DD293540A5 - INDUSTRIAL ROBOT TO TIMELY PARALLEL, OF INDEPENDENT HANDLING AND / OR MODIFICATION OF THE FORM OF OBJECTS - Google Patents

Abstract

The invention relates to an industrial robot for temporally parallel, mutually independent handling and changing the shape of objects, the objects with at least a sufficiently smooth base in space or in the area handles without carrier means and robot structures high Flexilbilitaet allows. The application particularly refers to flexible manufacturing systems for small objects in the device technology. The industrial robot consists of at least one microtechnical assembly in which program-controlled elements are arranged surface-like, matrix-shaped, finely structured, preferably monolithically integrated. The assembly consists of micromechanical actuators and effectors and micromechanical or optoelectronic sensors, at least one actuator or control element, at least one microcomputer and verkoerpert a freely programmable mechanism with high functional integration, versatile compatibility, high dynamics, positioning and reliability. Fig. 1 {industrial robot, parallel; Handling; Shape alteration; Flexibility; Manufacturing systems; Equipment technology, microtechnical; Microcomputer, programmable; Integration; Dynamics; positioning; Reliability}

Description

Field of application of the invention

The invention relates to an industrial robot for temporally parallel, independent handling and / or changing the shape of objects, especially small workpieces, components, assemblies, tools and material particles in the flexible automation.

The invention is used in combination with known robot structures, for example in grippers of articulated robots. Areas of application are the device technology and mechanical engineering.

An advantageous application exists where the objects are to be guided individually along a surface and a low degree of spatial mobility of the objects is required.

Characteristic of the known technical solution

According to DD-PS 205052,205330,221044,221317,222747 and DE-PS 2945269 multi-coordinate stepping motors have been known as modules for industrial robots.

The essence is that coil assemblies are mounted in a moveable table top, the slide, which are guided in air gaps of magnet systems so as to exert a force on the table top upon current flow in the coils. The spool or magnet-carrying table top is connected to a two-coordinate transducers. By differentiated arrangements, the handling of a Objektträr ^ s in several coordinates with high dynamics and accuracy is guaranteed.

These solutions have the disadvantage that the slide must be guided separately, the slide causes significant inertial forces and objects neither temporally parallel and independently handled nor can be changed in shape. High currents cause the positioning accuracy negatively affecting heating, and the electromagnetic fields can be harmful in the object area (eg electron beam interference).

Related solutions are piezoelectric multi-coordinate vibratory actuators set forth in the literature Bansjavicjus, Ragulskis: Vibrodvigateli, Vilnjus: "Mokslas" 1981. The driving force generated by electromechanical oscillations acts on a slide and allows it to be handled.

Further related to this is a solution that realizes step-movements on an electromagnetic basis.

DE-OS 3128834 discloses a linear motor which has a stator with magnetically effective teeth of constant pitch and a rotor with the same magnetic toothing. The rotor requires additional guidance, has energy connections and has only the degree of freedom 1. Reluctance stepper motors are also available for the degree of freedom a 2 according to DD-PS 129948.

Stepper motors in open timing chain allow the saving of costs and space for a separate measuring system, but have the disadvantage that occurring by external stress step errors are not recognized and received directly as a measurement error.

The technical solutions already presented are particularly disadvantageous in that

- several objects can be handled and changed in shape only to a limited extent and at great expense temporally in parallel and independently of one another,

Multi-coordinate drives require a slide of special design in shape, material and quality and usually require a power supply to the slide, which due to the activity, the dynamic properties are degraded,

in the realization of spatial movement of objects, the accessibility of the object is strongly limited by drive and guide means and the space occupied thereby is not available for other objects,

- the movement of objects in the room for higher accuracy requires complex measuring techniques which restrict the movement space or obstruct a dense arrangement of structural elements of the robot or the perlphoron devices,

- If a robot element fails, unless a duplication of functions has been planned under additional expenditure for safety reasons, a productivity propensity arises and an independent circumvention of the damaging effect does not exist,

- Workpieces, components, assemblies, tools, Werkstoffpartikol and basic elements of the industrial robot is not handled by a principle of action, only rocht can not be changed simultaneously and an integration of various technological sub-steps, such as recording, transporting, storing, portioning, holding, mounting, dispensing hindered becomes,

- high effort and low flexibility are present.

Object of the invention

The invention aims to handle an industrial robot for temporally parallel, mutually independent handling and / or changing the shape of objects, the rigid, biegoeschlaffe, stretchable or otherwise variable in shape objects with at least a sufficiently smooth base in space or in the surface to create, whereby carriers itteltel avoided and flexibly configurable robot structures are made possible.

The industrial robot should be characterized by high reliability, accuracy and dynamics. He should be particularly suitable for manipulating small objects and at the same time be able to move multiple objects.

Explanation of the essence of the invention

The invention Hegi the task of creating a programmable mechanism that can be combined in many ways, in which each time ru at least 3 elements are effective and which is characterized by a high degree of functional integration. This complicated measuring systems should be avoided, greatly reduced inertial forces and no Energiezuf jhr be required to a slide. If one element fails, the mechanism should remain largely functional.

According to the invention the object is achieved in that a microtechnical assembly of a planar matrix-shaped arrangement is provided temporally parallel and independently operating program-controlled elements.

The elements have an actuator, effector, sensor, mechanism and control and actuator function or are equipped with only one or more functions thereof.

Feature of the invention is that the size of the elements is tuned to the size of the smooth base of the object to be handled, that at any time at least 3 elements are fully effective. Surface areas of the microtechnical subassembly can be equipped with different sized element supports, with different large and differently shaped elements, and the elementary functions can be different in character.

According to the invention it is provided that the actuator function of an element is realized by a space thrust or space swivel or a combination of shear and rotary joints for the realization »Jer movement of surface areas of the element.

In order to achieve task-related step values and object speed, the frequency, amplitude and movement form or one or more thereof are generally independently programmably variable. The technical embodiment can be designed on the basis of various known solution options, wherein preferably a monolithically integrated design of the elements in all functional features is to be realized technologically. The objects are handled with the degree of freedom 3 in the area. In addition, the actuator function also includes the realization of a minor object handling in the normal direction, which advantageously also reaches small angles of rotation about an axis parallel to the base of the object and already realized by a microtechnical assembly object handling to a small extent in the room.

According to the invention, it is further provided that the effector function, the retention of the object, by attracting forces and properties of the objects takes place, but also by compressive forces exerted by peripheral devices or is effected by another or the same basic element with closed design. The effector of the element can act constantly or intermittently and / or regionally, that is to say also be executed program-controlled.

According to the invention, it is further provided that the elements have a sensor function, which serves particularly as a means for positioning objects. The monolithically integrated sensors in the element are arranged in measuring ranges that have the character of measuring points. The arrangement of the sensors and their structure according to different variants according to object and task type are characterized in that the time of exceeding the measuring range by an object edge or object mark, the object distance to use and / or the speed or other characteristics detected by the sensor are used , The sensor signals are used on site in the microtechnical assembly by arranging an information processing unit as a slave computer.

According to the invention it is provided that from the stored in the computer sensor information from the real-time processing or from past cycles of object handling and information from the master computer by using the interpolation and calculation rules, the working regime for each element is determined and based on the action of the element takes place. This results in a stepper drive for the spatial object positioning on the basis of support points, and artificial intelligence can be used.

For realizing the fine positioning of objects, in particular for taking relative positions at computationally optimized relative speeds, the application of the control is provided according to the invention in that elements are provided in the fine positioning region with a strong expression of the sensor function, which provide very accurate sensor information.

By object and oufgabonbezogono structuring of the Elomonto with different expression of their funktlonellon characteristics can be achieved especially in the FaIIo the change in shape of an object targeted measurement, Haiton and acting.

The invention can be configured advantageously such that the actuator or effector acting principle is used temporarily for the execution of the sensor function, both between the work cycles and before or after the action as actuator or effector.

According to the invention is further vorgesehon that dio Stell- and Regolgllodfunktlon In Eloment can be executed.

For this purpose, the element is connected to a power supply. The information from the Slavo calculator can also be stored in the element and used to set or regulate the actuators and effectors.

The actuator and regulator function mainly relates to the influence of the amplitude, frequency and / or pulse shape of the energy transfer position for actuators and effectors.

The invention can be advantageously configured in that the information is timely zugoführt the actuator so that actuators and effectors have unfolded their full capacity at the time of their influence on the object, and that Neighborhoods information and energy obtained to support the task solution, even if they do not have direct contact with dom object.

According to the invention, it is further provided that a robot assembly system is provided. Program-controlled elements with the same or different characteristics of the actuator, effector, sensor, mechanism, actuator and control element function are combined in a microtechnical assembly.

These assemblies are mass products, the modules that can be used in many different ways, or modules that are specific to the process. In this case, dio application of known automatic assembly method offers. The modules are configured according to object and task, z. As for transport, storage and / or positioning, for level, curved and / or flexible racks.

The handling of microtechnical assemblies or robotic modules such as objects on modules allows spatial handling of small objects. The accuracy of the positioning of robot modules can be increased by adapting the smooth base area and the number of handling elements.

According to the invention is further vorgesehon that the basic mechanism has breakthroughs. D.is is advantageous to the accessibility to the object by tools, devices, test medium, etc. also of dor β. Page noc 1, or to prevent harmful effects in a Boreich for the microtechnical assembly.

Furthermore, the invention provides that program-controlled or fixed stops are arranged on the mikrotechnischen Baugruppo. Programmatic stops are active microtechnical assemblies or passive, rigid or shape-modifiable objects. They are used for the permanent or temporary establishment of restricted areas for handling and / or changing the shape of objects and are components of the flexible structuring of the robot working space. Its advantage is the increase in positioning accuracy - especially the repeat accuracy by creating object edges, surfaces or points on precisely fixed objects. The dynamics are improved because the characteristic of the actuator function can be increased at the expense of the sensor function or, for example, an improved holding is realized instead of the sensor task. Stops in the form of sarcastic or flexible strips or lines can be used to increase the reliability in the establishment of restricted zones at the border of transport lanes, storage areas, security areas and the like. be appropriate. Stops can be designed to look different on different objects.

According to the invention, it is further provided that the micro-mechanical assembly can also be a planar, flexible body. The flexibility is essentially determined by a pliable or in one direction pliable design of the frame to which the modules are applied. A pliable, microtechnical assembly can be even more bosser adapted to the task by distributed action of forces in the direction of the surface normal in space. Even very low frame flexibility is of great importance for a flexible modification of the robot structure. For an adjustment of the modules in the normal direction is possible. The adjustment of a variable in shape assembly can be realized by a parallel arranged mikrotechnische module with besondors pronounced actuator component in the normal direction. In an only partially variable in the form assembly whose handling and change in shape is done by lateral guidance of the assembly, which allows the adjustment to larger amounts.

The maintenance of the robot modules can be advantageously realized by programmatically guided special objects over the working area of the robot module. The maintenance objects may be equipped with the possibility of supplying and discharging substances, be designed to carry out testing operations, etc.

embodiment

The invention will be explained in more detail with reference to drawings. In the individual pictures show

1 shows a schematic representation of the microtechnical assembly according to the invention with the object, the

FIG. 2 shows the basic structure of the microtechnical assembly, FIG.

Fig. 3: the interaction of robot modules for handling objects in space, Figure 4: a microtechnical assembly with breakthrough, Fig. 5: the arrangement of programmable and fixed stops on the microtechnical assembly for implementation

FIG. 6 shows the handling and change in shape of a unidirectionally deformable robot module for larger changes in shape, FIG.

7: the handling and change in shape of a partially flexible microtechnical assembly, FIG. 8: a closed design of assembled microtechnical assemblies, in particular the guidance of tools,

9 shows a microtechnical assembly with breakthrough for handling and changing the shape of objects, and FIG. 10 shows the handling of material particles.

In Fig. 1 is an orrngnungsgomäßo mikrotechnischo module 4 dnrgostollt, dio nl object 1 carries, which is intended for handling and changing the shape. The program-controlled Elomonto 2 are flat, arranged in the form of a matrix and fastened on top of Gohäuso 3. The programmatic Elomonto 2 and the Gohtiuso 3 orgobon olno mikrotochnlscho assembly 4.

Several mikrotechnischo assemblies 4 are arranged on a frame 5 to a robot module θ. The arrows indicate the actuator and effector effects.

FIG. 2 shows the structure of the microtechnical assembly 4. The upper layer forms a micromechanical structure 7, in which actuators and effectors are embodied. Furthermore, an optoelectronic structure 8 for designing the sensors, a microelectronic structure 9 for the control or Rogolgllodor sowlo information and Enorgieanschlüsso and a single-chip computer are integrated, which are received by the housing 3.

FIG. 3 shows two microtechrical assemblies 4 as part of a robot module 6, which interact with another microtechnical assembly 4. About the frame 5, a further microtechnical assembly 4 is connected. The object 1 can be handled in the zoomed arrangement in the degree of freedom 5, and by the actuator effect of the programmable elements 2 in the microtechnical assembly 4, a slight spatial mobility of the object 1 is achieved.

FIG. 4 shows a microtechnical assembly 4 with breakthrough. The programmable elements 2 allow full mobility in the degree of freedom 3 for the object 1 and a slight spatial mobility.

FIG. 5 shows the arrangement of a fixed stop 11 and a program-controlled stop 12. A rotationally symmetric object 1 introduced in the region of the fixed stop 11 by the microtechnical assembly 4 with the aid of the programmable elements 2 can be set in rotation at high speed, after the position of the Object 1 is secured by the program-controlled stop 12.

FIG. 6 shows the series connection of a flexible microtechnical assembly 13 with another rotor module 6, in which the actuator component is particularly pronounced in the normal direction. In this way, the deformable microtechnical assembly 13 is a programmable Oberflächenrolief impressed. This also leads to an increase in the spatial mobility of the object. 1

Figure 7 shows the handling and shape change of a partially flexible mikrotechnischon assembly 13 with larger changes in shape. At the same time an adjustment of the microtechnical assembly 13 is achieved by the microtechnical assemblies 4 arranged in parallel.

FIG. 8 shows an example of a closed design of assembled microtechnical assemblies 4, in particular for highly accurate guidance of objects. Microtechnical assemblies 4 handle an object 1 which is connected to other microtechnical assemblies.

FIG. 9 illustrates a breakthrough microtechnical assembly 4 that handles and modifies an object 1. The arrow indicates the supply of a fluid. By using such zones in the microtechnical assembly with special energy supply, the change in shape can be enhanced.

The breakthrough additionally allows for improved accessibility to the object 1, e.g. for the design of optical systems. However, the object 1 can also be inflated or sucked in, the shaping being able to be influenced by fixed stops or program-controlled stops 12, which can be guided by other microtechnical assemblies 4.

In Figure 10, a material particle is shown, which is a very small object 1 and z. B. may be a drop of liquid whose surface tension has been increased.

The handling is supported by a deformation of the microtechnical assembly 4 in such a way that a channel is created programmatically. A metered combination, mixing and division of small amounts of substance is feasible.

Claims (4)

1. industrial robot for temporally parallel, mutually independent handling and / or changing the shape of objects with at least one smooth base using program-controlled elements, characterized in that the industrial robot consists of at least one microtechnical assembly (4), in the program-controlled elements (2 ) are arranged in a planar, matrix-like manner and in that finely structured, preferably monolithically integrated, micromechanical actuators and effectors and micromechanical or optoelectronic sensors, at least one positioning element and at least one microcomputer are arranged in the program-controlled elements (2). 2. Industrial robot according to claim 1, characterized in that the microelectronic assembly (4) has openings. 3. Industrial robot according to claim 1, characterized in that mechanical stops or blocking areas are arranged on the microtechnical assembly (4). 4. Industrial robot according to claim 1, characterized in that the sensors in the program-controlled elements (2) concentrated in measuring ranges and are designed as microtechnical switches or timers with information storage and that a measuring device for determining the distance between the micro-technical assembly (4) and object ( 1) is arranged. For this 3 pages drawings