DE102015211348A1 - Handling device and method for handling articles - Google Patents

Abstract

It is a handling device (10) and a method for gripping, detecting, positioning, handling, moving, rotating, regrouping and / or for manipulating individually, in pairs or in groups on a horizontal conveyor (12) transported articles, containers or cargo disclosed , The handling device (10) comprises a movably suspended manipulator (28) which is movably movable in a movement space (30) above the horizontal conveying device (12) and has one or more means (44) for gripping the articles, groupings, packages or piece goods. The manipulator (28) and / or movable suspension parts of the device (10), which are connected to the manipulator (28), and / or at least one drive (50) for the manipulator (28) is / are at least one sensor (36) for the detection and / or monitoring of movements of at least the manipulator (28) and / or for detecting current consumption values, pressure values and / or path-time profiles for at least one drive (50) associated with the handling device (10). The handling device (10) is coupled to a control and evaluation circuit (40) which comprises an evaluation of the sensor values (38) with regard to sensor, pressure and / or current consumption values and / or travel to be expected from the control commands for the manipulator movements Time-related relationships and by comparing the setpoints with the detected sensor values (38) an unexpected event in the movement and / or handling history of the manipulator (28) detects and / or derived.

Description

The present invention relates to a method for gripping, detecting, positioning, handling, moving, rotating, regrouping and / or manipulating individually, in pairs or in groups on a horizontal conveyor transported articles, containers or piece goods with the features of the independent method claim 1. The The invention also relates to a handling device having the features of independent claim 8.

Known packaging or palletizing systems for stacking and palletizing objects such as packages or containers with several articles such as beverage containers usually have horizontal conveyors with conveyor belts on which the piece goods or packages are transported in uninterrupted or irregular sequence to a handling device. There is a shift, alignment and / or turning individual piece goods or containers to bring them into a suitable spatial arrangement, which forms a basis to push together the piece goods or containers in subordinate Gruppierstationen stackable piece goods or bundle layers.

In current filling and packaging lines, different methods are used for turning containers which, for example, can have suitable movable stops or two belts at different speeds. Known handling devices can also be provided with grippers which can be hung on a gantry system and moved in a defined range of motion, rotated and also can be moved in the vertical direction to lift individual piece goods or containers for turning and / or moving can. The grippers can optionally also be arranged on arms of multi-axis robots, which are each placed laterally on the horizontal conveyors.

In such a handling of general cargo or containers they are detected in practice for the purpose of displacement and / or their orientation, lifted and transferred to a desired position or orientation within a grouping. For this purpose, numerous gripping devices are already known from the prior art, so for example. From the EP 2 388 216 A1 , This known gripping device has two horizontally spaced and arranged on an intermediate support via mechanical connections gripping arms. The gripper arms can be moved toward each other to detect objects. Further, the gripping arms with defined force in the vertical direction and against the carrier from the carrier can be solved. At the free end, both gripping arms have clamping jaws which are in surface contact with the respective objects when objects are detected.

Another gripping device shows, for example, the DE 102 04 513 A1 , There, a plurality of opposing gripping arms are guided in a central piece. A gripper arm is displaceable by means of an actuator with respect to another gripping arm, so that both gripping arms can be closed. At the lower ends of the gripping arms gripping portions for gripping building material packages are provided on the mutually facing sides.

In addition, there are other handling devices for gripping, moving, rotating and / or moving articles or containers, which are based on so-called delta robots or parallel kinematic robots, which are also referred to in a three-armed version as tripod. Each of the arms of such a tripod or delta-kinematics robot consists of an upper arm pivoted on the base about a frame-fixed pivot axis and a lower arm pivotally connected to the upper arm and the coupling element. While the upper arm is provided with a drive motor, the lower arm is passive, running freely from a drive to its pivoting relative to the upper arm or the coupling element. One or more of the lower arms can be connected, for example, via ball joints with the respectively associated upper arms and the coupling element. Such a single forearm is free to pivot and has no inherent stability. All upper arms of a delta robot are in each case mounted so as to be pivotable about preferably pivot axes lying within a common plane. Three connected to the coupling element and each with its associated upper arm forearms form a force triangle in each position, which can only be moved when the three upper arms synchronously perform the calculated for them pivoting movements about their fixed frame pivot axes. Two or more pivot axes can be parallel; As a rule, all pivot axes have two points of intersection with other pivot axes.

At least one of the lower arms may consist of two linkage elements, also referred to as ellipses and spokes, forming a parallelogram linkage, for guiding the coupling element in at least one predetermined orientation relative to the base. The coupling element serves as a work platform, which is also referred to in practice as a tool center point (TCP). At this TCP, a manipulator may be arranged, for example. In the form of mutually deliverable gripping arms o. The like. Handling device, so that thus articles, containers o. The like. Piece goods can be gripped and rotated, moved or lifted from a support surface.

The arranged on the working platform or the TCP manipulator can optionally be rotatably mounted to align the manipulator or perform a desired rotation of the article or piece goods can. Instead of a drivable rotatable mounting of the manipulator on the coupling element is basically also conceivable to arrange the manipulator non-rotatably on the coupling element and to rotate the entire coupling element with a corresponding compensating movement of the arms by means of the telescopic shaft relative to the base. However, this is associated with the disadvantage of only limited rotation angle of the coupling element. The restriction results from the achievement of end stops of the articulated connections of the upper arms and / or the coupling element with the forearms and / or the mutual contact of adjacent forearms.

From the DE 10 2010 006 155 A1 , from the DE 10 2013 208 082 A1 as well as from the US 8 210 068 B1 such handling device with tripods are known.

The known parallel kinematics robots or so-called tripods can cover a work space available for the respective robot, which is composed of the length of the upper arms, the distance between the attachment of the upper arms to the center of a frame-fixed base, the length of the lower arms, the distance of the attachment Forearms to the center of the so-called. Tool Center Points on the tool carrier and the maximum pivoting range of the upper arms results. In terms of the tool center point, this working space is a cylinder in the z direction, at the lower edge of which a sphere segment adjoins. Furthermore, the working space at the upper edge is possibly still limited by maximum pivoting angle gimbal telescopic drive shafts.

The advantages of these delta-kinematics robots or tripods lie in their low moving masses, resulting in a high dynamics of all positioning movements. A special challenge in the construction of such parallel kinematic robots or tripods is the dimensioning of the control arms, their drives and their bearings. Too small dimensions pose the risk of elastic deformation, which adversely affects the control precision of the arms and the handling tools guided therewith. Generous component dimensions prevent elastic deformation and reduce vibration and resonance problems, but almost inevitably lead to higher masses that have to be moved and accelerated.

The occurrence of unexpected events can be met with known delta robot systems difficult. Such unexpected events may be, for example, collisions with items to be handled, packages or piece goods that are not in an expected place or are slightly slipped or twisted so that they are not in the gripping tool that can be moved with the actuating arms within the movement space desired manner or may not be detected under certain circumstances. Such collisions can lead to consequential problems, such as, for example, loosening and / or falling off of releasably fixed tool parts of the gripping tool, e.g. of magnetically fixed gripping jaws. Such unexpected events must either be detected by monitoring persons and / or be detected by means of optical monitoring devices so that the machine environment can be switched off and further disturbances in the production sequence or damage to the machine environment can be avoided.

The EP 1 046 470 B1 discloses a method of operating a multi-axis mobile industrial robot and reducing a shock when the work robot collides with an obstacle. In this case, a collision of an end effector attached to the wrist of the robot is then detected and this collision is counteracted by reducing a drive torque when a disturbing torque applied to one of the servomotors of the robot exceeds a defined threshold value.

Further collision avoidance strategies are conceivable, but all of them require a relatively complex detection of disturbance moments in order to be able to derive collision events from them. However, such torque detection usually does not allow for detecting events below the registration threshold of normal collisions with fixed or moving objects.

On the other hand, a primary object of the present invention can be seen to be able to more reliably and better recognize unexpected events which may occur in the operation of gantry robotic or delta kinematics robot handling systems, with the aid of few and inexpensive sensors, in this way to make the operation of such handling systems more reliable. To achieve this, an improved construction of such a device as well as an improved method for the operation of such a device shall be provided.

This object of the invention is achieved with the subject matter of the independent method claim. Features of advantageous developments of the invention can be found in the dependent therefrom Claims. Thus, in order to achieve the stated object, the present invention proposes a method for gripping, grasping, positioning, manipulating, displacing, rotating, regrouping and / or manipulating articles, packs or piece goods transported individually, in pairs or in groups on a horizontal conveyor is carried out by means of a handling device which has a movably movable in a movement space above the horizontal conveyor manipulator, which comprises one or more means for gripping the articles, groupings, packages or piece goods. The method provides that the movement progressions of at least the manipulator are monitored by sensors and / or by recording current consumption values, pressure values and / or path-time profiles for at least one drive of the handling device and with regard to sensor to be expected from the control commands for the manipulator movements -, pressure and / or current consumption values and / or path-time relationships are evaluated. In addition, it is provided that an unexpected event in the course of movement and / or handling of the manipulator is detected and / or derived by comparing the desired values with the detected sensor values. This unexpected event may in particular be a collision of the manipulator with one of the articles individually, in pairs or in groups on the horizontal conveyor within the movement space of the manipulator transported articles, packages or piece goods, which by means of the comparison of the sensor values with the expected sensor, pressure and / or current consumption values and / or path-time relationships can be detected. However, the unexpected event may also be a damage to the manipulator or the gripping device, for example the loss of a gripping jaw or the like. In all such events, a significant difference between the sensory detected waveforms of the motion, voltage, pressure etc. sensors and the expected waveforms can be seen, consisting of the control commands for the handling device or in the movement space in multiple axes movable manipulator the handling device can be derived and therefore basically known.

The handling device can be formed by a gantry robot or be part of a gantry robot, wherein the movements and / or component stresses of at least one movable element of a suspension of the movable within the movement space in at least two different spatial axes manipulator are detected by sensors. Optionally, the handling device can also be formed by a parallel kinematic robot or be part of a parallel kinematic robot, whereby the movements and / or component stresses of at least one movable element of a suspension of the movable within the movement space in at least two different spatial axes manipulator are detected by sensors.

When using a parallel kinematic robot, this comprises at least one upper suspension to which usually at least three electric motor-driven actuating arms are hinged, wherein the at least three actuating arms each consist of at least two relatively pivotable arm portions and can be operated independently. The manipulator, which comprises one or more means for gripping the articles, groupings, containers or piece goods, is mechanically coupled to the at least three actuating arms, so that a position of the manipulator can be predetermined by a movement of one or more of the at least three actuating arms. In addition, the handling device has at least one pressure sensor, an acceleration sensor, a strain, compression and / or stress sensor or a differently functioning sensor which at least one of the actuating arms, the manipulator and / or assigned to a manipulator and suspended from the actuator arms tool carrier is, and the acceleration signals, pressure values, or strain, Längenänderungs- and / or voltage-induced output signals generated and supplied to a control and evaluation circuit. In addition, the positioning movements of the control arms can be sensed, for example. By angle sensors in their drive. Finally, it makes sense to provide a monitoring device for detecting drive torques and / or current consumption values of at least one of the electromotive drives of at least one of the positioning arms which are hinged to the upper suspension. From the output signals of the at least one sensor to the handling device, be it the acceleration or pressure sensor or the strain, compression and / or stress sensor, expected torque profiles for the at least one electromotive drive are calculated, which are permanently or at definable time intervals with the be compared to the current consumption values derived actual drive torque. In addition, deviations between the values of an unexpected event such as a collision of the manipulator or its gripping device with a fixed or movable object is concluded. Characterized in that in the method, the output signals of the at least one pressure, acceleration, strain, compression and / or voltage sensor calculated from the current consumption values of at least the associated Stellarmantriebs expected, expected pressure, acceleration, strain, compression and / or voltage values can be compared from the deviations between the measured and the calculated values to a mechanical transmission quality and / or an increased or reduced resistance of the at least one monitored electromotive drive of the respective actuator arm and thus to a collision or an unexpected weight reduction on the manipulator, eg. By loss of a jaw or the loss of a recorded article or the like.

In the method, in particular mechanical characteristic values of at least one movable element of the suspension of the handling device are sensed and compared with the characteristic values to be expected from the control commands for the manipulator movements over time. The method can provide that the drive torques and / or the current consumption values of the at least one electromotive drive whose associated to the upper suspension pivotally mounted actuator arm of the sensor is permanently detected and evaluated during the control movements of the actuator arm. Alternatively, the signals of two or more pressure, strain, compression and / or voltage sensors can be evaluated, which are arranged on two different actuating arms. Optionally, in the method, the accelerations of the manipulator and / or at least one movable element of the suspension of the handling device can be sensed and compared with the acceleration values to be expected from the control commands for the manipulator movements over time.

The method does not only provide that the current consumption values of at least one drive motor of the handling device and / or at least one of two, three or more actuating arms of the parallel kinematics robot are detected by sensors and compared with the current consumption values to be expected from the control commands for the manipulator movements over time. In addition, it may be useful if, in addition to the sensor values, the path-time profiles of the at least one monitored drive of the handling device and / or the at least one of two, three or more actuating arms of the parallel kinematic robot are monitored and evaluated and for detection of the unexpected event be used in the movement and / or handling history of the manipulator.

For example, pressure sensors, acceleration sensors, strain gauges or the like can be used as sensors. When using strain gauges, for example, all deformations of the adjusting arm or upper arm equipped with a strain gauge are detected. The size of the respective deformation is a measure of the radial force acting as a product with the distance of the lever arm from the axle center of the transmission, or a measure of the torque that must be applied to the output of the transmission. In a movement with a gripping tool, which has a certain payload - this can be formed, for example, by a container with containers (in the beverage and packaging industry) - therefore, results for each traversing a characteristic torque curve at the transmission output. At the same time, the motion and position control of the robot calculates the current values required for this action and thus the necessary drive torques of the motor at the transmission input. Upon acceleration of a mass to be moved on the gripper tool, the required engine drive torque due to the inertia of the drive train (engine inherent inertia of the rotor, moment of inertia of the clutch, moment of inertia of the transmission) and the friction in the transmission will always be necessarily higher than the torque output at the transmission output , That When comparing the curves of the torques normally results in an expected distance, since the engine torque is always slightly larger than the torque delivered at the transmission output. However, this latter torque can be derived by means of the strain gauges, while the engine torque can be derived from the current consumption curves.

Since the inertia of the drive train form a largely immutable constant, in an abnormal deviation of the engine torque essentially only an unexpected event may have occurred, in particular a collision of the gripper arm or any other disturbance on the gripper arm, which changes its weight. It makes sense that this determination of the event occurs when predefinable limit values are exceeded between the expected power consumption signals (derived from the signals of the DMS) and the actual power consumption signals.

Corresponding measurements are also possible with acceleration sensors, or even with pressure sensors, which can be attached to appropriate points of the moving parts of the handling device.

In the measurements carried out, the engine torques of a characteristic section of a cyclically continuous movement are preferably compared with the values of the sensor measurement, for example the DMS measurement on the upper arm. From the change in the measured values, a change in the resistances within the movement space for the manipulator can now be concluded.

Furthermore, the method can provide that the signal analysis and / or the comparison with the predetermined signal pattern can be used to trigger an event-dependent warning signal and / or an event-dependent machine stop. This variant is particularly useful to use if the limits for trouble-free operation are significantly exceeded, so that in this way a controlled shutdown can be done during operation.

The above-mentioned object of the invention is further achieved with the subject matter of the independent apparatus claim. Features of advantageous developments of the invention can be found in the dependent claims. Thus, in order to achieve the stated object, the present invention proposes a handling device for gripping, grasping, positioning, handling, shifting, rotating, regrouping and / or manipulating articles, packs or piece goods transported individually, in pairs or in groups on a horizontal conveyor. The device comprises a movably suspended manipulator, which is movably controlled in a movement space above the horizontal conveyor, with one or more means for gripping the articles, groupings, packages or piece goods, the manipulator and / or movable suspension parts of the device being connected to the manipulator; and / or at least one drive for the manipulator is associated with at least one sensor for detecting and / or monitoring movement patterns of at least the manipulator and / or for detecting current consumption values, pressure values and / or path-time profiles for at least one drive of the handling device. In addition, the handling device has a control and evaluation circuit or is coupled to one which consists of an evaluation of the sensor values with regard to the sensor, pressure and / or current consumption values and / or travel time expected from the control commands for the manipulator movements. Connections and by a comparison of the setpoints with the detected sensor values detects and / or derives an unexpected event in the movement and / or handling history of the manipulator.

As mentioned above, the handling device may optionally be a gantry robot or the handling device may be part of a gantry robot, in which at least one movable element of a suspension is equipped with a sensor for detecting the movements of the element and / or component stresses. Likewise, the handling device may also be a parallel kinematic robot in which at least one movable element of the suspension is equipped with a sensor for detecting the movements of the element and / or component stresses.

It can be provided that the at least one sensor detects the accelerations of the manipulator and / or at least one movable element of the suspension of the handling device, while in the control and evaluation a comparison of the sensor values with those from the control commands for the manipulator movements over time expected acceleration values takes place. Optionally, it can also be provided that the at least one sensor senses the mechanical characteristics of at least one movable element of the suspension of the handling device, after which a comparison of the sensor values with the acceleration values to be expected from the control commands for the manipulator movements takes place in the control and evaluation circuit , from which it can be concluded in certain deviations from expected signal patterns on the occurrence of an unexpected event such as in particular a collision of the manipulator with a movable or fixed object.

The control and evaluation circuit may preferably record the current consumption values of at least one drive motor of the handling device and / or at least one of two, three or more actuating arms of the parallel kinematic robot and / or detect it by sensors, so that a comparison of the sensory detected in the control and evaluation circuit and / or logged current consumption values can be made with the expected from the control commands for the manipulator movements over time power consumption values, which in turn be concluded for certain deviations from expected signal patterns on the occurrence of an unexpected event such as in particular a collision of the manipulator with a movable or fixed object can.

A further variant of the handling device can provide that the control and evaluation circuit monitors and evaluates the path-time profiles of the at least one monitored drive of the handling device and / or the at least one of two, three or more actuating arms of the parallel kinematic robot and for detection the unexpected event in the movement and / or handling history of the manipulator draws.

In one embodiment variant of the handling device as a delta kinematics robot, this preferably comprises an upper suspension on which at least three separately electric motor-driven actuating arms are articulated, wherein each of the at least three actuating arms through at least two relatively pivotable arm portions is formed, and wherein the at least three actuating arms can be operated independently. Furthermore, the device comprises a manipulator which comprises one or more means for gripping the articles, groupings, containers or piece goods and is mechanically coupled to the at least three actuating arms, so that predetermined by a movement of one or more of the at least three actuating arms, a position of the manipulator an acceleration or strain, compression and / or stress sensor associated with at least one of the actuator arms, the manipulator and / or a tool carrier supporting the manipulator and suspended from the actuator arms, and generates acceleration, strain, displacement and / or voltage-induced output signals, and means for detecting drive torques and / or current consumption values of at least one of the electromotive drives of at least one of the control arms hinged to the upper suspension. From the output signals of the at least one acceleration, compression, strain, compression and / or stress sensor, acceleration, pressure, strain, compression and / or stress values to be expected from the power consumption values can be generated, which are stored in an evaluation and / or arithmetic unit can be processed. Deviations between the values compared with one another can be used to derive a mechanical transmission quality and / or a motion deviation or any other unexpected event. Since the output signals of the at least one acceleration and / or vibration sensor or of the pressure sensor or Dehnmesssensors are evaluable with respect to deviations from a predetermined handling and / or manipulation process and / or with respect to collisions of the manipulator with articles, groups, containers, cargo or other objects, can be concluded by comparing the values to an unexpected event such as in particular a collision.

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

1 shows a schematic view of an embodiment of a device according to the invention for handling and / or manipulating articles, groups, containers or cargo.

2 shows a schematic detail view of a first embodiment of the device according to 1 ,

3 shows torque curves of a drive motor for one of the actuating arms of the device according to 1 ,

For identical or equivalent elements of the invention, identical reference numerals are used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments represent only examples of how the device according to the invention and the method according to the invention can be configured and do not constitute a final limitation.

By way of introduction, it should be pointed out that in the 1 and 2 explained embodiments of the device according to the invention refer to a delta kinematics robot with three similar pivoting arms or on a so-called. Tripod, which is part of a handling device or a manipulator for handling, turning, moving or picking up articles, general cargo or containers. With regard to a possible embodiment of the delta robot robot, delta robot or tripods, its construction, its mode of operation and its range of motion, reference should be made in particular to the disclosure content of DE 10 2013 106 004 A1 referenced, the entire contents of which are hereby incorporated by reference. For a detailed description of the movement modes, the drives for the three pivot arms, etc. should therefore be omitted here. Basically, the device could 10 according to 1 and 2 also have only two (Duopod) or optionally four (Quadpod) or more similar or different control arms. Equally applicable are the inventive principles on a handling device having a gantry robot or is the part of such gantry robot, which typically has a manipulator with gripping jaws o. The like., Which is movably suspended in a frame and movable in three mutually perpendicular axes. The mobility of the manipulator or the gripping device defines a cuboid movement space, while in a tripod typically creates a cylindrical movement space with it downwardly subsequent ball segment or a similarly shaped movement space.

The schematic side view of 1 shows a conceivable embodiment of a handling device according to the invention 10 for gripping, grasping, positioning, handling, moving, rotating, regrouping and / or manipulating from single, in pairs or in groups on a horizontal conveyor 12 transported articles, containers or general cargo, which are not shown here. These items, groups, containers or piece goods, not shown here, stand in particular on a supporting plane and / or a conveying section 12 a larger device 14 for the handling, conveying, grouping and / or packaging of articles, general cargo, groups and / or containers or are at this level or the conveyor section 12 moved in the horizontal direction, so that they are the handling device 10 can happen at a uniform conveying speed.

The as gripping and / or manipulation unit 16 trained or such having handling device 10 is above the support plane and / or the conveying section of the horizontal conveyor 12 arranged and includes an upper suspension 18 , on the three separately driven actuating arms 20 are hinged. Each of these three control arms 20 is by two relatively pivotable arm portions 22 and 24 formed, namely in each case by an upper arm 22 which is movable about a horizontal pivot axis and on the upper suspension 18 articulated and motor driven, as well as by a forearm 24 , which is articulated with the upper arm 22 is connected and leads down, so that all three forearms 24 in a lower coupling section 26 meet, the so-called Tool Center Point or TCP. At this lower coupling section 26 or the TCP is a separately activatable gripping device 28 with a pair of mutually deliverable gripping jaws, the detection, the gripping and / or manipulating the on the conveyor section 12 articles, groupings, packages or general cargo.

As already detailed in the DE 10 2013 106 004 A1 can be described, each of the three control arms 20 independent of the other actuating arms 20 be actuated, resulting in a free movement of the manipulator 16 together with his gripping device 28 within a defined range of motion 30 results, wherein by a movement of one or more of the total of three actuating arms 20 a position of the gripping device 28 within the movement room 30 can be specified. This movement or work space 30 is related to the Tool Center Point 26 in the vertical direction or in the z-direction, a cylinder, at the lower edge of which a ball segment connects, as in 1 is indicated.

The upper suspension 18 sees in the embodiment shown the 1 a support over a total of three inclined support beams 32 before, in turn, in a frame 34 the device 14 for the handling, conveying, grouping and / or packaging of articles, piece goods, groups and / or containers. The frame 34 can be, for example, a rigid steel support frame o. The like. With screwed vertical and horizontal beams, in the lower region of the horizontal conveyor section 12 receives.

The device also comprises at least one sensor 36 , which may be formed, for example, by a strain, compression and / or stress sensor or by an acceleration sensor whose location on one of the actuating arms 20 , on the manipulator 28 and / or at the tool center point 26 in the schematic representation of 1 merely intended to be indicated; the placement of the at least one sensor 36 or two or more such sensors 36 and their preferred embodiments are based on the detailed representation of 2 explained in more detail.

The at least one sensor 36 generated at each setting movement of the respective actuator arm 20 ie every time the upper arm moves up or down 22 about its horizontal pivot axis acceleration, strain, Längenänderungs- and / or voltage-induced output signals 38 , These output signals 38 of the at least one sensor 36 can in an evaluation and / or computer unit 40 be evaluated and evaluated, with the evaluation in terms of expected movement, acceleration, extensional, strain or voltage waveforms, as described in detail below with reference to the 2 and 3 is explained.

The schematic partial view of 2 illustrates a possible embodiment of the device according to the invention 10 in which a sensor 36 on one of the upper arms 22 is arranged. If the sensor 36 is formed by a strain, compression and / or stress sensor, this may preferably parallel to the longitudinal direction at the top of one of the upper arms 22 be arranged. As with all such tripods are the forearms 24 not driven separately, but only at the joints 42 articulated with the free ends of the upper arms 22 connected. On their undersides are the forearms 24 with the common coupling section or Tool Center Point (TCP) 26 articulated connected or wear this. The coupling section 26 at the same time forms the tool carrier for the gripping device indicated only schematically here 28 , for example, by two against each deliverable gripping jaws 44 o. The like. Can be formed.

Optionally, the sensor can 36 also on one of the forearms 24 or at the coupling section 26 or be arranged on the tool carrier, wherein these positions are better suited for the use of acceleration sensors, while the mentioned strain, compression and / or voltage sensor on the upper arm more meaningful signals 38 (see. 1 ) supplies as, for example. When mounted on the tool carrier 26 ,

The upper arms 22 of which in the detail view the 2 for better clarity, only one is shown, each on the upper suspension 18 held and pivotable about a horizontal axis of rotation in an upper suspension point 46 stored. To the pivotability of the upper arm 22 at the upper suspension point 46 to allow a horizontal axis of rotation is on a bearing block 48 the upper suspension 18 a drive not shown in detail here 50 provided, which may be formed in particular by an electric drive motor with flange-mounted gearbox, which is responsible for the rapid positioning movements of the upper arm 22 and thus the entire articulated arm 20 can provide. Each of the existing three articulated arms 20 is each with such a geared motor 50 provided, wherein the articulated arms 20 due to the separate controllability of the gearmotors 50 can each perform their own positioning movements, causing the possibilities of movement of the gripping device 28 in the existing movement room 30 (see. 1 ).

As the schematic detail view of 2 suggests one of the upper arms 22 the sensor shown 36 Thus, for example, have an acceleration, strain, compression and / or voltage sensor, its output signals 38 according to 1 to the evaluation and / or computer unit 40 supplies. Preferably, however, at least two or, ideally, all three upper arms 22 each with separate sensors 36 be equipped with their output signals 38 in each case to the evaluation and / or computer unit 40 which information from the signals information about a regular operation of the device 10 or the occurrence of unexpected events such as, in particular, collisions of the gripping device 28 or their gripping jaws 44 can win.

Like this the representation of 3 clarifies are from the output signals 38 of the at least one sensor 36 expected drive torque curves for the at least one electric motor drive 50 or the geared motor 50 calculated, which are compared permanently or at definable time intervals with the derived from the current consumption values actual drive torque. In addition, if at least one of the motors is inferred, deviations between the values on a mechanical transmission quality and / or on an unexpected event such as a collision 50 shows different power consumption values than would be expected from the normal course of motion.

As sensors 36 can be, for example, strain gauges 52 Insert (DMS), as thin film sensors, for example. By means of pressure sensitive adhesives on the upper arms 22 the actuating arms 20 be applied to their deformation behavior in exactly reproducible output signals 38 convert. As a measuring principle for the sensors used 36 In particular, a resistance measurement is suitable. Thus, the stretching or compressive deformation of the respective upper arm 22 captured and in output signals 38 or be converted into variable ohmic resistance values. The output signals 38 of the at least one sensor 36 or of the strain gauge 52 be by means of the evaluation and / or computer unit 40 analyzed and / or compared with a predetermined or expected signal pattern.

When using strain gauges 52 as sensors whose output signals 38 recorded and in the evaluation and / or computer unit 40 analyzed and compared with waveforms derived from the typical movement of the gripping unit 28 the handling device 10 to be expected. This expected torque curve M _target one of the drive motors 50 is in 3 shown as a dash-dotted curve on a time-torque diagram. The curve usually repeats itself over several cycles. In 3 is one of these cycles (t _cycl ) shown. Since there are not only the expected course M _Soll for the torque curve, but also deviations from it are possible by means of the at least one sensor 36 measured and from the output signals 38 of the sensor 36 can be calculated in reality deviating curves with pronounced torque peaks occur, as exemplified in the 3 Based on a measured torque curve M _{Ist is} indicated (dotted line).

To determine the curves M _actual , for example, all the deformations of the with a strain gauge 52 equipped Stellarms 20 or upper arm 22 be recorded. The size of the respective deformation is a measure of the radial force acting as a product with the distance of the lever arm from the axle center of the transmission, or a measure of the torque that must be applied to the output of the transmission. When moving with a gripping tool 44 , that a certain payload - this may, for example, be formed by a container with containers - has to move, therefore, results for each traversing a characteristic torque curve (M _Soll ) at the transmission output. Simultaneously calculates the movement and position control of the robot or the handling device 10 the current values necessary for this action and thus the necessary drive torques of the engine at the transmission input.

Thus, when comparing the curves of the torques (M _setpoint and M _actual ), there is normally always an expected very small distance, which is clearly exceeded only in the event of a fault caused by a collision or another unexpected event, so that, for example, during a collision the gripping unit 28 at a certain point in time (t _Koll ) a significantly greater distance (ΔM) can occur. The actual torque can be selected by means of the strain gauges 52 , by means of acceleration sensors (not shown here), but also from the power consumption curves for the drive motor 50 or the drive motors 50 be derived. It makes sense to compare the engine torques of a characteristic section of a cyclically traversed motion with the values of the DMS measurement on the upper arm. That's how it shows 3 For example, a complete cycle of motion, indicated by the cycle time t _cycl .

Furthermore, the method can provide that the signal analysis and / or the comparison with the predetermined signal pattern can be used to trigger an event-dependent warning signal and / or an event-dependent machine stop. This variant is particularly useful to use when the manipulation unit can no longer be used meaningfully, as for example in case of loss of a gripping jaw 44 the gripping device 28 may be the case, so that a controlled stop during operation is possible, without causing further disturbances in the operation by further use of the no longer operational gripping device 28 must come.

The invention has been described with reference to a preferred embodiment. However, it will be apparent to those skilled in the art that modifications or changes may be made to the invention without departing from the scope of the following claims.

LIST OF REFERENCE NUMBERS

10

 Device, handling device

12

 Conveyor section, horizontal conveyor section, horizontal conveyor

14

 Device, handling, conveying, grouping, packaging device

16

 Gripping unit, manipulation unit, manipulator

18

 upper suspension

20

 actuating arm

22

 Upper arm, upper arm section

24

 Forearm, lower arm section

26

 Coupling section, Tool Center Point (TCP), tool carrier

28

 Gripping device, manipulator

30

 Movement room, work space

32

 support beam

34

 Frame, frame

36

 sensor

38

 output

40

 Evaluation and / or computer unit, control and evaluation circuit

42

 Joint, joint (between upper arms and lower arms)

44

 Gripping jaws (the gripping device), means for gripping

46

 upper suspension point (upper arms)

48

 bearing block

50

 Motor, drive motor, electric motor drive, geared motor

52

 Strain gage, strain gauge

QUOTES INCLUDE IN THE DESCRIPTION

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.

Cited patent literature

• EP 2388216 A1 [0004]
• DE 10204513 A1 [0005]
• DE 102010006155 A1 [0009]
• DE 102013208082 A1 [0009]
• US 8210068 B1 [0009]
• EP 1046470 B1 [0013]
• DE 102013106004 A1 [0037, 0040]

Claims (14)

Method for gripping, grasping, positioning, handling, shifting, rotating, regrouping and / or for manipulating individually, in pairs or in groups on a horizontal conveyor ( 12 ) transported articles, containers or piece goods, with a handling device ( 10 ), which has a movably suspended and in a movement space ( 30 ) above the horizontal conveyor ( 12 ) controlled movable manipulator ( 28 ) having one or more means ( 44 ) for gripping the articles, groupings, containers or piece goods, the courses of movement of at least the manipulator ( 28 ) sensory and / or by recording current consumption values, pressure values and / or path-time profiles for at least one drive ( 50 ) of the handling device ( 10 ) and evaluated with regard to sensor, pressure and / or current consumption values and / or path-time relationships to be expected from the control commands for the manipulator movements, and an unexpected event in the movement by comparing the desired values with the detected sensor values - and / or handling history of the manipulator ( 28 ) is recognized and / or derived. Method according to Claim 1, in which the handling device ( 10 ) is formed by a gantry robot or is part of a gantry robot, wherein the movements and / or component stresses of at least one movable element of a suspension of the within the movement space ( 30 ) in at least two different spatial axes movable manipulator ( 28 ) are sensory detected. Method according to Claim 1, in which the handling device ( 10 ) is formed by a parallel kinematic robot or is part of a parallel kinematic robot, wherein the movements and / or component stresses of at least one movable element of a suspension of the within the movement space ( 30 ) in at least two different spatial axes movable manipulator ( 28 ) are sensory detected. Method according to Claim 2 or 3, in which the accelerations of the manipulator ( 28 ) and / or at least one movable element of the suspension of the handling device ( 10 ) and are compared with the acceleration values to be expected from the control commands for the manipulator movements over time. Method according to claim 2 or 3, in which mechanical characteristics of at least one movable element of the suspension of the handling device ( 10 ) are sensory and compared with the expected from the control commands for the manipulator movements over time parameters. Method according to Claim 2 or 3, in which the current consumption values of at least one drive motor ( 50 ) of the handling device ( 10 ) and / or at least one of two, three or more actuator arms ( 20 ) of the parallel kinematic robot are sensed and compared with the expected from the control commands for the manipulator movements over time power consumption values. Method according to one of Claims 4 to 6, in which, in addition to the sensor values, the path-time characteristics of the at least one monitored drive ( 50 ) of the handling device ( 10 ) and / or the at least one of two, three or more actuating arms ( 20 ) of the parallel kinematics robot and evaluated and for detecting the unexpected event in the movement and / or handling of the manipulator ( 28 ) are used. Handling device ( 10 ) for gripping, grasping, positioning, handling, shifting, rotating, regrouping and / or for manipulating individually, in pairs or in groups on a horizontal conveyor ( 12 ) transported articles, containers or general cargo, which handling device ( 10 ) a movably suspended and in a movement space ( 30 ) above the horizontal conveyor ( 12 ) controlled movable manipulator ( 28 ) with one or more means ( 44 ) for gripping the articles, groupings, packages or piece goods, wherein the manipulator ( 28 ) and / or movable suspension parts of the device ( 10 ), with the manipulator ( 28 ), and / or at least one drive ( 50 ) for the manipulator ( 28 ) at least one sensor ( 36 ) for detecting and / or monitoring movement sequences of at least the manipulator ( 28 ) and / or for recording current consumption values, pressure values and / or path-time profiles for at least one drive ( 50 ) of the handling device ( 10 ), and wherein the handling device ( 10 ) a control and evaluation circuit ( 40 ) or is coupled to such, which from an evaluation of the sensor values ( 38 ) with regard to sensor, pressure and / or current consumption values and / or path-time relationships to be expected from the control commands for the manipulator movements and by a comparison of the set values with the detected sensor values ( 38 ) an unexpected event in the movement and / or handling course of the manipulator ( 28 ) recognizes and / or deduces. Handling device according to claim 8, formed by a gantry robot or part of a Portal robot is, in which at least one movable element of a suspension with a sensor ( 36 ) is equipped to detect the movements of the element and / or component stresses. Handling device according to claim 8, which is formed by a parallel kinematic robot or is part of a parallel kinematic robot, in which at least one movable element of the suspension with a sensor ( 36 ) is equipped to detect the movements of the element and / or component stresses. Handling device according to claim 9 or 10, wherein the at least one sensor ( 36 ) the accelerations of the manipulator ( 28 ) and / or at least one movable element of the suspension of the handling device ( 10 ) sensory detected, and in the in the control and evaluation circuit ( 40 ) a comparison of the sensor values ( 38 ) with the acceleration values to be expected from the control commands for the manipulator movements over time. Handling device according to claim 9 or 10, wherein the at least one sensor ( 36 ) the mechanical characteristics of at least one movable element of the suspension of the handling device ( 10 ) sensory detected, and in the in the control and evaluation circuit ( 40 ) a comparison of the sensor values ( 38 ) with the acceleration values to be expected from the control commands for the manipulator movements over time. Handling device according to claim 9 or 10, in which the control and evaluation circuit ( 40 ) the current consumption values of at least one drive motor ( 50 ) of the handling device ( 10 ) and / or at least one of two, three or more actuator arms ( 20 ) of the parallel kinematic robot is recorded and / or detected by sensors, and wherein in the control and evaluation circuit ( 40 ) a comparison of the sensory recorded and / or recorded current consumption values with the expected from the control commands for the manipulator movements over time current consumption values takes place. Handling device according to one of Claims 11 to 13, in which the control and evaluation circuit ( 40 ) the path-time profiles of the at least one monitored drive ( 50 ) of the handling device ( 10 ) and / or the at least one of two, three or more actuating arms ( 20 ) of the parallel kinematic robot and can be evaluated and used to detect the unexpected event in the course of movement and / or handling of the manipulator ( 28 ).

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