a robot controller 13 and a robot arm 2 with a plurality of joints 11 connected by links 12, which are automated by drive motors of the robot 1 which are coupled to the joints 11 in accordance with a robot program executed by the robot controller 13 or in one Manual drive operation of the robot 1 are drive-controlled ^¬ ert to change the configuration of the robot arm 2, wherein, for example, of the members 12 of an intermediate member 12.3, the articulated via a first pivot 11.1 with a in the kinematic chain of the robot arm 2 the intermediate member 12.3 upstream first member 12.1 is rotatably connected and which is rotatably connected via a second pivot 11.2 with a in the kinematic chain of the robot arm 2 the intermediate member 12.3 downstream second member 12.2, wherein the axis of rotation of the first pivot joint 11.1 (HAI) orthogonal to the axis of rotation of the second Swivel joint 11.2 (HA2) is aligned.

Fig. 1 accordingly shows an industrial robot 1 comprising a robot arm 2 with a plurality of members 12, the over Joints 11 are connected, and having a robot ^¬ control 13, which is designed to adjust the members 12 of Robo ^¬ terarms 2 according to a robot program automatically or in a hand-held operation against each other and in particular in a predetermined positioning accuracy of the adjustable joints 11, wherein at least one of the plurality of links 12 has at least two image capture devices K1, K2 and / or K3, K4, each of which image capture device K1, K2 and / or K3, K4 with respect to their spatial position and orientation with respect to the link 12 at which the image capture device K1, K2 and / or K3, K4, is calibrated, in particular at least in one of the positioning accuracy of the joints 11 corresponding accuracy is measured. The exemplary member 12.1 has a member housing surface 20 defining the outer shape of the member 12.1 and an inwardly extending receiving space extending from the member housing surface 20 within which the image sensing devices K1, K2 are fully received.

The image capturing means Kl, K2 have, as shown in FIG. 7 and FIG. 8, each of an entrance window 19, may occur, for example, in the image detection means Kl via the light beams from the outside, an image of the environment of the industrial robot 1 within the Bilderfas ^¬ sungseinrichtung Kl, wherein the entrance window 19 has a window surface 19a, which, as shown in Fig. 7, flush with the member housing surface 20 of the member 12.1, on which the image detecting device Kl is attached, closes.

According to FIG. 2, in a first embodiment, the element 12. 1 has eight sections distributed over a circumference of the element 12. 1. ordered image capture devices Kl to K8. FIGS. 3 and 4 show that, outside a certain minimum distance (outer circle 21), complete coverage already exists with four image capture devices K1, K2, K3 and K4. The additional four image capture devices K2, K4, K6 and K8 according to FIG. 2 is a Doppelabde ^¬ ckung each point is achieved in an overlap region 23, so that security requirements secure technology can be met. If one only requires a certain angle range with double coverage, for example in order to detect an adjustment reference marker, then the four image acquisition devices K1, K2, K3 and K4 are sufficient, since they also already have sufficient overlap.

According to Fig. 3, in a second embodiment, therefore, the member 12.1 only four over a circumference of the member

12.1 arranged distributed image capture devices Kl to K4.

According to FIG. 4, in a third embodiment, the member 12.1 has two image detection devices K1 and K2 distributed over a circumference of the member 12.1.

According to FIG. 5, in a fourth embodiment of the member 12.1 on a first circumference of the limb 12.1 a ers ^¬ th image capture device Kl, wherein fang lay on other environmental each case a further image acquisition device K2 can be arranged at least, but not shown in detail are.

In the embodiments of FIGS. 4 and 5, a cover at the top is dispensed with. Thus, the number of at least necessary image capture devices K1 and K2 can be reduced to two. In FIG. 6, it is indicated as already two Bilderfas ^¬ sungseinrichtungen Kl and form a common overlapping area 23 K2, in the optical because of the redundant detection means of the two Bilderfassungsein- directions Kl and K2, a monitoring secure technology can be performed.

In the embodiments of FIGS. 7 and Fig. 8 of the representative image capture device class associated with an entrance window 19, may enter from the outside into the image detection means Kl via the light rays to capture an image of the area of the industrial robot 1 within the images ^¬ capture device Kl. The entrance window 19 has, in the variant according to FIG. 7 is a window surface 19a on which 12 or the hand member 7 on which the image capture device ^¬ Kl is flush with a housing member 20 of the surface member attached completes.

The entrance window 19 has, in the variant according to FIG. 8 to a window surface 19a, which is to-back offset from the Gliedge ^¬ häuseoberfläche 20 of the member 12 and the hand member 7.

In both variants, the entrance window 19 can be formed, for example, by an optical lens of the image capture device K1. However, as shown in FIGS. 7 and 8, the entrance window 19 may also be a translucent protective cover which covers the image capturing device K1, in particular its optical lens.

The robot arm 2 according to Fig. 1 and Fig. 9 through Fig. 11 as an articulated robot 2a is formed, wherein the plurality of members 12 arranged successively in a kinematic chain and in each case two adjacent links 12 by each ^¬ weils one of the joints 11 against each other adjustable connectedness are, wherein a proximal end member of the limbs Gl 12 forms a base frame, which is designed to fasten the Knickarmro ^¬ boters 2a to a foundation, and a dista ^¬ les end member G7 of the members 12 forms a hand flange, for attaching one of the articulated robot 2a to be manipulated tool, and the Bildfassungseinrichtun ^¬ gen Kl, K2 are arranged on a member G6, which is in the ki ^¬ nematic chain the distal end member G7 immediately upstream. The image capture device K1, K2 may have an image sensor connected to the robot controller 13, such that image information acquired by the image sensor is transmitted to the robot controller 13 and the robot controller 13 has a processing device 16 (FIG capture time of ^¬ He abstract image information by the image sensor currently occupied joint position values of the links 12 of the Robo ^¬ terarms 2 and NEN zuzuord- the image information this joint position values of the links 12 of the robot arm. 2

The image capture device K1, K2 may have an image sensor connected to the robot controller 13, such that image information captured by the image sensor is transmitted to the robot controller 13 and the robot controller 13 has a processing device 16 which is ^configured to detect at a particular time from the joint position values of the links 12 of the robot arm 2 to determine the position and orientation of the image capture device K1, K2 with respect to the working space of the industrial robot, and to determine this position and orientation. tion of the image acquisition device K1, K2 in the work space to the associated image information.

The robot controller 13 or the processing device 16 can be designed to ^perform a safety-related function of the industrial robot on the basis of image information obtained from the image capture devices K1, K2 and based on spatial positions of the image capture devices K1, K2 associated with the image information , As shown in FIG. 9, the robot controller 13 or the processing device 16 may be configured to move the robot arm 2 to an arm position, in which at least one of the image capture devices K1, K2 is located in a previously known stored position and orientation in the robot arm 2 Room arranged optical

Marker 24 detected and generated by this optical marker 24 image data, and based on an evaluation of the generated ^¬ image data and the previously known, stored position and orientation of the optical marker 24 a momentary hinge position at least one of the joints of the robot arm 2 is calculated.

The robot controller 13 or the processing device 16 can be configured to move the robot arm 2 into an arm position in which at least one of the image acquisition devices K1, K2 optically detects a tool handled by the robot arm 2 and generates image data from this tool and to the robot controller 13 or transmits the proces ^¬ processing device 16 for further evaluation.

The robot controller 13 or the processing device 16 can be configured to move the robot arm 2 into an arm position in which at least one of the image acquisition devices devices Kl, K2, a workpiece to be processed by the robot arm 2 optically detected and generated image data from this workpiece and transmitted to the robot controller 13 or the processing device 16 for further evaluation.

As shown in Fig. 10, the robot controller can be designed 13 or the processing means 16 to move the robot arm 2 in at least one arm position, in which at least one of the image acquisition devices Kl, K2 the working space 17 of the industrial robot 1 at least partially ^stabilized or fully optically recorded and generated from this Ar ^¬ beitsraum 17 image data and transmitted to the robot controller 13 or the processing device 16 for further evaluation.

As shown in FIG. 10 and FIG. 11, the Robotersteue ^¬ tion may be formed 13 or the processing means 16 to move the robot arm 2 in at least one arm position, in which at least one of the image acquisition devices Kl, K2 a 1 from the working chamber 17 of the industrial robot Separate shelter 18 at least partially or fully ^¬ constantly optically detected by means of a reference ^¬ mark cube 25 with three orthogonal marks, which define two diagonally opposite corners of the shelter 18 defi ^¬ , and generated by this shelter 18 image data and the robot controller 13 or the Processing device 16 transmitted for further evaluation.

The robot controller 13 or the processing means 16 is formed, the robot arm 2 to move in at least one arm ^¬ tellung in which at least capturing means one of the paintings- Kl, K2 a person or an identification device which is associated with a particular person, detected optically and therefrom Image data are generated and the image data from the robot controller 13 or the processing device 16 are compared with stored identification features.

Claims

claims

An industrial robot comprising a robot arm (2) having a plurality of links (12) connected by joints (11), and a robot controller (13) adapted to automatically or mechanically manipulate the links (12) of the robot arm (2) according to a robot program to adjust in a hand driving operation against each other, wherein at least one of the plurality of members (12) Minim ^¬ least two image acquisition devices (Kl, K2), each imaging means (Kl, K2) with respect to their spatial position and orientation relative to the member (12), on which the image capture device (Kl, K2) is attached, is calibrated.

Industrial robot according to claim 1, characterized in that the robot controller (13) is adapted to adjust the members (12) of the robot arm (2) according to a Robo ^¬ ter program automatically or in a hand-held operation against each other in a predetermined positioning accuracy of the adjustable joints (11) , wherein the at least two image sensing devices (Kl, K2) with respect to their spatial position and orientation with respect to the member (12) on which the image sensing devices (Kl, K2) are attached, at least in one of the positioning accuracy of Ge ^¬ joints (11) corresponding accuracy are measured.

3. Industrial robot according to claim 1 or 2, characterized in that the member (12) has a the outer shape of the member (12) determining member housing surface and having an inwardly extending receiving space extending from the link housing surface within which the image capture device (K1, K2) is fully received.

Industrial robot according to claim 3, characterized in that the image capture device (K1, K2) has an entrance window, via which light beams enter the image acquisition device (K1, K2) from outside, in order to obtain an image of the surroundings of the industrial robot within the image capture device (K1, K2). to be detected, wherein the entrance window has a window surface which is flush set back with member upper housing ^¬ surface of the member (12) or against the Gliedgehäu ^¬ seoberfläche on which the Bilderfas ^¬ sungseinrichtung (Kl, K2) is attached, terminates.

Industrial robot according to one of claims 1 to 4, characterized in that the member (12) has at least three over a circumference of the member (12) distributed ^¬ arranged image sensing devices (Kl, K2).

Industrial robot according to one of claims 1 to 5, characterized in that the robot arm (2) is designed as an articulated arm robot (2a), wherein the plurality of members (12) are successively arranged in a kinematic chain and in each case two Benach ^¬ disclosed members (12 ) are connected to each other adjustable by one of the joints (11), wherein a proximal end member (Gl) of the links (12) forms a base frame, which is designed for fastening the articulated ^¬ robot (2a) to a foundation, and a distal end member (G7) of the links (12) forms a hand flange, which is used for attachment of a An articulated robot (2a) is to be handled tool, and the image detection means (Kl, K2) on a member (G6) are arranged, which is in the kinematic chain the distal end member (G7) immediately upstream.

Industrial robot according to one of claims 1 to 6, characterized in that the image capture device (K1, K2) has an image sensor connected to the robot controller (13) such that image information captured by the image sensor is transmitted to the robot controller (13) and the robot controller ( 13) comprises a processing device (16), which is adapted, at a particular time of detection of image information by the

Image sensor currently occupied joint position values of the members (12) of the robot arm (2) to capture and assign these joint position values of the links (12) of Robo ^¬ terarms (2) the image information.

Industrial robot according to one of claims 1 to 7, characterized in that the image capture device (K1, K2) has an image sensor connected to the robot controller (13) such that image information captured by the image sensor is transmitted to the robot controller (13) and the robot controller ( 13) comprises a processing device (16), which is adapted, at a particular time of detection of image information by the

From the joint position values of the links (12) of the robot arm (2), the position and orientation of the image capture device (K1, K2) with respect to the working space (17) of the industrial robot (FIG. 2). 1) to determine and to associate this position and orientation of the image capture device (Kl, K2) in the working space (17) with the associated image information.

An industrial robot according to any one of claims 1 to 8, characterized in that the robot controller (13) or the processing means (16) is formed based on image information obtained from the image detecting means (K1, K2) and based on the image information supplied arrange ^¬ th spatial positions of the image sensing means (Kl, K2) to carry out a safety-related function of the In ^¬ dustrieroboters.

An industrial robot according to claim 9, characterized in that the robot controller (13) or the proces ^¬ processing device (16) is adapted to move the robot arm (2) in an arm posture in which at least one of the image acquisition devices (Kl, K2) a separated from the Robotic arm (2) detected in a previously known, stored position and orientation in space optical markers and generates image data from this optical marker, and based on ei ^¬ ner evaluation of the generated image data and the previously known, stored position and orientation of the optical marker a momentary joint position we ^¬ nigstens one of the joints of the robot arm (2) calculation ^¬ net is.

An industrial robot according to claim 9, characterized in that the robot controller (13) or the proces ^¬ processing device (16) is adapted to move the robot arm (2) in an arm posture in which at least one of the image acquisition devices (Kl, K2) a optically detected by the robot arm (2) tool and generated image data from this tool and transmitted to the robot controller (13) or the processing ^{¬ device} (16) for further evaluation.

An industrial robot according to claim 9, characterized in that the robot controller (13) or the proces ^¬ processing device (16) is adapted to move the robot arm (2) in an arm posture in which at least one of the image acquisition devices (Kl, K2), a by Robot arm (2) to be machined workpiece detected and generated from this workpiece image data and transmitted to the robot controller (13) or the processing device (16) for further evaluation.

An industrial robot according to claim 9, characterized in that the robot controller (13) or the proces ^¬ processing device (16) is adapted to move the robot arm (2) in at least one arm position, in which at least one of the image acquisition devices (Kl, K2) of the working space (17) of the industrial robot (1) at least partially or completely optically he ^¬ summarized and generated from this workspace (17) image data and transmitted to the robot controller (13) or the processing device (16) for further evaluation.

An industrial robot according to claim 9, characterized in that the robot controller (13) or the proces ^¬ processing device (16) is adapted to move the robot arm (2) in at least one arm position, in which at least one of the image acquisition devices (Kl, K2) a from Working space (17) of the industrial robot Separate shelter (18) at least teilwei se or completely optically detected and generated by this shelter (18) image data and transmitted to the robot controller (13) or the processing device (16) for further evaluation.

Industrial robot according to claim 9, characterized in that the robot controller (13) or the processing device (16) is designed to move the robot arm (2) into at least one arm position, in which at least one of the image capturing devices (K1, K2) is one Person or an identification device which is assigned to a specific person, optically detected and from which image data are generated, and the image data from the robot controller (13) or the processing device (16) is compared with stored identification features.