DE102018201589A1 - Method for programming the control of an industrial robot, method for operating an industrial robot, programming device and industrial robot system with such a programming device - Google Patents

Method for programming the control of an industrial robot, method for operating an industrial robot, programming device and industrial robot system with such a programming device

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Publication number
DE102018201589A1
DE102018201589A1 DE102018201589.9A DE102018201589A DE102018201589A1 DE 102018201589 A1 DE102018201589 A1 DE 102018201589A1 DE 102018201589 A DE102018201589 A DE 102018201589A DE 102018201589 A1 DE102018201589 A1 DE 102018201589A1
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Germany
Prior art keywords
industrial robot
virtual
trajectory
control data
device
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Pending
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DE102018201589.9A
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German (de)
Inventor
Theo Doll
Udo Rentschler
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Koris Vision & Force GmbH
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Koris Vision & Force GmbH
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Publication date
Application filed by Koris Vision & Force GmbH filed Critical Koris Vision & Force GmbH
Priority to DE102018201589.9A priority Critical patent/DE102018201589A1/en
Publication of DE102018201589A1 publication Critical patent/DE102018201589A1/en
Application status is Pending legal-status Critical

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40311Real time simulation

Abstract

The invention relates to a method for programming the control of an industrial robot, a method for operating an industrial robot, a programming device and an industrial robot system with such a programming device. Use in industrial manufacturing

Description

  • The invention relates to a method for programming the control of an industrial robot, a method for operating an industrial robot, a programming device and an industrial robot system having such a programming device.
  • A method for programming the control of an industrial robot, a method for operating an industrial robot, a programming device and an industrial robot system with such a programming device are known.
  • The known method for programming the control of an industrial robot is a so-called teach-in method. In this teach-in method, which is also referred to as hand-held teaching in the field of automation technology, an operator manually moves a kinematics of the industrial robot into desired positions or along a desired path of movement. In this way, path control data are generated, which can be based on a movement program for the autonomous movement of the industrial robot. Based on such a movement program, the industrial robot, for example, handle a workpiece, assemble and / or edit production technology by means of suitable tools. In the known method, a programming device in the form of a teach-in device is used, which is set up to generate the path control data as a function of the manually effected movement of the industrial robot. Such teach-in devices for hand-held teaching are well known in the field of automation technology.
  • The object of the invention is to provide a method for programming the control of an industrial robot, a method for operating an industrial robot, a programming device and an industrial robot system with such a programming device, which have improved properties over the prior art and in particular a particularly simple and user-friendly application enable.
  • This object is achieved by providing a method according to the invention with the features of claim 1, a method according to the invention with the features of claim 6, a programming device having the features of claim 7 and an industrial robot system having the features of claim 10. Advantageous embodiments of the invention are described in the dependent claims.
  • The inventive method for programming the control of an industrial robot comprises the steps of: a) generating path control data for controlling a movement of the industrial robot in response to a manually caused movement of the industrial robot. b) Determining a virtual trajectory as a function of the path control data. c) detecting a real workpiece geometry. d) superposition of the real workpiece geometry with the virtual trajectory. e) Display of the real workpiece geometry superimposed on the virtual trajectory. f) processing the virtual trajectory as a function of the overlaid display, g) generating changed trajectory control data as a function of the processed virtual trajectory. The inventive solution enables a particularly simple and user-friendly programming of the industrial robot. This is because the method does not require any special programming knowledge of the operator and insofar can be carried out, for example, by a worker. For one thing, the path control data can be generated solely by means of the manual movement of the industrial robot. On the other hand, a particularly simple adjustment of the taught path of motion relative to the real workpiece geometry and an intuitive change of the taught path of motion is made possible.
  • The step a ) includes hand-held teaching of the industrial robot, as is well known in the field of automation technology. In this case, a kinematic of the industrial robot is guided manually by an operator along a desired trajectory. Alternatively or additionally, only individual track points can be approached manually and a trajectory extended between them can be interpolated. The movement path can be a movement path of the kinematics of the industrial robot, which can be based on an autonomous handling or assembly of a workpiece and / or a manufacturing-technical processing of the workpiece by means of the industrial robot. The step a) can be implemented, for example, by means of a teach-in device known in the field of automation technology. Alternatively or additionally, the step a) can be implemented by means of other, likewise known web production methods. In addition, it is basically conceivable that the movement of the industrial robot to be controlled is indicated by an operator by means of gestures, optically detected and converted into path control data. In addition, the path control data can be transferred immediately upon their generation or subsequently into a required data structure or supplemented by structural data, which can be associated, for example, with a customer- or application-specific program structure.
  • The step b ) preferably comprises a computer-aided conversion of the path control data into data, which can be based on a graphical representation of the movement path on a display device, for example a screen or the like. This data can be called a virtual trajectory.
  • The step c ) preferably comprises optically detecting a workpiece to be manipulated, mounted and / or processed by means of the industrial robot. In this case, the workpiece can be detected, for example, by means of a digital camera in the form of an image or a sequence of images. Here, a depth information of the workpiece, so its spatial extent, be miterfasst. This depth information may be in the process, for example in step d ) and / or step e ). The depth information can be determined by means of basically known methods, for example by means of photogrammetry or the like. The data obtained during the detection of the workpiece can be referred to as real workpiece geometry. The step c ) may also include a detection of the environment of the workpiece together with the workpiece. A spatial reference and / or a depth information can be provided, for example, by means of selected reference points in the surroundings of the workpiece or on the workpiece. As reference points in space, for example, coded graphics or the like are conceivable.
  • The step e ) preferably comprises a computer-aided overlaying and displaying the virtual trajectory and the real workpiece geometry. In simple terms, the data on which the virtual trajectory is based and the data underlying the real workpiece geometry are processed and visualized in such a way that a superimposition which is true to coordinate with respect to a reference point is achieved. The reference point can be arranged on the workpiece itself or in the vicinity of the workpiece. This can be achieved by means of an augmented reality application which is basically known in the field of information technology. As a result, the teached path control data can be easily and time-effectively aligned with the real workpiece geometry.
  • The step f ) may include, for example, removing, supplementing, moving, and / or confirming virtual lane points of the virtual trajectory. The processing of the virtual trajectory in this way takes place as a function of a comparison with the real workpiece geometry. This is due to the superimposed display according to step e) particularly simple and time-saving possible.
  • The step G ) may comprise computer-aided conversion of the data underlying the virtual trajectory processed according to step f) into changed trajectory control data. In the sense of the invention, changed path control data can in this respect also merely be confirmed and thus be unchanged path control data with regard to the underlying coordinates. The path control data changed in this way can be based on a control of the industrial robot.
  • The method according to the invention is particularly suitable for programming articulated-arm robots for automated production, for example welding, deburring and / or sandblasting robots. Nevertheless, the method according to the invention is not restricted to articulated-arm robots and / or to use in the field of automated production. In principle, the method according to the invention can be used in connection with multiaxial, NC-controlled stationary and / or spatially independently movable kinematics.
  • In an embodiment of the invention, step c) comprises: detecting the real workpiece geometry from different detection positions. In addition, the step d) comprises: Overlaying the real workpiece geometry and the virtual trajectory in the different detection positions. In addition, the step detects e ): Display of the real workpiece geometry and the virtual trajectory in the different detection positions. When detecting the real workpiece geometry from different detection positions, for example, a detection device, which is adapted to detect the real workpiece geometry, moves around the workpiece, approximated to this and / or removed from this or vice versa. In this case, a sequence of images is preferably recorded and displayed, as it were, in a video live image. The step d) and the step e) are preferably carried out in real time. This can in turn be achieved by means of an augmented reality application which is basically known in the field of information technology. This embodiment of the invention allows a particularly simple spatial adjustment between the taught path movement and the real workpiece geometry.
  • In a further embodiment of the invention, the step comprises f ) removing virtual track points of the trajectory. Alternatively or additionally, virtual path points of the trajectory can be added. Alternatively or additionally, virtual path points of the trajectory can be shifted. Alternatively or additionally, virtual path points of the trajectory can be confirmed. Such processing of the virtual trajectory according to step f) is preferably done by means of a mobile device, which may be, for example, a tablet computer, a smartphone or the like. This mobile device preferably additionally serves to carry out the step e ). This embodiment of the invention enables a particularly comprehensive, user-friendly and time-saving processing of the taught path movement.
  • In a further embodiment of the invention, the method comprises the steps: H ) Generating process control data for controlling a process of the industrial robot in dependence on a web position of the industrial robot, i ) Determining a virtual process information in dependence of the process control data. j ) Superimposing the real workpiece geometry with the virtual process information and / or the virtual trajectory. k ) Displaying the real workpiece geometry and / or the virtual trajectory superimposed with the virtual process information.
  • The step H ) can be carried out, for example, serially or in parallel with step a). The process control data is preferably data that can be used to control a manufacturing process performed by the industrial robot. For example, the process control data may be speed and / or acceleration data with respect to the path control of the industrial robot. Alternatively or additionally, the process control data of the control of an angle of attack of an effector of the industrial robot relative to the workpiece, a contact pressure, a tool speed or the control of another manufacturing process size can be used. The process control data is preferably taught by means of a manual action of an operator on the industrial robot. This can preferably be done by means of a well-known in the field of automation technology teach-in device. Particularly preferably, the teach-in device optionally used for step a) can be used for this purpose.
  • The step i ) preferably comprises a computer-aided conversion of the process control data into data that can be based on a graphical representation of the process on a display device, for example a screen. This data can be called virtual process information.
  • The steps j ) and k ) preferably comprise a computer-aided overlay and display of the virtual process information and the real workpiece geometry and / or the virtual trajectory. In simple terms, the data underlying the virtual process information and the data on which the real workpiece geometry is based are processed and visualized in such a way that a superimposition which is true to the coordinates with respect to a reference point and / or the workpiece is achieved. This can be achieved by means of an augmented reality application which is basically known in the field of information technology. By means of this embodiment of the invention, the process control data can be adjusted in a simple and time-saving manner with the taught-in trajectory and / or the real workpiece geometry.
  • In a further embodiment of the invention, the method comprises the steps: I ) Processing of the virtual process information as a function of the overlaid display, m) Generation of changed process control data depending on the processed virtual process information.
  • The step I ) may, for example, comprise a change in the amount of the virtual process information, if this is the case according to step k ) is displayed in the form of a numerical value. Alternatively or additionally, the virtual process information with respect to a position and / or direction orientation relative to the real workpiece geometry and / or the virtual trajectory can be changed. This is especially true if the virtual process information according to step k ) is displayed in the form of a vector arrow.
  • The step m ) can be a computer-aided implementation of the data according to the step I ) are processed virtual process information, including in modified process control data. Modified process control data can in the sense of the invention insofar also be merely confirmed and thus, for example, with regard to an underlying numerical value or an orientation unchanged process control data. The process control data adjusted and / or changed in this way can be used to control the process to be carried out by means of the industrial robot.
  • The method according to the invention for operating an industrial robot comprises the above-described inventive method for programming the control of the industrial robot and additionally has the following step: n) controlling the industrial robot in dependence on the processed path control data and / or the processed process control data. The solution according to the invention makes it possible to operate the industrial robot in a particularly simple and time-saving manner. By embedding the method according to the invention for programming the control of the industrial robot, the operation of the industrial robot can be particularly user-friendly way to be customized.
  • The programming device according to the invention is adapted to carry out the method according to the invention for programming the control of an industrial robot, wherein the programming device comprises: a teach-in device which is set up for generating path control data for controlling a movement of an industrial robot in response to a manually effected movement of the industrial robot , a detection device, which is set up to detect a real workpiece geometry, a computing unit, which is connected to the teach-in device and the detection device and which is set up for determining a virtual trajectory in dependence on the path control data and for superimposing the real workpiece geometry with the virtual trajectory curve is set up, a display device which is connected to the arithmetic unit and for displaying the superimposed by means of the arithmetic unit with the real workpiece geometry virtual Trajectory is set, and an input device which is connected to the arithmetic unit and is adapted to edit the virtual trajectory, wherein the arithmetic unit for generating changed path control data in dependence of the processed by means of the input device virtual trajectory is established. The inventive programming device enables a particularly simple and user-friendly programming of the industrial robot. This is because the programming device can be operated by an operator without special programming skills.
  • The teach-in device is preferably a teach-in device known in the field of automation technology, as is commonly used for hand-guided teaching of industrial robots.
  • The detection device is preferably an optical detection device. The detection device can, for example, have a camera, preferably a digital camera. It is also possible that the detection device is formed on a data glasses in the form of a digital camera arranged there. The data glasses can be a virtual reality, augmented reality or video glasses.
  • The computing unit can be wired or wirelessly connected to the teach-in device and the detection device. The arithmetic unit is preferably set up to execute an augmented reality application which is basically known in the field of information technology.
  • The display device preferably has a screen, a display or the like.
  • The input device may comprise, for example, a keyboard, a computer mouse or the like. The input device may have a data glasses or be formed on such. Preferably, the input device is part of a combined display input device, and the display device may also be part of this combined display input device. The combined display input device can be designed, for example, in the form of a touch-sensitive screen, which can also be referred to as touchscreen. In addition, it is fundamentally conceivable for the combined display input device to be designed in the form of a virtual input object that can be operated, for example, by means of gestures in a virtual and / or augmented reality.
  • The arithmetic unit preferably has a wired or wireless interface for transmitting the changed path control data to a control unit of the industrial robot. The interface is preferably set up to receive taught-in contouring control data.
  • In a further embodiment of the invention, the teach-in device for generating process control data for controlling a process of the industrial robot is set up. In addition, in this embodiment, the arithmetic unit for determining a virtual process information in dependence of the process control data and for superimposing the virtual process information with the virtual trajectory and / or set up with the real workpiece geometry. In addition, in this embodiment, the display device for displaying the superimposed by means of the arithmetic unit with the virtual trajectory and / or with the real workpiece geometry virtual process information is set up. Furthermore, in this embodiment, the input device is set up for processing the virtual process information. In addition, in this embodiment, the arithmetic unit for generating modified process control data is set up as a function of the virtual process information processed by means of the input device. This embodiment of the invention thus enables a particularly simple teaching, adjusting and changing of process control data as required. This allows even better user-friendliness and additional time savings.
  • In a further embodiment of the invention, a mobile device in the form of a tablet computer, a smartphone or the like is provided, wherein the mobile device the Detection device, the display device, the input device and the arithmetic unit. The detection device can thus be a tablet computer camera, data glasses or a smartphone camera. The display device and the input device are preferably designed as a tablet computer touch screen or smartphone touch screen or as data glasses with gesture control. The arithmetic unit is preferably a tablet computer microprocessor or a smartphone microprocessor. The mobile device may be wired or wirelessly connected directly or indirectly to the teach-in device. For example, both the mobile device and the teach-in device can be set up for connection to a control unit of the industrial robot, so that in any case an indirect connection between the mobile device and the teach-in device is made possible. This is a particularly preferred embodiment of the invention.
  • The industrial robot system according to the invention is adapted to carry out a method according to the invention for operating an industrial robot and has a programming device according to the invention as described above, an industrial robot and a control unit which is connected to the industrial robot and the programming device and for controlling the movement and / or the process of the industrial robot in dependence on path control data and / or process control data generated by the programming device. The industrial robot is preferably designed in the form of an articulated arm robot. The industrial robot may have at least one effector for handling, assembly and / or production machining of a workpiece. The at least one effector may, for example, be a deburring laser welding machine, a laser cutting device or a welding tongs or the like.
  • Further advantages and features of the invention will become apparent from the claims and from the following description of preferred embodiments of the invention, which are illustrated by the drawings.
    • 1 shows a flowchart of an embodiment of a method according to the invention for programming the control of an industrial robot,
    • 2 a flowchart of an embodiment of a method according to the invention for operating an industrial robot,
    • 3 in a highly simplified schematic representation of an embodiment of an industrial robot system according to the invention, which is used to carry out a method according to 2 is furnished and has an embodiment of a programming device according to the invention,
    • 4 a schematic rear view of a mobile device of the programming device according to 3 .
    • 5 a schematic front view of the mobile device according to 4 .
    • 6 a schematic representation of a display device of the mobile device according to the 4 . 5 during a display with a virtual trajectory superimposed real workpiece geometry,
    • 7 in a schematic representation of the display device 6 after editing the virtual trajectory,
    • 8th the display device according to 6 . 7 during an additionally overlaid display of virtual process information,
    • 9 the display device according to 6 to 8th after processing the virtual process information and the virtual trajectory,
    • 10 in a simplified schematic representation, a detection of a real workpiece geometry from different detection positions by means of the mobile device according to the 4 and 5 and
    • 11 in a simplified schematic representation of the display device of the mobile device according to 4 and 5 during a detection of the real workpiece geometry 10 ,
  • According to 3 has an industrial robot system 1 an industrial robot 2 and one with the industrial robot 2 connected control unit 3 on. The industrial robot 2 In the present case, an articulated-arm robot with a serial motion kinematics and for the autonomous machining of a workpiece W intended. The industrial robot 2 has articulated arms 4 . 5 . 6 auf, which are displaceable in a basically known manner by means not shown drive motors about respective axes of rotation, so that the industrial robot 2 the production engineering of the workpiece W within a workspace R can perform. For production engineering of the workpiece W points the industrial robot 2 an effector 7 on, at one end of the articulated arm 6 attached and so far by means of a control of the industrial robot 2 through the control unit 3 within the workspace R is relocatable. The effector 7 In this case, a sandblasting device, the workpiece W is a cast component.
  • In addition, the industrial robot system 1 a programming device 8th . 9 on, which is used to program the control unit 3 is set up. The programming device 8th . 9 has a teach-in device 8th and a mobile device 9 on.
  • The teach-in facility 8th is present at the front end of the articulated arm 6 arranged and in a generally known manner in the field of automation technology for so-called. Hand-guided teaching of the industrial robot 2 set up.
  • The mobile device 9 the programming device 8th . 9 is in detail in particular on the basis of 4 and 5 seen. The mobile device 9 has a detection device 10 , a computing unit 11 , a display device 12 and an input device 13 on. In addition, a transmission device 14 provided by means of the mobile device 9 with the teach-in facility 8th and / or the control unit 3 is connectable to send and / or receive data. The transmission device 14 is set up here for wireless data transmission, which is based on 4 by means of the there schematically indicated wireless data signal 15 should be clarified.
  • The mobile device is present in the form of a tablet computer 9 educated. Accordingly, the detection device is a digital camera 10 , the computing unit is a microprocessor 11 as is common in tablet computers, and the transmitter is a wireless LAN antenna 14 , The display device and the input device are presently combined in the form of a touchscreen 12 . 13 educated. In one embodiment, not shown, the mobile device may be in the form of a data goggles.
  • 1 shows a method A for programming the control of the industrial robot 2 by means of the programming device described above 8th . 9 , The following is the procedure A in particular with reference to the industrial robot system 1 and the programming device 8th . 9 explained in detail.
  • In a step a), path control data X for controlling a movement of the industrial robot 2 in the workspace R depending on a manually caused movement of the industrial robot 2 generated. In the present case, this is done by means of the teach-in device 8th , To generate the path control data X picks one 3 apparent operator P a not further apparent operating section of the teach-in device 8th and moves the kinematics of the industrial robot 2 in desired positions or along a desired trajectory. This manually guided movement path becomes a control of the industrial robot 2 for the autonomous machining of the workpiece W by means of the effector 7 based on. In this case, it is desirable for the operator P to use the industrial robot 2 by means of the teach-in device 8th if possible leads exactly as required for a later autonomous machining of the workpiece W. The path control data generated here X are present to the mobile device 9 transmitted. For this purpose, the path control data X either from the teach-in facility 8th to the control unit 3 and from there to the mobile device 9 be transmitted. Alternatively, the path control data X directly from the teach-in facility 8th to the mobile device 9 transmitted and by means of the transmission device 14 be received. The path control data X are present in a storage unit 16 the mobile device 9 saved, but this does not necessarily have to be the case.
  • In one step b ) becomes a virtual trajectory C depending on the path control data X determined. In the present case, this is done by means of the arithmetic unit 11 , for this purpose, on the storage unit 16 accesses and the path control data X - in simple terms - converted into data that can be used as a basis for a graphical representation of the taught path control data in the form of a trajectory.
  • In one step c ) is the geometry of the workpiece W detected. For this purpose, the operator directs P the digital camera 10 of the tablet computer 9 on the workpiece W so that the workpiece W in simple terms, is taken in the form of a single image or a sequence of images. The thus detected workpiece geometry W is in one step e ) is displayed. This is done by means of the touchscreen 12 . 13 of the tablet computer 9 ,
  • In one step d ) becomes the in step c ) detected real workpiece geometry W with the virtual trajectory C superimposed. This superimposition takes place here by means of the arithmetic unit 11 , Put simply, these are the virtual trajectory C underlying data and the real workpiece geometry underlying data by means of the arithmetic unit 11 processed in such a way that a co-ordinate with respect to a reference point is achieved. This can be done by means of a generally known in the field of information technology augmented reality application, by means of the arithmetic unit 11 is carried out, carried out.
  • According to step e ) becomes the real workpiece geometry W with the virtual trajectory C overlaid on the touch screen 12 . 13 displayed. Such a method state is shown schematically 6 clarified. Look that way superimposed representation of the virtual trajectory C and the real workpiece geometry W can the operator P existing deviations of the virtual trajectory C from a desired path which is congruent with an upper edge of the workpiece geometry W is, easy and time-saving to recognize.
  • Starting from the display according to step e), the virtual trajectory C in one step f ) processed. This processing takes place here by means of the input device 13 or by means of an operation of the touch screen 12 . 13 by the operator P , Here, the operator P virtual train points c1 to c5 the trajectory C remove and / or amend and / or postpone and / or confirm. As based on 7 can be seen, were present in the virtual train points c1 . c3 such as c5 in relation to the real workpiece geometry W moved, so that changed virtual train points c1 ' . c3 ' or. c5 ' result. The virtual train points c2 . c4 were removed, however. As a result of such processing of the trajectory C results in a processed trajectory C ' ,
  • In one step G ) are dependent on the processed virtual trajectory C ' changed path control data X ' generated. In the present case, this is done by means of the arithmetic unit 11 , The means of the arithmetic unit 11 generated changed path control data X ' are present in the storage unit 16 the mobile device 9 saved. The path control data changed in this way X ' can a track control of the industrial robot 2 in the workroom R for machining the workpiece W be based on. For this purpose, the changed path control data X ' by means of the transmission device 14 to the controller 3 be transmitted.
  • Based on 10 and 11 is clarified that the above steps c ) d ) such as e ) - in simple terms - can be executed in real time. Here the real workpiece geometry becomes W from different entry positions E1 . E2 such as E3 captures what is based 10 is clarified. That is, the operator P moves relative to the workpiece W and thereby directs the detection device 10 the mobile device 9 from different angles and / or distances to the workpiece W. The workpiece geometry W is here, as based on 11 is illustrated in real time by means of the display device 12 brought to the display. In other words: the display device 12 shows a kind of live image of the workpiece W. At the same time according to the steps d ) and e ) the real workpiece geometry with the virtual trajectory C superimposed and brought to the display. This allows the operator P a simple spatial adjustment of the virtual trajectory C and thus the means of the teach-in facility 8th taught path of movement in relation to the workpiece geometry W ,
  • As further explained 1 is apparent, the procedure looks A ) Steps H ) to m ) in front. The steps H ) to m) can, for example, follow the steps a ) to G ) be later in time. This should be based on the dashed arrow depiction of 1 be clear. Alternatively, it is also possible that the steps H ) to m ) substantially in time parallel to the above-described steps a ) to G ).
  • In the step H ) become process control data Y generated for controlling a process of the industrial robot. In the present case, the process is by means of the effector 7 on the workpiece W to be executed machining process. The effector 7 In this case, a sandblasting device and the process in this respect a sandblasting process. Generating the process control data Y takes place here by means of the teach-in device 8th , The process control data Y are present in connection with an angular orientation of the effector 7 opposite the workpiece W , Alternatively or additionally, it is possible that the process control data Y in the context of an intensity of one by means of the effector 7 caused sandblast stand. The process control data Y are present by means of a corresponding orientation of the not further apparent handling section of the teach-in device 8th generated, in turn, by the operator P is made. Alternatively or additionally, it is also possible for the operator P for generating the process control data Y in a different way to the teach-in facility 8th acting, for example, pulls on the handling portion or the like, which may be related to a switching on and / or off the sandblast.
  • In a step i) becomes a virtual process information D depending on the process control data Y determined. This is done by means of the arithmetic unit 11 the mobile device 9 , The arithmetic unit 11 For this purpose accesses the process control data Y to, present in the storage unit 16 the mobile device 9 and convert this into data that can be used as a basis for a graphical representation of the process.
  • In one step j ) becomes the real workpiece geometry W , according to step c ) is detected with the virtual process information D superimposed. Alternatively or additionally, in the step j ) according to step b ) determined virtual trajectory C with the virtual process information D be superimposed. This superimposition takes place by means of the arithmetic unit 11 , wherein to avoid repetition of the above-described step d ). That in relation to the step d ) Disclosed applies in a corresponding manner for the superimposition according to step j).
  • In one step k ) is the one with the virtual process information D overlaid real workpiece geometry W displayed. Alternatively or additionally, in the step k ) with the virtual process information D superimposed virtual trajectory C are displayed. To avoid repetition will be in order to implement the step k ) are referred to the disclosure associated with step e), which corresponds to the step k ) applies. Such an advertisement according to step k ) is shown schematically 8th seen. The virtual process information D in the present case comprises vector arrows d1 to d5 , In the present case, the respective orientation of the vector arrows represents d1 to d5 by means of the teach-in device 8th attained angular alignment of the effector 7 opposite the workpiece W , The respective length of the vector arrows d1 to d5 in the present case represents an intensity of the action of the effector 7 on the workpiece W , namely the intensity of the means of the effector 7 caused sandblast.
  • Starting from the display according to step k ) becomes the virtual process information D in one step I ) processed. This is done in a present step f ) appropriate manner, so that to avoid repetition on the with step f ) is referenced in associated disclosure. As based on 9 it can be seen, the vector arrows were d1 . d3 such as d5 the virtual process information D by means of an action of the operator P on the touch screen 12 . 13 modified in changed vector arrows d1 ' . d3 ' or. d5 ' , The vector arrows d2 such as d4 were removed on the other hand. It follows accordingly 9 a processed virtual process information D ' , Simplified expressed was based on the processing according to step I), both the angular orientation of the effector 7 as well as the intensity of the action of the effector with respect to the workpiece geometry W and / or on the virtual trajectory C steadied.
  • In a step m), starting from the processed virtual process information D ' changed process control data Y ' generated. This is again done by means of the arithmetic unit 11 and essentially in one step G ) corresponding manner. To avoid repetition is therefore on the with step G ) are referred to in related disclosure, corresponding to step m ) applies. The changed process control data generated in this way Y ' are present in the storage unit 16 the mobile device 9 deposited. The changed process control data Y ' can by means of the transmission device 14 to the control unit 3 transmitted and a control of the industrial robot 2 , more precisely: the effector 7 , for machining the workpiece W be based on.
  • 2 shows an embodiment of a method according to the invention B for operating the industrial robot 2 , The procedure B this includes the process A according to 1 and sees one step in addition n ) in front. In the step n ) becomes the industrial robot 2 depending on the means of the method A according to 1 processed path control data X ' and / or the processed process control data Y ' controlled.

Claims (10)

  1. Method (A) for programming the control of an industrial robot (2), the method (A) comprising the steps: a) generating path control data (X) for controlling a movement of the industrial robot (2) in response to a manually effected movement of the industrial robot, b) determining a virtual trajectory (C) as a function of the trajectory control data (X), c) detecting a real workpiece geometry (W), d) superposition of the real workpiece geometry (W) with the virtual trajectory (C), e) displaying the real workpiece geometry (W) superposed with the virtual trajectory (C), f) processing of the virtual trajectory (C) as a function of the overlaid display, g) generating changed path control data (X ') as a function of the processed virtual trajectory (C').
  2. Method (A) according to Claim 1 in which the step c) comprises: detecting the real workpiece geometry (W) from different detection positions (E1, E2, E3) and wherein the step d) comprises superposing the real workpiece geometry (W) and the virtual trajectory (C) in the different detection positions (E1, E2, E3) and - wherein the step e) comprises: displaying the real workpiece geometry (W) and the virtual trajectory (C) in the different detection positions (E1, E2, E3).
  3. Method (A) according to Claim 1 or 2 in which step f) comprises: removing virtual track points (c1 to c5) of the trajectory (C) and / or adding virtual track points (c1 to c5) to the trajectory (C) and / or moving virtual track points (c1 to c5 ) of the trajectory (C) and / or - confirming virtual trajectory points (c1 to c5) of the trajectory (C).
  4. Method (A) according to one of the preceding claims, wherein the method (A) comprises the steps of: h) generating process control data (Y) for controlling a process of the industrial robot (2) in dependence on a web position of the industrial robot (2), i) determining j) overlaying the real workpiece geometry (W) with the virtual process information (D) and / or the virtual trajectory (C), k) displaying the information associated with the virtual process information (D ) Superimposed real workpiece geometry (W) and / or the virtual trajectory (C).
  5. Method (A) according to Claim 4 wherein the method (A) comprises the steps of: i) processing the virtual process information (D) as a function of the overlaid display; and m) generating changed process control data (Y ') as a function of the processed virtual process information (D').
  6. Method (B) for operating an industrial robot (2), wherein the method (B) comprises a method (A) for programming the control of the industrial robot (2) according to one of the Claims 1 to 5 and - the method (B) comprising a step of: n) controlling the industrial robot (2) in dependence on the changed path control data (X ') and / or the changed process control data (Y').
  7. Programming device (8, 9) for carrying out a method (A) according to one of Claims 1 to 5 wherein the programming device (8, 9) comprises: - a teach-in device (8) which is used to generate path control data (X) for controlling a movement of an industrial robot (2) in response to a manually effected movement of the industrial robot (2) is set up, - a detection device (10) which is adapted to detect a real workpiece geometry (W), - a computing unit (11) which is connected to the teach-in device (8) and the detection device (10) and the for determining a virtual trajectory (C) in dependence of the trajectory control data (X) is set up and which is arranged for superimposing the real workpiece geometry (W) with the virtual trajectory (C), - a display device (12) connected to the arithmetic unit (11 ) and which is arranged to display the virtual trajectory (C) superimposed by means of the arithmetic unit (11) with the real workpiece geometry (W), - an input device (13) connected to the R the computing unit (11) is used to generate changed path control data (X ') as a function of the virtual trajectory (C') processed by the input device (13). ) is set up.
  8. Programming device (8, 9) after Claim 7 in which - the teach-in device (8) is set up for generating process control data (Y) for controlling a process of the industrial robot (2), - the arithmetic unit (11) for determining virtual process information (D) as a function of the process control data ( Y) and for superposing the virtual process information (D) with the virtual trajectory (C) and / or with the real workpiece geometry (W) is set up, - the display device (12) for displaying by means of the arithmetic unit (11) with the virtual trajectory (C) and / or virtual process information (D) superposed with the real workpiece geometry (W) is set up, - the input device (13) is set up to process the virtual process information (D), and - the arithmetic unit (11) generates modified process control data (Y ') is set up as a function of the virtual process information (D') processed by means of the input device (13).
  9. Programming device (8, 9) after Claim 7 or 8th in which a mobile device (9) in the form of a tablet computer, a smartphone or the like is provided which has the detection device (10), the display device (12), the input device (13) and the arithmetic unit (11).
  10. Industrial robot system (1) for carrying out a method (B) according to Claim 6 wherein the industrial robot system (1) comprises: - a programming device (8, 9) according to one of Claims 7 to 9 - an industrial robot (2) and - a control unit (3) connected to the industrial robot (2) and the programming device (8, 9) and for controlling the movement and / or the process of the industrial robot (2) in dependence is configured by means of the programming device (8, 9) and / or changed path control data (X, X ') and / or process control data (Y, Y') is set up.
DE102018201589.9A 2018-02-01 2018-02-01 Method for programming the control of an industrial robot, method for operating an industrial robot, programming device and industrial robot system with such a programming device Pending DE102018201589A1 (en)

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Publication number Priority date Publication date Assignee Title
EP1435280A2 (en) * 2002-12-30 2004-07-07 Abb Research Ltd. A method and a system for programming an industrial robot
DE10305384A1 (en) * 2003-02-11 2004-08-26 Kuka Roboter Gmbh Method and apparatus for computer-aided visualization information
DE10345743A1 (en) * 2003-10-01 2005-05-04 Kuka Roboter Gmbh Method and device for determining the position and orientation of an image receiving device
DE102005009437A1 (en) * 2005-03-02 2006-09-07 Kuka Roboter Gmbh Method and device for fading AR objects

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1435280A2 (en) * 2002-12-30 2004-07-07 Abb Research Ltd. A method and a system for programming an industrial robot
DE10305384A1 (en) * 2003-02-11 2004-08-26 Kuka Roboter Gmbh Method and apparatus for computer-aided visualization information
DE10345743A1 (en) * 2003-10-01 2005-05-04 Kuka Roboter Gmbh Method and device for determining the position and orientation of an image receiving device
DE102005009437A1 (en) * 2005-03-02 2006-09-07 Kuka Roboter Gmbh Method and device for fading AR objects

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