DE102012017062A1 - Manipulator for supporting people during e.g. process workflows, has pivots and/or arm arranged for movement in space, and process unit arranged at arm and regulated and/or controlled by measurement unit that sends and receives signal - Google Patents
Manipulator for supporting people during e.g. process workflows, has pivots and/or arm arranged for movement in space, and process unit arranged at arm and regulated and/or controlled by measurement unit that sends and receives signal Download PDFInfo
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- DE102012017062A1 DE102012017062A1 DE102012017062.9A DE102012017062A DE102012017062A1 DE 102012017062 A1 DE102012017062 A1 DE 102012017062A1 DE 102012017062 A DE102012017062 A DE 102012017062A DE 102012017062 A1 DE102012017062 A1 DE 102012017062A1
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- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J1/00—Manipulators positioned in space by hand
- B25J1/02—Manipulators positioned in space by hand articulated or flexible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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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
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/001—Combinations of extrusion moulding with other shaping operations
- B29C48/0021—Combinations of extrusion moulding with other shaping operations combined with joining, lining or laminating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/25—Component parts, details or accessories; Auxiliary operations
- B29C48/92—Measuring, controlling or regulating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/02—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
- B29C65/18—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools
- B29C65/20—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools with direct contact, e.g. using "mirror"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/50—General aspects of joining tubular articles; General aspects of joining long products, i.e. bars or profiled elements; General aspects of joining single elements to tubular articles, hollow articles or bars; General aspects of joining several hollow-preforms to form hollow or tubular articles
- B29C66/51—Joining tubular articles, profiled elements or bars; Joining single elements to tubular articles, hollow articles or bars; Joining several hollow-preforms to form hollow or tubular articles
- B29C66/52—Joining tubular articles, bars or profiled elements
- B29C66/524—Joining profiled elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/70—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material
- B29C66/71—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material characterised by the composition of the plastics material of the parts to be joined
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/70—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material
- B29C66/72—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material characterised by the structure of the material of the parts to be joined
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
- B29D12/00—Producing frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2948/00—Indexing scheme relating to extrusion moulding
- B29C2948/92—Measuring, controlling or regulating
- B29C2948/92504—Controlled parameter
- B29C2948/92704—Temperature
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/001—Combinations of extrusion moulding with other shaping operations
- B29C48/0022—Combinations of extrusion moulding with other shaping operations combined with cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/03—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor characterised by the shape of the extruded material at extrusion
- B29C48/09—Articles with cross-sections having partially or fully enclosed cavities, e.g. pipes or channels
- B29C48/11—Articles with cross-sections having partially or fully enclosed cavities, e.g. pipes or channels comprising two or more partially or fully enclosed cavities, e.g. honeycomb-shaped
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/03—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor characterised by the shape of the extruded material at extrusion
- B29C48/12—Articles with an irregular circumference when viewed in cross-section, e.g. window profiles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/25—Component parts, details or accessories; Auxiliary operations
- B29C48/36—Means for plasticising or homogenising the moulding material or forcing it through the nozzle or die
- B29C48/395—Means for plasticising or homogenising the moulding material or forcing it through the nozzle or die using screws surrounded by a cooperating barrel, e.g. single screw extruders
- B29C48/40—Means for plasticising or homogenising the moulding material or forcing it through the nozzle or die using screws surrounded by a cooperating barrel, e.g. single screw extruders using two or more parallel screws or at least two parallel non-intermeshing screws, e.g. twin screw extruders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/01—General aspects dealing with the joint area or with the area to be joined
- B29C66/02—Preparation of the material, in the area to be joined, prior to joining or welding
- B29C66/022—Mechanical pre-treatments, e.g. reshaping
- B29C66/0224—Mechanical pre-treatments, e.g. reshaping with removal of material
- B29C66/02245—Abrading, e.g. grinding, sanding, sandblasting or scraping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
- B29C66/91—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux
- B29C66/914—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux
- B29C66/9141—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux by controlling or regulating the temperature
- B29C66/91421—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux by controlling or regulating the temperature of the joining tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
- B29C66/91—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux
- B29C66/919—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux characterised by specific temperature, heat or thermal flux values or ranges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
- B29K2511/00—Use of natural products or their composites, not provided for in groups B29K2401/00 - B29K2509/00, as filler
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/001—Profiled members, e.g. beams, sections
- B29L2031/003—Profiled members, e.g. beams, sections having a profiled transverse cross-section
- B29L2031/005—Profiled members, e.g. beams, sections having a profiled transverse cross-section for making window frames
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
- E06B3/04—Wing frames not characterised by the manner of movement
- E06B3/06—Single frames
- E06B3/08—Constructions depending on the use of specified materials
- E06B3/20—Constructions depending on the use of specified materials of plastics
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
- E06B3/30—Coverings, e.g. protecting against weather, for decorative purposes
Abstract
Description
Stand der TechnikState of the art
Die Erfindung geht aus von einem Manipulator, insbesondere zum Dispensen, Kleben, Fräsen, Schneiden oder dgl., nach der Gattung des Anspruchs 1, und einem Verfahren zur Steuerung und/oder Regelung einer an einem Manipulator angeordneten Prozesseinheit, nach der Gattung des Anspruchs 15.The invention is based on a manipulator, in particular for dispensing, gluing, milling, cutting or the like, according to the preamble of claim 1, and a method for controlling and / or regulating a processing unit arranged on a manipulator, according to the preamble of claim 15 ,
Manipulatoren, zur Unterstützung des Menschen bei Verfahrensabläufen, wie beispielsweise dem Dispensen, Kleben, Fräsen und Schneiden oder dgl., sind seit langem Stand der Technik. Insbesondere wird durch die Manipulatoren eine präzisere und schnellere Abarbeitung von einfachen bis hin zu hochkomplexen Vorgängen bei Verfahrensabläufen in der Serienproduktion ermöglicht.Manipulators to assist humans in processes such as dispensing, gluing, milling and cutting or the like have long been prior art. In particular, the manipulators allow a more precise and faster processing of simple to highly complex processes in process sequences in series production.
Im Gebrauchsmuster
Um diesen Nachteil zu überwinden, wird in der Offenlegungsschrift
Ein im Teach-in-Verfahren programmierbarer Lackierroboter mit einer am Ende des Arbeitsarmes angebrachten Handhabe zum manuellen Führen des Arbeitsarmes bzw. des Lackzerstäubungsorganes während der Programmierphase wird in der Offenlegungsschrift
Die Erfindung und ihre VorteileThe invention and its advantages
Der erfindungsgemäße Manipulator, mit einem Fuß-Drehgelenk und/oder mindestens einem Schwenk-Drehgelenk und/oder mindestens einem Arm, der einen Tool Center Point zur Bewegung im Raum aufweist, insbesondere zur Unterstützung des Menschen und zu präziserem sowie schnellerem Abarbeiten von einfachen bis hin zu hoch komplexen Verfahrensabläufen in der Serienproduktion, wie beispielsweise zum Dispensen, Kleben, Fräsen, Schneiden oder dgl., mit den kennzeichnenden Merkmalen des Anspruchs 1, und das erfindungsgemäße Verfahren zur Steuerung und/oder Regelung einer beispielsweise an einem Tool Center Point des Manipulators angeordneten Prozesseinheit, mit den kennzeichnenden Merkmalen des Anspruchs 15, haben dem gegenüber den Vorteil, dass mindestens eine Prozesseinheit an einer Anbindung (z. B. einer Plattform) angeordnet ist, deren Steuerung und/oder Regelung von einer Manipulatorposition und/oder Manipulatorgeschwindigkeit abhängig ist, wobei die Steuerung und/oder Regelung durch mindestens eine ein Signal empfangende und/oder aussendende Messeinheit erfolgt, die die Manipulatorgeschwindigkeit und/oder die Manipulatorposition im Raum erfasst und die das die Manipulatorgeschwindigkeit und/oder die Manipulatorposition wiederspiegelnde Signal an die Prozesseinheit übermittelt, wodurch eine große Prozesssicherheit bei gleichzeitig niedrigen Anschaffungskosten gewährleistet wird.The manipulator according to the invention, with a foot swivel joint and / or at least one swivel joint and / or at least one arm, which has a tool center point for movement in space, in particular for the support of humans and more precise and faster processing from simple to to highly complex procedures in series production, such as dispensing, gluing, milling, cutting or the like., With the characterizing features of claim 1, and the inventive method for controlling and / or regulating a, for example, arranged at a tool center point of the manipulator Process unit, with the characterizing features of claim 15, have the advantage that at least one process unit is arranged on a connection (eg a platform) whose control and / or regulation is dependent on a manipulator position and / or manipulator speed, wherein the control and / or regulation by at least one measuring unit receiving and / or emitting measuring unit takes place, which detects the manipulator speed and / or the manipulator position in space and transmits the signal reflecting the manipulator speed and / or the manipulator position to the process unit, thereby ensuring a high level of process reliability with simultaneously low acquisition costs ,
Nach einer vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators wird der Arm bevorzugt aus einem Rohr hergestellt. Die Verbindung der Gelenke des Manipulators kann auch anders realisiert werden, z. B. durch andersartige Hohlkörper. Die bevorzugt verwendeten Rohrverbindungen (Rohre) werden zur nicht sichtbaren Verlegung der Kabelleitungen genutzt, was jedoch nicht zwingend erforderlich ist, d. h. die Kabelverbindungen können auch anderweitig am Manipulator installiert werden.According to an advantageous embodiment of the manipulator according to the invention, the arm is preferably made of a tube. The connection of the joints of the manipulator can also be realized differently, for. B. by different types of hollow body. The preferred pipe connections (pipes) are used for the invisible laying of the cable lines, but this is not absolutely necessary, d. H. The cable connections can also be installed elsewhere on the manipulator.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators weist der Manipulator ein Fuß-Drehgelenk und drei Schwenk-Drehgelenke und vier Arme auf.According to an additional advantageous embodiment of the manipulator according to the invention, the manipulator has a foot pivot and three pivot hinges and four arms.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators ist der Manipulator manuell durch einen Bediener bewegbar. Hieraus ergibt sich für das zu bearbeitende Werkstück, dass dieses nicht immer an derselben Position liegen muss. Falls eine Positionsüberwachung des Werkstücks nötig ist, ist diese zum einen mittels einer Optoelektronik (Kamera) und zum anderen auch mittels einer Überwachung der Lagekoordinaten möglich. Weitere Überwachungsstrategien sind möglich. Ein Ein- bzw. Ausschalten des Manipulators kann beispielsweise entweder direkt über den Bediener (z. B. Ein-/Ausschalter, Totmannschalter), eine Optoelektronik mit Werkstückerkennung oder eine Positionsüberwachung der Lagekoordinaten (Arbeitsbereich) erfolgen.According to an additional advantageous embodiment of the manipulator according to the invention, the manipulator is manually movable by an operator. It follows for the to be processed Workpiece that this does not always have to be in the same position. If a position monitoring of the workpiece is necessary, this is possible on the one hand by means of optoelectronics (camera) and on the other hand also by means of a monitoring of the position coordinates. Further monitoring strategies are possible. The manipulator can be switched on or off either directly via the operator (eg on / off switch, dead man's switch), optoelectronics with workpiece recognition or position monitoring of the position coordinates (working range).
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators besitzt der Manipulator eine Kinematik.According to an additional advantageous embodiment of the manipulator according to the invention, the manipulator has a kinematics.
Nach einer diesbezüglich vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators ist die Kinematik eine serielle, eine parallele, eine kartesische Kinematik oder dgl..According to an advantageous embodiment of the manipulator according to the invention, the kinematics is a serial, a parallel, a Cartesian kinematics or the like.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators ist in mindestens einem Gelenk ein Gebersystem vorhanden.According to an additional advantageous embodiment of the manipulator according to the invention, a donor system is present in at least one joint.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators übermittelt ein Gebersystem über eine Messeinheit Daten an einen Computer.According to an additional advantageous embodiment of the manipulator according to the invention, an encoder system transmits data to a computer via a measuring unit.
Nach einer diesbezüglich vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators erfolgt die Verarbeitung der Daten im Computer mittels eines Algorithmus.According to an advantageous embodiment of the manipulator according to the invention, the processing of the data in the computer takes place by means of an algorithm.
Nach einer diesbezüglich vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators ermittelt der Algorithmus eine Manipulatorgeschwindigkeit über eine Vorwärtstransformation der Achswinkel in kartesische Koordinaten und eine anschließende Berechnung der Positionsänderung über der Zeit.In accordance with an advantageous embodiment of the manipulator according to the invention, the algorithm determines a manipulator speed via a forward transformation of the axis angles into Cartesian coordinates and a subsequent calculation of the position change over time.
Nach einer diesbezüglich vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators wird die in einem Computer verarbeitete Manipulatorgeschwindigkeit und/oder die Manipulatorposition als Steuer- und/oder Regelgröße an die an einer Anbindung angeordnete Prozesseinheit übermittelt.According to an advantageous embodiment of the manipulator according to the invention, the manipulator speed processed in a computer and / or the manipulator position is transmitted as control and / or controlled variable to the process unit arranged at a connection.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators ist das übertragene Signal analog und/oder digital.According to an additional advantageous embodiment of the manipulator according to the invention, the transmitted signal is analog and / or digital.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators sind an der Prozesseinheit unterschiedliche Aufsätze (z. B. unterschiedliche Fräsköpfe) anordbar und/oder die Prozesseinheit ist an der Anbindung austauschbar angeordnet. Eine Befestigung der Prozesseinheit wird bevorzugt durch Verrastung, Verschraubung oder dgl. erreicht.According to an additional advantageous embodiment of the manipulator according to the invention, different attachments (eg different milling heads) can be arranged on the process unit and / or the process unit is arranged interchangeably at the connection. An attachment of the process unit is preferably achieved by latching, screwing or the like.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Manipulators ist die Prozesseinheit eine Prozesseinheit zum Dispensen, Kleben, Fräsen, Schneiden oder dgl..According to an additional advantageous embodiment of the manipulator according to the invention, the process unit is a process unit for dispensing, gluing, milling, cutting or the like.
Nach einer vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens zur Steuerung und/oder Regelung einer an einem Manipulator angeordneten Prozesseinheit, wobei mindestens eine Prozesseinheit an einer Anbindung angeordnet ist, deren Steuerung und/oder Regelung von einer Manipulatorposition und/oder Manipulatorgeschwindigkeit abhängig ist, wobei die Steuerung und/oder Regelung durch mindestens eine ein Signal empfangende und/oder aussendende Messeinheit erfolgt, die die Manipulatorgeschwindigkeit und/oder die Manipulatorposition im Raum erfasst und die das die Manipulatorgeschwindigkeit und/oder die Manipulatorposition wiederspiegelnde Signal, welches analog und/oder digital ist, an die Prozesseinheit übermittelt.According to an advantageous embodiment of the method according to the invention for controlling and / or regulating a process unit arranged on a manipulator, wherein at least one process unit is arranged on a connection whose control and / or regulation is dependent on a manipulator position and / or manipulator speed, wherein the controller and / or regulation by at least one signal receiving and / or emitting measuring unit takes place, which detects the manipulator speed and / or the manipulator position in space and the the manipulator speed and / or the manipulator position reflecting signal, which is analog and / or digital, to the Process unit transmitted.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens weist der Manipulator mindestens ein Gelenk auf, über dessen Stellung die Manipulatorposition bestimmt wird.According to an additional advantageous embodiment of the method according to the invention, the manipulator has at least one joint over whose position the manipulator position is determined.
Nach einer diesbezüglich vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens ermittelt ein Gebersystem die Lage der Gelenke zueinander.After an advantageous embodiment of the method according to the invention, a donor system determines the position of the joints to one another.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens wird die Manipulatorposition in einer Messeinheit für Gebersysteme erfasst.According to an additional advantageous embodiment of the method according to the invention, the manipulator position is detected in a measuring unit for encoder systems.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens leitet die Messeinheit Daten an einen Computer weiter.According to an additional advantageous embodiment of the method according to the invention, the measuring unit forwards data to a computer.
Nach einer diesbezüglich vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens berechnet der Computer die Lagekoordinaten eines Tool Center Points aus der Lage des Manipulators, insbesondere mittels einer Koordinatentransformation.After an advantageous embodiment of the inventive method, the computer calculates the position coordinates of a tool center point from the position of the manipulator, in particular by means of a coordinate transformation.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens wird die Manipulatorposition in dem Computer über eine Abtastrate in die Manipulatorgeschwindigkeit umgerechnet.According to an additional advantageous embodiment of the method according to the invention, the manipulator position in the computer is converted over a sampling rate into the manipulator speed.
Nach einer diesbezüglich vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens ist die Abtastrate variabel.After an advantageous embodiment of the method according to the invention, the sampling rate is variable.
Bevorzugt passt sich die Abtastrate in Abhängigkeit der Manipulatorgeschwindigkeit automatisch an. The sampling rate preferably adapts automatically depending on the manipulator speed.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens wird die Manipulatorgeschwindigkeit und/oder die Manipulatorposition an eine Prozesseinheit zu deren Steuerung und/oder Regelung weitergeleitet.According to an additional advantageous embodiment of the method according to the invention, the manipulator speed and / or the manipulator position is forwarded to a process unit for its control and / or regulation.
Nach einer zusätzlichen vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens wird zur Steuerung und/oder Regelung einer an einem Manipulator angeordneten Prozesseinheit ein Manipulator gemäß einem der Ansprüche 1 bis 14 eingesetzt.According to an additional advantageous embodiment of the method according to the invention, a manipulator according to one of claims 1 to 14 is used for controlling and / or regulating a process unit arranged on a manipulator.
Weitere Vorteile und vorteilhafte Ausgestaltungen der Erfindung sind der nachfolgenden Beschreibung, den Ansprüchen und den Zeichnungen entnehmbar.Further advantages and advantageous embodiments of the invention are the following description, the claims and the drawings removed.
Zeichnungdrawing
Bevorzugte Ausführungsbeispiele des erfindungsgemäßen Gegenstands sind in der Zeichnung dargestellt und werden im Folgenden näher erläutert. Es zeigenPreferred embodiments of the subject invention are illustrated in the drawings and will be explained in more detail below. Show it
Beschreibung der AusführungsbeispieleDescription of the embodiments
In
Ein Gebersystem in jedem Gelenk ermittelt die Stellung jedes Gelenkes und übermittelt diese an die Messeinheit
Das durch die Prozesseinheit
In
Alle hier dargestellten Merkmale können sowohl einzeln als auch in beliebiger Kombination miteinander erfindungswesentlich sein.All features shown here may be essential to the invention both individually and in any combination.
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Manipulatormanipulator
- 22
- Messeinheit (Auswerteeinheit)Measuring unit (evaluation unit)
- 33
- Computercomputer
- 44
- Dreh-FußgelenkTurning ankle
- 55
- Dreh-SchwenkgelenkArticulating joint
- 66
- Armpoor
- 77
- Pfeilarrow
- 88th
- Winklige AnordnungAngled arrangement
- 99
- Befestigungsstellefastening point
- 1010
- Anbindungconnection
- 1111
- Prozesseinheitprocess unit
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 20004882 U1 [0003] DE 20004882 U1 [0003]
- DE 3045094 A1 [0004] DE 3045094 A1 [0004]
- DE 3526958 A1 [0005] DE 3526958 A1 [0005]
Claims (25)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202012013204.0U DE202012013204U1 (en) | 2012-08-29 | 2012-08-29 | manipulator |
DE102012017062.9A DE102012017062A1 (en) | 2012-08-29 | 2012-08-29 | Manipulator for supporting people during e.g. process workflows, has pivots and/or arm arranged for movement in space, and process unit arranged at arm and regulated and/or controlled by measurement unit that sends and receives signal |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012017062.9A DE102012017062A1 (en) | 2012-08-29 | 2012-08-29 | Manipulator for supporting people during e.g. process workflows, has pivots and/or arm arranged for movement in space, and process unit arranged at arm and regulated and/or controlled by measurement unit that sends and receives signal |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102012017062A1 true DE102012017062A1 (en) | 2014-03-06 |
Family
ID=69144094
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE202012013204.0U Expired - Lifetime DE202012013204U1 (en) | 2012-08-29 | 2012-08-29 | manipulator |
DE102012017062.9A Ceased DE102012017062A1 (en) | 2012-08-29 | 2012-08-29 | Manipulator for supporting people during e.g. process workflows, has pivots and/or arm arranged for movement in space, and process unit arranged at arm and regulated and/or controlled by measurement unit that sends and receives signal |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
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DE202012013204.0U Expired - Lifetime DE202012013204U1 (en) | 2012-08-29 | 2012-08-29 | manipulator |
Country Status (1)
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DE (2) | DE202012013204U1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110714598A (en) * | 2019-12-09 | 2020-01-21 | 广东博智林机器人有限公司 | Coating robot and control method thereof |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202016007293U1 (en) | 2016-11-29 | 2016-12-23 | Kuka Roboter Gmbh | Passive manipulator |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3045094A1 (en) | 1980-11-29 | 1982-07-01 | Kernforschungszentrum Karlsruhe Gmbh, 7500 Karlsruhe | Programmable manipulator or industrial robot - has duplicate manually operated manipulator to establish position data points during programming |
DE3526958A1 (en) | 1985-07-27 | 1985-12-19 | Daimler-Benz Ag, 7000 Stuttgart | Enamelling robot which can be programmed by the teach-in method |
DE20004882U1 (en) | 2000-03-17 | 2000-05-31 | Wienaeber Schweistechnik Ohg | manipulator |
US20050166413A1 (en) * | 2003-04-28 | 2005-08-04 | Crampton Stephen J. | CMM arm with exoskeleton |
-
2012
- 2012-08-29 DE DE202012013204.0U patent/DE202012013204U1/en not_active Expired - Lifetime
- 2012-08-29 DE DE102012017062.9A patent/DE102012017062A1/en not_active Ceased
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3045094A1 (en) | 1980-11-29 | 1982-07-01 | Kernforschungszentrum Karlsruhe Gmbh, 7500 Karlsruhe | Programmable manipulator or industrial robot - has duplicate manually operated manipulator to establish position data points during programming |
DE3526958A1 (en) | 1985-07-27 | 1985-12-19 | Daimler-Benz Ag, 7000 Stuttgart | Enamelling robot which can be programmed by the teach-in method |
DE20004882U1 (en) | 2000-03-17 | 2000-05-31 | Wienaeber Schweistechnik Ohg | manipulator |
US20050166413A1 (en) * | 2003-04-28 | 2005-08-04 | Crampton Stephen J. | CMM arm with exoskeleton |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110714598A (en) * | 2019-12-09 | 2020-01-21 | 广东博智林机器人有限公司 | Coating robot and control method thereof |
CN110714598B (en) * | 2019-12-09 | 2020-06-05 | 广东博智林机器人有限公司 | Coating robot and control method thereof |
WO2021114894A1 (en) * | 2019-12-09 | 2021-06-17 | 广东博智林机器人有限公司 | Coating robot and control method therefor |
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