CN110385703A - The movement mechanism of multi-section type actuating, preferably robot, particularly preferred revolute robot - Google Patents
The movement mechanism of multi-section type actuating, preferably robot, particularly preferred revolute robot Download PDFInfo
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- CN110385703A CN110385703A CN201910219608.6A CN201910219608A CN110385703A CN 110385703 A CN110385703 A CN 110385703A CN 201910219608 A CN201910219608 A CN 201910219608A CN 110385703 A CN110385703 A CN 110385703A
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- China
- Prior art keywords
- user interface
- end effector
- movement mechanism
- section type
- user
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of movement mechanisms (1) of multi-section type actuating, it is preferred that robot (1), particularly preferred revolute robot (1), with the multiple segments (11) being connected by actuating armature (12), with the end effector (14) being connect at least one segment (11), wherein the multi-section type actuating movement mechanism (1) have at least one be directed to user (2) user interface (15).The movement mechanism (1) of the multi-section type actuating is characterized in that, the user interface (15) is so arranged and is oriented, so that the end effector (14) is in the use process of the user interface (15) in the visual field of the user (2).
Description
Technical field
The present invention relates to a kind of movement mechanisms of multi-section type actuating as described in the preamble of claim 1, preferably
One kind as described in the preamble of robot, particularly preferred revolute robot and claim 15 is applied to this more piece
The user interface of the movement mechanism of formula actuating.
Background technique
Machine is used as technical equipment to replace the mankind to carry out machine work, and this point is long-standing.At present by machine
People is applied to many different fields.Such as revolute robot especially is widely used to undertake installation, manufacture, object in the industry
The task of stream and packaging and sorting aspect.Revolute robot is usually 6 axial machines with cube working space, because
And it uses very flexibly.The tool as end effector can be replaced depending on concrete application.It can also be next pair according to application
Revolute robot is programmed.Revolute robot can be applied in constant mode, to make its great adaptability.
The robot for example directly to cooperate during the installation process with personnel, especially joint type are had developed in recent years
Robot.To produce cooperative manipulators (abbreviation Cobot is derived from English: collaborative robot) this concept.
So there is no need to the common mechanical formula boundary separated for the environment for being stopped the working space of robot and personnel is arranged
(such as cell walls), do not need to be arranged yet for personnel recognize at least into light barrier, grating of robot working space etc. it is all so
Class.Specifically, personnel can carry out free movement with opposed robots.
For example, some application is programmed, activated and/or exerted one's influence, such as may need to transmit information to machine
Device people.These information for example can refer to position and orientation (being collectively referred to as posture), track and speed (being collectively referred to as track) and end effector
Behavior (opening and closing of such as grasping device).Usually with static or mobile outer computer create these message retransmissions to
Robot.It can also implement aforesaid operations by handheld device, user can catch the handheld device with a hand, use
The operation of another hand.In this case, personnel can rest on beside robot and move therewith, to be programmed or
It controls it.
Therefore, on the fixed screen usually in working space or on handheld operation panel to this kind of robot
It is programmed and operates.Thus when being programmed robot and operating, need constantly to cut between end effector and screen
Change visual direction.This can reduce operational comfort and improve security risk, because end effector is not in use at any time
In the visual field of family.
3 135 443 A1 of EP describes a kind of robot with manipulator.The manipulator is based on being suitable for manipulator
The connected traditional type rotary joint in each segment, and there is 7 degree of freedom.Each connector has a continuous elastic actuator,
It allows the robot to detect " external force, such as from the active force of accident collision.Manipulator terminates at the end for operating object
Hold actuator.
Robot also has the screen similar to head, which, which can have, understands determining for robot for neighbouring personnel
To or its state eyes or other output ends.This be similar to head screen be mounted on some pillar, the pillar from
First segment vertically extends upward and can surround the rotation of its vertical pivot together with the segment.In certain embodiments, screen can
To rotate and surround some trunnion axis bending for being parallel to the screen longitudinal axis around vertical pivot.
Robot also has one group of button and key in its arm, so that user for example by selection menu item or passes through
It is switched between training pattern and execution pattern, to react to the information being shown on screen.Number can also be passed through
Knob inputs number, for example to provide that the object of which row and column should be packed into box, or input text, such as password or
Person's object names and task names.These operating elements are arranged in segment and the end effector being for example centrally placed in screen
Between another segment on.
When robot being programmed and operated in this case, it is also desirable to constantly switch between end effector and screen
Visual direction, thus equally possible aforesaid drawbacks are caused therefrom.
Above-mentioned consideration is equally embodied in automation equipment, these automation equipments are in terms of being driven intersegmental movement
Be analogous to robot and may be used to execute similar task.It can be by automation equipment and robot (especially joint
Humanoid robot) it is referred to as the movement mechanism of drive system or multi-section type actuating.
Summary of the invention
The object of the present invention is to provide a kind of movement mechanisms of multi-section type of type described in opening paragraph actuating, preferably machine
People, particularly preferred revolute robot especially simplify, accelerate and/or safer so that its use be made to be improved.From
And it is particularly advantageous to be debugged, programmed and/or operated.Compared with equipment known today, the present invention to robot into
In row debugging, programming and/or operating process, the personnel for implementing debugging, programming or operation especially can preferably be held end
Row device is maintained in visual field.The movement mechanism that the present invention is activated at least for known multi-section type, preferred pin is to known machine
People particularly preferably provides a kind of alternative solution for known revolute robot.The present invention has for cooperative manipulators
There is very special significance.
The present invention is activated to reach the solution of above-mentioned purpose for a kind of multi-section type of the feature with claim 1
Movement mechanism and the feature with claim 15 a kind of user interface.Favourable improvement scheme is wanted refering to appurtenance
It asks.
In view of this, the present invention relates to a kind of movement mechanism of multi-section type actuating, preferred robot, particularly preferred joint type
Robot.This movement mechanism can be arranged with state type or using mobile movable scheme.The revolute robot is preferred
Refer to cooperative manipulators.In addition to robot (especially revolute robot), the movement mechanism can also refer to that automation is set
It is standby.
The movement mechanism of the multi-section type actuating has the multiple segments being connected by actuating armature, and saves at least one
The end effector of section connection.Segment can refer to some stiffener, at least one connector and another section on each end
Section is connect with end effector or with the pedestal of the movement mechanism.It is preferred that end can be held by end effector element
Row device links together with nearest segment, hereafter will be described in detail.The end effector element can also lead to
Actuating armature is crossed to connect with nearest segment.Actuating can be equally equipped between end effector element and end effector to connect
Head rotates the end effector around common longitudinal to be especially for opposing end portions actuator unit.Preferably, the fortune
Motivation structure, preferably robot, particularly preferred revolute robot, from static or movable base by multiple by actuating
The connected segment of connector and an end effector element extend to end effector, to form a continuous movement
Chain.
Connector refer to two interelements (between two segments such as herein, a segment and end effector or end
Between actuator unit, between end effector element and end effector or one between segment and pedestal) movable connection.It is this
Mobility preferably can refer to rotation or translation, can also use combined moveable.The connector is preferably configured to rotation and connects
Head.The connector can be driven by a driving unit respectively, that is, be activated, wherein it is preferred that electric driver is used, because electric
It can be relatively easy to be transferred to driving unit by each segment and connector.The end effector can refer to any type of tool,
Key element etc. is such, such as grasping device or similar component.
There is the movement mechanism of the multi-section type actuating at least one to be directed to the user interface of user.It can be output member
Part (such as screen or similar component) and/or input element (such as key, button, keyboard, spin button are such).It is preferred that
Ground had not only been equipped with output element but also had been equipped with input element, can be using independent or integrated constructing plan.Output element and input
The integrated scheme of element can for example be realized by touch sensitive screen, hereafter will be described in detail.No matter which kind of feelings
Shape can protect the screen from pollution and mechanical load by hard glass (as scratched).
It is a feature of the present invention that the user interface is so arranged and is oriented, so that the end effector is in institute
It states in the use process of user interface in the visual field of the user.In other words, according to the present invention, user interface so exists
It arranges and orients on movement mechanism, so that end effector is always included in visual field when using user interface by user.Such one
Come, user interface and end effector are co-located in the same visual field of user.User thus can both perceive end execution
Device perceives user interface again, he need not switch visual direction thus.The movement mechanism at least close to the work of end effector
Area of space is also such.
The use of user interface refers to user using its output function, input function or is used in conjunction with two functions.With
Family can be some personnel, be interacted with movement mechanism to use the movement mechanism；This point for example can refer to debugging, compile
Journey and/or operation, so as to (for example) activated by regulation parameter movement process and/or behavior process by programming and/or
Person exerts one's influence to it.
The visual field of user refers to its common visual field, is made of the eye motion for being only about 20 °.Above-mentioned definition is by such as
Lower limitation: in the present invention, the increase for the common visual field realized by additional header movement does not answer or only should be by minimum
Additional header movement auxiliary.Visual direction refers to the direction that personnel's sight is directed toward.Visual direction be directed toward be the optical axis direction and
The center of common visual field is usually located in height and on width, which surround (depending on) axis of the visual direction conically from personnel
It sets out and extends outwardly.
End effector can be perceived by the user during user uses user interface as a result,.User is thus
For example some movement or behavior (such as catching object) can be programmed using user interface, without changing its visual field, i.e.,
Sight need not be removed from user interface, end effector can be perceived and identify whether the end effector implements the phase
The movement or behavior of prestige.So that movement mechanism use (especially debug, program and operation) it is more simple, comfortably and/
Or accelerated.Programming and/or debugging process can especially be shortened and simplify running operation.
This measure can also be improved using degree of safety, because end effector is always in user's visual field.Thus for example at end
End actuator will collide or when other situations, if intend to continue with carry out using or carry out using, can safely and
Promptly identify.It, being capable of posture locating for vision-based detection to end effector immediately especially during user program
And whether the track and/or behavior being (for example) in programming generate expected result and still (for example) will cause collision.It uses
Or the already present movement process of activation or behavior process are also such.
Another advantage is that can be simpler and/or will be about user circle in a manner of the application closer to movement mechanism
The failure message in face, which is reported out, to be come.In addition, user can also quickly have found the reason of failure message, especially and end effector
Related reason (such as grasping device collision is such) simultaneously reacts to that.
These movement processes and/or behavior process are referred to as applying.Such as certain applications can be programmed and select, such as
" pick up and place ", " coloring " or " spot welding " and certain management roles, such as " debugging " or " truing tool ".
It is also such that the movement mechanism, which is operated, (for example) to start movement by programming.The operation can be based on so-called
Business template is implemented, and task template is referred to as so-called scene.Task template describes the needs of corresponding task by user
The different step of execution.The task template for example can have regulation process (Row control), and the process is for example in movement mechanism
Control unit, be subjected to an examination or control on host or kinetic control system.It wherein may include for example showing image data
On a user interface, it hereafter will be described in more detail.Also several definition can be used and for example to operating element or input
The system parameter that the function of element is defined.If what is executed is that image data was not currently existed in appointing in user interface
Business template, then must transmit the task template in some dedicated transmissions mode in advance.To this end it is possible to use, with current operation phase
Same avenues of communication, but using the agreement accordingly having some change.
According to an aspect of the present invention, the user interface is so arranged and is oriented, and the user is existed
User interface described in longitudinal axis vision-based detection and/or tactile manipulation during use at least substantially along the end effector.This hair
Bright concrete scheme is as follows: the visual field of user so orients in the use process of user interface so that by user this
A visual direction can vision-based detection and/or the tactile manipulation user interface simultaneously, and user can be at least substantially along end effector
The longitudinal axis perceive user interface.Thus in the use process of user interface, user is always at least substantially along end effector
Y direction observed." at least substantially along the longitudinal axis of the end effector " preferably refer to common visual field about
20 ° of angular range.
According to another aspect of the present invention, the user interface is placed close on the connector of end effector.Close to end
The connector of end actuator refers to all connectors of movement mechanism, is less than and movement mechanism pedestal at a distance from end effector
Distance or be centrally arranged between end effector and movement mechanism pedestal.This aspect of the invention is recognized based on following
Know: being enough to realize afore-mentioned characteristics and advantage using each of above-mentioned arrangement, to reach the present invention.But it is preferred that will use
Family interface is arranged in as close possible to end effector place, because since user interface and end effector more space are close
And moving element number between the two is reduced, end effector can be more reliably included in user's visual field and especially
It is the axis close to user's visual direction, i.e. the optical axis of user.To further improve afore-mentioned characteristics and advantage.
According to another aspect of the present invention, the user interface is arranged on the end effector.It thus can be very
Afore-mentioned characteristics and advantage are effectively realized, because utilizing the space of higher degree achieved between user interface and end effector
The moving element of minimal amount (reducing to zero) between proximity and user interface and end effector, can execute end
Device is more reliably included in the axis of user's visual field and especially very close user's visual direction, the i.e. optical axis of user.
According to another aspect of the present invention, the user interface is on the end effector at least substantially along the end
The longitudinal axis of actuator arrange and/or the surface of the user interface on the end effector at least generally perpendicular to institute
State the longitudinal axis of end effector.In other words, the surface normal of the user interface is at least in substantially parallel relationship on end effector
The longitudinal axis of the end effector.In feelings of the user interface on end effector at least substantially along the longitudinal axis arrangement of end effector
Under condition, this point facilitates the end effector and is located in the visual field of user in the use process of user interface.In other words, it uses
Family interface is arrived and/or tactile between user and end effector, thus in his vision-based detection along the longitudinal axis of end effector
In the case where operating user interface, which possesses user interface and its subsequent end effector in same visual field.In
It is also such in terms of the orientation of user interface.
In user interface at least substantially along the longitudinal axis arrangement of end effector and user interface simultaneously on end effector
On end effector at least generally perpendicular to the longitudinal axis of end effector in the case where, which can be by user at least
It is arrived substantially along the longitudinal axis vision-based detection of end effector and/or tactile manipulation.Thus can by user by operation interface until
End effector implements the movement of the end effector come the longitudinal axis as common axis line substantially along end effector, thus right
For user, the use (especially debug, program and/or operate) of movement mechanism is very intuitive.
According to another aspect of the present invention, the movement mechanism of the multi-section type actuating has end effector element, will
The end effector links together with a segment, wherein the user interface is arranged in the end effector element
On.In other words, which terminates at the segment with end effector element, the end effector element relatively before
Movably and not only there is end effector for one segment but also there is user interface.The end effector opposing end portions actuator list
Movable around common longitudinal rotation for member, this point can be realized by another actuating armature.Therefore, end effector with
User interface can be connected by the common end effector element.The common end effector element can also be used to
User interface is arranged and/or is oriented in a manner of defining before this for opposing end portions actuator.This point can lead to
It crosses static or movable, especially rotatable and/or tiltable and/or may be reversed and/or removable mode is realized,
Hereafter this will be described in detail respectively.Thus the present invention can be realized by using corresponding end effector element,
Without changing segment and actuating armature in this movement mechanism.
According to another aspect of the present invention, the user interface is configured to some connector or the end effector, preferably
The end effector element, casing member.Casing member refers to that some segment or the end effector or end are held
Some element of row device unit, the element especially protect the segment, end effector or end for separating it with environment
The component part (such as supply lines, data line, driving device, sensor, circuit board are such) of actuator unit is from outer
The influence of portion's factor.The casing member is referred to as cover, the cover or shell.
User interface can be embodied as to the whole of the segment, end effector or end effector element in this way
Body component part is simultaneously fixedly connected with said elements.So, it is able to achieve when movement mechanism moves rapidly reliable
It is fixed.It is also able to achieve the anti-lost arrangement of user interface as a result, and it is made clearly to be attached to movement mechanism.Furthermore it can also use
Casing member with integrated user interface replaces the casing member being usually arranged.This measure can will be used to arrange user circle
The structure space in face minimizes, because of the additional shell of no setting is required the segment, end effector or end effector element
Element.This measure can also reduce the weight of movement mechanism, this point it is important that: user interface preferably with pedestal interval one
It set a distance and is arranged near end effector, thus compared with pedestal, there may be relatively large for the weight of end effector
Torque.
According to another aspect of the present invention, the user interface is configured to some connector and/or the end effector, excellent
Select the end effector element, removable add ons.So, user can optionally remove user interface simultaneously
Grab carry out in the hand using.It can also be in this way between multiple connectors and end effector or end effector element
Change the arrangement of user interface, to use user interface according to different situations.To improve the use of user interface
Flexibility.Optionally same user interface can also be simultaneously or successively applied to multiple movement mechanisms.Furthermore, it is possible to moving
Mechanism is programmed and/or puts into operation or in the case that some program is activated, user interface is removed, in order to avoid the classes such as programming
Surprisingly or unlawfully changed or stopped like operation.To improve the operational safety degree of movement mechanism.
To realize this point, corresponding connector and/or end effector or end effector element can have respectively
There is the holding part for being used to liftedly accommodate the user interface.Such as it can be by the way that user interface be caught in, be screwed on or is twisted
Enter, grafting or be inserted on the connector and/or end effector or end effector element, on side or in which to realize this
A bit.
According to another aspect of the present invention, the user interface has at least one screen for reproducing at least one presentation
Curtain, preferably at least a touch sensitive screen.Screen refers to some electronically controlled display device, does not have and is used for optics
Indicate the movable member of variable information (such as image or character).Touch sensitive screen refers to the input of certain combination formula and output equipment,
Wherein the program circuit of technical equipment can be directly controlled by touching the part of image.
Presentation on screen can have information, such as image, text are such, will hereafter carry out specifically to this
It is bright.Thus user can be displayed information to by user interface, perceive these information so as to it and be seen in visual field simultaneously
To end effector.It using touch sensitive screen, can be inputted by this way radial movement mechanism, thus will
The identity element of user interface is not only used to carry out to export but also for being inputted.To be easily achieved input function.Furthermore can also
The space of user interface is saved, is not necessarily to the space application in independent operating element (such as key is such), thus
In the case where user interface size constancy screen can be constructed bigger.To by identical information amplify show, so as to
Family perceives presented information.Furthermore it can also be shown multiple information as presentation, to improve from user interface
Information to user is transmitted.
According to another aspect of the present invention, the user interface is configured to position and is correctly oriented.In other words, described
User interface is configured to so change its orientation, so that the user interface, the element of the especially described user interface are such as shielded
Curtain, key etc. are such, especially the presentation of screen, can with corresponding segment, end effector or end effector list
The unrelated mode of orientation of member is provided to user and uses for it, i.e., is arrived and/or tactile manipulation by its vision-based detection.Position is correct
Orientation espespecially horizontal orientation, such as the horizontal orientation in aircraft man-made land horizontal line.Such as can by operation, simulation or measurement come
Information about user interface around the orientation of corresponding cartesian space axis is provided.It can especially be set in the user interface
Set acceleration transducer, gravity sensor and/or gyroscope and by its be used to determine gravitational vectors and by the vector come to
The presentation of family interface or its screen or screen is oriented, and this measure will increase measuring technique cost, but can provide very reliable
As a result.
To realize that the position of user interface is correctly oriented, following scheme can be preferably used in different ways:
The user interface is preferably configured to, the movement mechanism of the relatively described multi-section type actuating, preferably with respect to one segment
Or the preferably relatively described end effector, the preferably relatively described end effector element are rotated and/or are tilted
And/or it is overturn.In this way, as a whole with respect to a segment or opposing end portions actuator or relatively last by user interface
The relative movability for holding actuator unit, can be achieved with afore-mentioned characteristics and advantage.
Scheme as an alternative or supplement, the screen are preferably configured to, relative to the user interface carry out rotation and/or into
It line tilt and/or is overturn.In this case, the user interface can with respect to a segment or opposing end portions actuator or
Opposing end portions actuator unit remains unchanged, and screen is moved with respect to the user interface.It, equally can be real after the program
Existing afore-mentioned characteristics and advantage.
Scheme as an alternative or supplement, the user interface are preferably configured to, to the presentation of the screen carry out rotation and/
Or it is tilted and/or is overturn.In other words, screen opposing user interfaces are static, and the only presentation on screen just changes it
Position.For this purpose, can compensate to be rotated to it and user is allowed to seem horizontal orientation with the presentation in Rotation screen.It can
To implement the inclination and/or overturning of the presentation by three-dimensional presentation, three-dimensional presentation can carry out perspective imaging to it.In this way
These characteristics that the presentation of screen can be realized by accordingly changing the presentation, without changing screen or user interface.It changes
Yan Zhi purely realizes these characteristics by the measure of software aspects, without changing hardware.To with simple, flexible and/or honest and clean
The mode of valence realizes these characteristics.
According to another aspect of the present invention, the presentation of the screen includes
The presentation of pending work step, and/or
The verbal description of pending work step, and/or
Close to the presentation of the cross hairs or target of some particular pose, and/or
The presentation in some path, the user operate the movement mechanism of the multi-section type actuating along the path with hand,
And/or
There is the movement mechanism of the multi-section type actuating image for highlighting section to present, and/or
The presentation of Service Description, and/or
The presentation of the coordinate system of Dynamic Matching is carried out with the current-configuration of the movement mechanism of multi-section type actuating.
Such as it is presented by image presentation, by symbolic presentation, by icon, is such by flow chart presentation etc.
Pending work step is presented, just can by user interface by information visual transmission to user, thus convenient to use.It is this to be in
Now can rapidly, it is simple and be intuitively easily absorbed on a cognitive level by the user.
Additionally or alternatively scheme can implement this point by the verbal description of pending work step.Pass through
Being advantageous in that for verbal description can transmit relatively wide information.
Additionally or alternatively scheme can be implemented by the presentation of cross hairs or target close to some particular pose
This point.This point can intuitively be understood very much by user.It is this to be transported in referring now to the straight line towards some target (such as posture)
It is very clear and helpful for dynamic.
Additionally or alternatively scheme can implement this point by the presentation in some path, and the user is along the road
Diameter operates the movement mechanism of the multi-section type actuating with hand.Such as some path can be presented with pipe-like, user is along the path
Robot is operated with hand.This point can intuitively be understood very much by user.This is in referring now to compound movement (especially end
The variable movement of the orientation of actuator) for it is very clear and helpful.
Additionally or alternatively scheme, having for the movement mechanism that can be activated by the multi-section type highlight section
Image present to implement this point.Thus each segment, each connector and end effector and its section can intuitively be opened up
Show to user for its selection.Uniqueness can also be shown by marking corresponding connector.Additionally may indicate that error source with
Just it is quickly found.Also it may indicate that the boundary of working space or connector space.Above-mentioned all schemes each contribute to user into
It exercises and uses, especially debugged and/or programmed.
Additionally or alternatively scheme can implement this point by the presentation of Service Description.This measure for example can refer to use
In the separate operations of replacement tool.User is similarly helped in this way implements these operations.To reduce mistake.
Additionally or alternatively scheme can be moved by the current-configuration of the movement mechanism activated with the multi-section type
The presentation of the matched coordinate system of state, to implement this point.Equally these information can be intuitively presented to use in this way
Family.
All these schemes are by individually or being combined as previously described these presentations by movement mechanism
Information and/or it is supplied to user for the information of movement mechanism, so that user carries out using especially being debugged, programmed
And/or operation.This measure especially can also reduce mistake in debugging, programming and/or operating process in use.To
Accelerate these operations.
According to another aspect of the present invention, the user interface has at least one operating element, and preferably at least one defeated
Enter element.Operating element refers to that key, keyboard, cursor key, spin button etc. are such.It is able to implement operation in this way
Or input, to transmit information to movement mechanism by user interface by user.To for example by key or keyboard come
Input information, such as numerical value are such.It can also for example be carried out between different options by cursor key or spin button
Selection, and the selection is confirmed for example by OK key or by pressing spin button.It can also be by pressing some key come really
(for example) every step of some movement process and/or behavior process is recognized, for example to check the movement process and/or row step by step
For the programming of process.Above-mentioned all schemes each contribute to the use of movement mechanism, especially its debugging, programming and/or operation.
According to another aspect of the present invention, the user interface is configured to, by wirelessly or non-wirelessly signal transmission in a manner of with
The movement mechanism of the multi-section type actuating links together, preferably the data line with the movement mechanism of multi-section type actuating, excellent
Fieldbus is selected, is linked together.The connection of this signal conveying type can refer to be suitable for by user interface and the movement mechanism (especially
Its control unit, host or kinetic control system) any channel for linking together and being communicated.Such as it can pass through
WLAN, bluetooth, Wifi, radio etc. are such wirelessly to carry out signal transmission, because not necessarily higher using having
The certainty of traffic rate connects.It can also be preferably total by the scene of the movement mechanism by the data line of the movement mechanism
Line wiredly implements signal transmission.It thus can be in movement mechanism or its control unit, host or kinetic control system and use
Between the interface of family, only in one direction, preferably bidirectionally, communicated.
According to another aspect of the present invention, the user interface has at least one computing unit.It is preferred that can be by single-chip
System is used as computing unit, so that complexity, structure space and/or cost are down to reduced levels；This measure, which reaches, to be enough to realize
The degree of the function of user interface.The computing unit can be realized the voluntarily operation of user interface, pass through it for example
Data line and communicated with movement mechanism or its control unit, host or kinetic control system, but element (such as screen of user interface
And/or operating element) itself can run.Thus it can be included in signal transmission using user interface as another participant, such as
The data line of movement mechanism, especially fieldbus is added.Thus simply user interface can be incorporated into movement mechanism,
And optionally existing movement mechanism is reequiped.
The invention further relates to a kind of movement mechanisms applied to the actuating of aforementioned multi-section type, preferably robot, particularly preferably close
The user interface of nodal pattern robot, wherein the user interface is configured to so arrange and orient, so that the end executes
Device is in the use process of the user interface in the visual field of the user.A kind of user interface is provided in this way, with
Just it realizes aforementioned movement mechanism of the invention and utilizes its characteristics and advantages.
Detailed description of the invention
Two embodiments and more advantages of the invention are illustrated with reference to the accompanying drawing.In figure:
Fig. 1 is the schematic side elevation of the movement mechanism of the multi-section type actuating of the invention in first embodiment；
Fig. 2 is the detail drawing of Fig. 1；
Fig. 3 is the perspective view of the end effector element in first embodiment；
Fig. 4 is the schematic diagram of second embodiment；
Fig. 5 is the user interface in the first orientation；And
Fig. 6 is user interface shown in Fig. 5 in the second orientation.
Specific embodiment
Above-mentioned attached drawing is observed in cartesian coordinate system.It is extended with longitudinal X, is referred to as depth X.It is transversely to the machine direction
It is extended with to X lateral Y, is referred to as width Y.Not only it had been transversely to the machine direction X but also had been extended with vertical Z perpendicular to lateral Y,
It is properly termed as height Z.
Fig. 1 is the schematic side elevation of the movement mechanism 1 of the multi-section type actuating of the invention in first embodiment.Fig. 2 is
The detail drawing of Fig. 1.Fig. 3 is the perspective view of the end effector element 13 in first embodiment.
The movement mechanism 1 of multi-section type actuating is considered as robot 1, and specifically revolute robot 1, is implemented as
Cobot.Revolute robot 1 has pedestal 10, and revolute robot 1 is arranged on ground 3 by the pedestal state type.From quiet
Only formula pedestal 10, which sets out, is extended with multiple segments 11, is connected by actuating armature 12.The segment 11 farthest apart from pedestal 10 is logical
It crosses actuating armature 12 to connect with end effector element 13, which has end effector 14.End executes
Movable (not being painted) is rotated around common longitudinal A for 14 opposing end portions actuator unit 13 of device.In this way, revolute robot 1
A continuous kinematic chain is formed, is extended from pedestal 10 towards end effector 14.As shown in demonstration herein, end effector
14 can be constructed as grasping device 14, move for grabbing object and together.The movement of revolute robot 1 and end effector
The manipulation controlled unit 16 of the grasping device 14 of unit 13 controls or regulates, which is referred to as revolute robot
1 computing unit 16, host 16 or kinetic control system 16.
These connectors 12 are configured to rotary joint 12 and are actuated, so that being respectively equipped with one for each connector 12
Electric driver (is not painted), can carry out rotation driving with butt joint.These driving devices are respectively by a local motor control
Device processed is controlled or regulated and (is not painted), which also can detecte the measured variable of respective drive device.Each connector
12 driving device or electric machine controller is arranged in towards on the segment of pedestal 10 11.Thus by close to the segment of pedestal 10
11 undertake the weight of driving device or electric machine controller.To which mobile weight will be needed to be maintained at floor level.
It is additionally equipped with user interface 15, as shown in figure 3, the user interface has screen 15a and multiple operating elements
15c is described in detail this below in conjunction with Figures 5 and 6.User interface 15 is used for information by screen 15a from joint type
Robot 1 is shown to user 2, so as to these information by 2 vision-based detection of user to and perceive.User interface 15 is also used to by this
A little operating element 15c are by information from 2 haptic transmission of user to revolute robot 1.Thus can by user interface 15 with
Implement two-way communication between family 2 and revolute robot 1.To realize the debugging, programming and operation of revolute robot.At this
In embodiment, it is incorporated into end effector element 13 as casing member to 15 state type of user interface.
According to the present invention, user interface 15 is so arranged and is oriented, so that end effector 14 is in user interface 15
In use process in the visual field of user 2.Visual field in the common visual field meaning of user 2 is defined generally in the view with user 2
Axis C is in 20 ° of angular regions, wherein the lower and upper limit B of the visual field of user 2 is shown in FIG. 2.In the sight of user 2, i.e. user
In the case where the screen 15a of 2 optical axis C alignment user interface 15, end effector 14 also is located at the upper of the visual field of user 2 simultaneously
Limit B in, thus can along user 2 direction D by vision-based detection arrive without change visual field.Therefore, it is directed toward from the eyes of user 2
The direction D of end effector 14 is located in the boundary B of the common visual field of user 2.It is held in addition, being directed toward end from the eyes of user 2
The optical axis C of the direction D of row device 14 and user 2 at minimum angle, i.e. acute angle, thus the arrangement based on user interface 15 and
Orientation, the screen 15a and end effector 14 of user interface 15 simultaneously can by 2 vision-based detection of user to and perceive.So,
User 2 can at him from screen 15a vision-based detection output information and/or by during operating element 15c tactile-entry information, depending on
Feel monitoring end effector 14.
Realize this point especially by following manner: user interface 15 so arranges and orients, and enables user 2
Enough during use at least substantially along the longitudinal axis A vision-based detection of end effector 14 and/or tactile manipulation user interface 15, because
The direction D for being directed toward end effector 14 from the eyes of user 2 is in substantially parallel relationship to the longitudinal axis A of end effector 14.For this purpose, user circle
It is diametrically arranged for face 15 and end effector 14 along its longitudinal axis A opposing end portions actuator unit 13, and screen 15a
Surface enables user 2 to stop in a manner of away from end effector 14 behind end effector element 13 perpendicular to longitudinal axis A
Stay and in a manner of along the direction D of end effector 14 observation along its longitudinal axis A can vision-based detection to end effector 14 and
Vision-based detection is to user interface 15, referring to Fig. 1 to 3.Can thus facilitate carry out using, especially (such as to new track and/
Or new behavior) be programmed and operated (such as the movement of activation track and/or behavior process), and improve degree of safety.
Fig. 4 is the schematic diagram of second embodiment.Here, user interface 15 is arranged on some connector 12.This connector 12
It is the connector 12 close to end effector, such as is connect with segment 11, which passes through another connector 12 on opposing end portions
It is connect with end effector element 13.Afore-mentioned characteristics and advantage thus can be at least partly realized, because using this arrangement
After scheme, the screen 15a and end effector 14 of user interface 15 equally can simultaneously by 2 vision-based detection of user to and perceive.
The feasibility for applying the present invention to revolute robot 1 can also be improved simultaneously.
In this second embodiment, user interface 15 is embodied as the user interface 15 that can be removed, such as by some
Snap device and be liftedly arranged on the shell of connector 12 and can optionally be removed from the shell.To improve user
The using flexible at interface 15.
Fig. 5 shows the user interface 15 in the first orientation.Fig. 6 shows user interface shown in Fig. 5 in the second orientation.This
User interface 15 can be applied to the two previous embodiments.
As previously mentioned, user interface 15 has screen 15a, which does not have touch sensing function in this case.Correspondingly,
Implement user's input by operating element 15c, in this case, it is three key 15c's that these operating elements, which are embodied as form,
Input element 15c.These three keys 15c is arranged in below screen 15a along height Z.Alternatively, screen 15a can also be using touching
Quick constructing plan, to supplement or exclusively implement to input by screen 15a, in this case as well, it is possible to use key 15c
Space realize this point.Scheme as an alternative or supplement, such as the spin button as operating element 15c can also be passed through
Implement this point, which is laterally arranged in user interface 15 and can extend laterally user interface.
The presentation 15b of information is shown to user 2 on screen 15a.This for example can refer to for describing pending work
The text of step.Can also such as display parameters and similar information, so as to user 2 understand revolute robot 1 current state.
Shown information can be influenced by key 15c and is reacted to that by user 2.
To make user 2 that can capitally read this in the case where the posture of end effector element 13 changes
15b is presented, user interface 15 is configured to position and is correctly oriented.Herein by the rotation presentation 15b on screen 15a
Realize this point, referring to Fig. 6, the screen itself is arranged together with being used as casing member state type with user interface 15.This
Sample one, even if rotated when end effector element 13 is in implementation step around its longitudinal axis A, such as wait hold
The verbal description of row work step is also able to maintain horizontal orientation.Depending on the posture of user interface 15, it can also be around sky
Between in other axis implement this point.
Thus convenient for user 2 or make its in this case can on screen 15a vision-based detection to and read
The text of 15b is presented.To realize the horizontal orientation that 15b is presented on screen 15a, the acceleration of user interface 15 can be used for example
Spend sensor, gravity sensor and/or gyroscope (not being painted).It just can determine that the gravity of user interface 15 by these measured values
Vector simultaneously comes to carry out horizontal orientation to the presentation 15b of screen 15 by the vector.Just (for example) end effector 14 close to end
For holding the cross hairs of some particular pose of actuator 14 or other presentations 15b of target, 15b tri- can also be presented into this
It is shown on screen 15a to dimension, also to allow user 2 to understand presentation 15b in this case.
User interface 15 also has a computing unit 15d, simple, cheap and be compactly embodied as system-on-a-chip.It calculates
Unit 15d was not only connect with these three keys 15c but also with screen 15a in such a way that wire signal transmits, so that its work, this point
Also the presentation 15b of the inquiry including key 15c and generation screen 15a.In addition, computing unit 15d is in such a way that signal transmits
It is connect with the data line that the form of revolute robot 1 is fieldbus, to be communicated with control unit 16.
Appended drawing reference table (part of specification)
The longitudinal axis of A end effector 14
The boundary of the common visual field of B user 2
The optical axis of C user 2；The axis of the visual direction of user 2
D is directed toward the direction of end effector 14 from the eyes of user 2
X is longitudinal；Depth
Y is lateral；Width
Z is vertical；Highly
The movement mechanism of 1 multi-section type actuating；(joint type) robot
10 pedestals
11 segments
(rotation) connector of 12 actuatings
13 end effector elements
14 end effectors
15 user interfaces
15a (touch-sensitive) screen
The presentation of 15b screen 15a
15c operating element；Input element；Key；Cursor key；Knob
The computing unit of 15d user interface 15
16 control units；Computing unit；Host；Kinetic control system
2 users
3 grounds
Claims (15)
1. a kind of movement mechanism (1) of multi-section type actuating, preferably robot (1), particularly preferred revolute robot (1),
With the multiple segments (11) being connected by actuating armature (12), and
The end effector (14) being connect at least one segment (11),
Wherein there is the movement mechanism (1) of the multi-section type actuating at least one to be directed to the user interface (15) of user (2),
It is characterized in that,
The user interface (15) is so arranged and is oriented, so that the end effector (14) is in the user interface (15)
Use process in be located at the user (2) visual field in.
2. the movement mechanism (1) of multi-section type actuating according to claim 1, which is characterized in that
The user interface (15) so arranges and orients so that the user (2) can during use at least substantially along
User interface (15) described in the longitudinal axis (A) vision-based detection and/or tactile manipulation of the end effector (14).
3. the movement mechanism (1) of multi-section type actuating according to claim 1 or 2, which is characterized in that
The user interface (15) is placed close on the connector (12) of end effector.
4. the movement mechanism (1) of multi-section type actuating according to claim 1 or 2, which is characterized in that
The user interface (15) is arranged on the end effector (14).
5. the movement mechanism (1) of multi-section type actuating according to claim 4, which is characterized in that
The longitudinal axis of the user interface (15) on the end effector (14) at least substantially along the end effector (14)
(A) it arranges, and/or
The surface of the user interface (15) is on the end effector (14) at least generally perpendicular to the end effector
(14) the longitudinal axis (A).
6. the movement mechanism (1) of multi-section type actuating according to any one of the preceding claims, it is characterised in that
End effector element (13) links together the end effector (14) and a segment (11), wherein institute
User interface (15) is stated to be arranged on the end effector element (13).
7. the movement mechanism (1) of multi-section type actuating according to any one of the preceding claims, which is characterized in that
The user interface (15) is configured to some connector (12) or the end effector (14), the preferably described end effector
Unit (13), casing member.
8. the movement mechanism (1) of multi-section type actuating according to any one of claim 1 to 6, which is characterized in that
The user interface (15) is configured to some connector (12) and/or the end effector (14), the preferably described end are held
Row device unit (13), removable add ons.
9. the movement mechanism (1) of multi-section type actuating according to any one of the preceding claims, which is characterized in that
The user interface (15) has for reproducing at least one at least one screen (15a) that (15b) is presented, preferably at least
One touch sensitive screen (15a).
10. the movement mechanism (1) of multi-section type actuating according to any one of the preceding claims, which is characterized in that
The user interface (15) is configured to position and is correctly oriented,
Wherein the user interface (15) is preferably configured to, the movement mechanism (1) of the relatively described multi-section type actuating, preferably with respect to one
A segment (11) or the relatively described end effector (14), the preferably relatively described end effector element (13), are rotated
And/or tilted and/or overturn, and/or
Wherein the screen (15a) is preferably configured to, rotated relative to the user interface (15) and/or carry out inclination and/
Or overturn, and/or
Wherein the user interface (15) is preferably configured to, to the presentation (15b) of the screen (15a) carry out rotation and/or into
It line tilt and/or is overturn.
11. the movement mechanism (1) of multi-section type actuating according to claim 9 or 10, which is characterized in that
The presentation (15b) of the screen (15a) includes
The presentation of pending work step, and/or
The verbal description of pending work step, and/or
Close to the presentation of the cross hairs or target of some particular pose, and/or
The presentation in some path, the user operate the movement mechanism (1) of multi-section type actuating along the path with hand, and/
Or
There is the movement mechanism (1) of the multi-section type actuating image for highlighting section to present, and/or
The presentation of Service Description, and/or
The presentation of the coordinate system of Dynamic Matching is carried out with the current-configuration of the movement mechanism (1) of multi-section type actuating.
12. the movement mechanism (1) of multi-section type actuating according to any one of the preceding claims, which is characterized in that
The user interface (15) has at least one operating element (15c), preferably at least an input element (15c).
13. the movement mechanism (1) of multi-section type actuating according to any one of the preceding claims, which is characterized in that
The user interface (15) is configured to, the fitness machine activated in a manner of the transmission of wirelessly or non-wirelessly signal with the multi-section type
Structure (1) links together, preferably the data line with the movement mechanism (1) of multi-section type actuating, preferably fieldbus, is connected to
Together.
14. the movement mechanism (1) of multi-section type actuating according to any one of the preceding claims, which is characterized in that
The user interface (15) has at least one computing unit (15d).
15. a kind of movement mechanism (1) applied to multi-section type according to any one of the preceding claims actuating, preferably machine
Device people (1), the user interface (15) of particularly preferred revolute robot (1),
Wherein the user interface (15) is configured to so arrange and orient, so that the end effector (14) is in the use
In the use process at family interface (15) in the visual field of the user (2).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018109326.8A DE102018109326B4 (en) | 2018-04-19 | 2018-04-19 | Multi-unit actuated kinematics, preferably robots, particularly preferably articulated robots |
| DE102018109326.8 | 2018-04-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110385703A true CN110385703A (en) | 2019-10-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910219608.6A Pending CN110385703A (en) | 2018-04-19 | 2019-03-22 | The movement mechanism of multi-section type actuating, preferably robot, particularly preferred revolute robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110385703A (en) |
| DE (1) | DE102018109326B4 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102020103269A1 (en) | 2020-02-10 | 2021-08-12 | J. Schmalz Gmbh | Handling robot |
| DE102020134260B4 (en) | 2020-12-18 | 2022-07-07 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Process for optimizing the function of a robot arm |
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Also Published As
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| DE102018109326A1 (en) | 2019-10-24 |
| DE102018109326B4 (en) | 2019-12-05 |
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