DE102020124274A1 - HANDLING DEVICE AND METHOD FOR CONTROLLING OR REGULATING SUCH - Google Patents

Abstract

Handling device for handling objects (10), at least one end effector (9) being movable with respect to a base (4) of the handling device (13) by means of a drive train and a control or regulation device for controlling or regulating this movement of the at least one end effector (9) Control unit (17) is provided, the at least one control or regulation unit (17) being designed to receive at least one signal characteristic of a movement - preferably tilting and / or displacement - of the base (4) of the handling device (13) and to take the characteristic signal into account when controlling or regulating the drive train.

Description

The present invention relates to a handling device for handling objects with the features of the preamble of claim 1, an arrangement of such a handling device and a machine cooperating with the handling device, a method for controlling or regulating a handling device with the features of the preamble of claim 19 and a Computer program product.

Handling devices known from the prior art for handling objects have an end effector. This end effector is designed to pick up the object to be handled, with the most diverse design variants of end effectors being known for this, such as, for example, hand-like grippers or vacuum grippers.

End effectors of a handling device generally have a drive train by means of which they can be controlled or regulated with respect to a base of the handling device. The control or regulation of the drive train takes place via a control or regulation unit.

These drive trains are mostly formed by electrical drive units or also by pneumatic drive units, with, for example, the articulation points of a kinematic chain which connects the end effector to the base of the handling device being movable.

The control or regulation of the drive train of a handling device takes place via a control or regulation of the individual drive units, which are mostly designed to vary a joint alignment of the handling device. This open-loop or closed-loop control of the individual drive units can be calculated using known computation methods by calculating back to the basis of the handling device by means of the reverse transformation (or also called inverse kinematics) through a desired pick-up, take-over, storage or other position to be reached by the end effector .

The regulation or control of a handling device is usually carried out on the basis of a defined reference point or a defined reference coordinate system. Usually the base of the handling device is used as a reference.

The connection between the end effector and the base of the handling device is also known as a kinematic chain. To calculate this, a coordinate system is assigned to the end effector, the individual joints and the base, the individual coordinate systems being defined in relation to one another by an orientation, a translation vector and a rotation matrix (mostly summarized in a 4 x 4 transformation matrix). In this way, however, the positioning of the end effector with respect to any reference to be selected can also be calculated.

Depending on the place of use, the base of the handling device is usually connected to a machine that cooperates with the handling device or is also attached to another surface. What is important, however, is that the base of the handling device is firmly and rigidly fastened at the place of use so that the base occupies a precisely defined point in relation to the environment so that the end effector can be controlled or regulated on the basis of the defined base in relation to the environment (to control defined recording or storage positions) is possible as precisely as possible.

In the example of a molding machine, which is designed as an injection molding machine, the base of the handling device is often mounted on a fixed platen or is formed by this. In this context, molding machines can be understood to mean injection molding machines, transfer presses, presses or the like, a first example of the problem being presented below using an injection molding machine, although this can generally be applied to molding machines or machines that cooperate with the handling device.

The coupling to the base of the handling device with respect to the injection molding machine usually takes place in that the base of the handling device is firmly screwed to the injection molding machine or is welded to it. The purpose of such a rigid connection is to ensure an exact position of the handling device in relation to the injection molding machine. A position of the handling device in relation to an injection molding machine is usually determined by pinning the base of the handling device on the injection molding machine.

In the usual case, when used in injection molding machines, the handling device is mounted on a fixed platen, but it is also fundamentally conceivable that the handling device is mounted on a moving platen.

However, as a result of the build-up of the clamping force or during a closing movement (or an opening movement), the mold clamping plates tilt. This tilting results from the high closing forces and / or from other movements from the Inertia of the moving components which, due to the forces acting, lead to deformation of components of the injection molding machine (for example the mold mounting plates or guides). The deformations lead to tilting of the mold mounting plates, which of course has an effect on the base of the handling device attached to it.

This tilting movement or deformation due to the closing force or a dynamic movement during the injection process of the injection molding machine is transferred to the base of the handling device, this base leading to tilting and / or displacement of the entire handling device due to the deformation or tilting.

As a result of the movement of the base, the position of the end effector changes in relation to the storage or receiving position to be reached. This change is not only dependent on the closing force or the magnitude of the acceleration, but also on the axis positions of the handling device.

The same effect also occurs, for example, when several handling devices share a base. In this case, the change in position or a change in the load on the handling device due to the elasticity in the system influences the orientation or position of the other handling device.

With the movements and load changes described, reaction forces are to be expected in the base of the handling device, these reaction forces leading to deformations in the base or in elements of the handling device itself. These deformations of the base or of elements of the handling device itself affect the other handling device. More precisely, the deformations have a direct effect on the position of the end effector of the other handling device.

Generally speaking, the basis of handling devices is exposed to the dynamics of a manufacturing environment. For example, if the handling device is arranged in front of, on or in the vicinity of a production machine, it can be assumed that the positioning accuracy and repeatability of the handling device via its base due to vibrations which are released from the production machine to the environment due to production is impaired.

In more general terms, the handling device is generally exposed to the ambient conditions, and with even minimal changes in orientation due to dynamic influences of the base of the handling device, position deviations of an end effector can occur. It can be assumed that the kinematic chain that connects the end effector with the base reinforces a minimal change in orientation of the base, at least in certain positions, which can be seen at the end effector.

It is therefore known from the prior art to attach the base of a handling device to cooperating machines by means of mechanically sophisticated systems with degrees of freedom.

This goes, for example, from the EP 0 995 575 B1 which describes a guide frame with which a handling device can be attached to an injection molding machine. This guide frame allows the handling device to be tilted relative to the injection molding machine by means of a degree of freedom in order to compensate for movements, deformations or forces which act on the base of the handling device.

The disadvantage here, however, is that there is a certain amount of play between the handling device and the injection molding machine due to the additional bearing points, which again results in increased inaccuracy for the end effector when positioning, since the position of the base of the handling device already has an increased tolerance to the injection molding machine having.

Another known possibility of the prior art is to train the handling device for the ambient conditions. For example, when used in injection molding machines, the handling devices are taught-in with a built-up clamping force, whereby the end positions - more precisely: the end effector coordinate system - is determined in such a way that it compensates for the deformed, tilted or moved position of the base of the handling device.

However, this approach also has some disadvantages. When the closing force is changed, the pick-up or deposit positions of the handling device must be taught (learned) anew every time, since these are dependent on the specific closing force.

It can also happen in complex systems that the handling device is used for other tasks in the meantime due to waiting times, whereby these cannot be carried out exactly because in these intermediate times if necessary, no deformation must be taken into account during handling. In the case of injection molding machines in particular, in which clamping forces that vary from shot to shot can arise, such a procedure to compensate for deformations can only be carried out with a great deal of work (and even then only partially).

It is therefore the object of the present invention to provide a handling device, an arrangement of a handling device with a machine cooperating with the handling device, a method for controlling or regulating a handling device and a computer program product with the aid of which a more precise or more exact control or regulation of the end effector is possible .

This object is achieved by a handling device with the features of claim 1, with an arrangement with the features of claim 7, with a method with the features of claim 19 and with a computer program product with the features of claim 20.

According to the invention it is provided that the at least one control or regulating unit of the handling device is designed to receive at least one signal characteristic of a movement - preferably tilting and / or displacement - of the base of the handling device and the characteristic signal when controlling or regulating the Take into account the drive train.

The invention makes it possible to take into account a change in orientation of the base of the handling device when controlling or regulating the end effector by controlling or regulating the drive train.

The characteristic signal for a movement of the handling device can, for example, be a control signal of a machine cooperating with the handling device or of a further handling device which has the same basis, whereby the control signals and the known geometric dimensions already have an impact on accelerations, deformations or other effects can be concluded on the basis of the handling device.

With this knowledge, a compensating movement can already be carried out during the control or regulation of the drive train, so that the end effector can be moved to a desired position with the highest possible path accuracy regardless of a movement of the base or a tilting and / or displacement of the base.

The effects of the acceleration and the inertial forces of the handling device itself can also be taken into account in the control or regulation. A movement or acceleration of the handling device also leads to a movement or tilting of the base because a carrier or an environment to which or to which the base is attached also has a certain elasticity, which means that when a force is introduced through the base, deformation ( and thus tilting or movement of the base).

It can thus be provided that the characteristic signal provides information about a pendulum or oscillation of the handling device itself, which is caused by an acceleration or movement of the handling device, which can also be compensated for by controlling or regulating the drive train.

The drive train can be provided to move a kinematic chain connecting the end effector to the base. The drive train can have several drive units. Drive units can be formed, for example, by electric motors or pneumatic drive units.

All measures described in relation to the prior art can also be used in the invention.

Advantageous embodiments of the invention are defined by the dependent claims.

It can advantageously be provided that the control or regulating unit is designed to compensate for the movement of the reference of the handling device by controlling or regulating the drive train - preferably at the end effector.

However, it can alternatively or additionally be provided that a movement of the base is used for the movement of the end effector. For example, a movement of the base can be taken into account when moving the end effector to the extent that the drive train has to produce a smaller movement when the movement of the end effector is supported by the base.

It can be provided that a further machine cooperating with the handling device is designed for a movement of the end effector caused by a movement of the base of the handling device Balance or compensate for handling device. For example, a conveyor belt or another handling device could be provided, whereby a movement of the base of the (first) handling device - and thus a movement of the end effector of the (first) handling device - when picking up or placing on the conveyor belt or when transferring to the other Handling device or by a targeted controlled or regulated movement of the conveyor belt or the further handling device, so that the object handled by the (first) handling device assumes a desired position on the conveyor belt or with respect to an end effector of the further handling device.

At least one sensor can preferably be provided, with the at least one sensor being able to provide a characteristic signal for a movement of the base of the at least one control or regulation unit. Examples of such a sensor are acceleration sensors, gyro sensors, inclination sensors or also optical sensors which can determine an exact position deviation of the base.

At least one second end effector can be provided, the at least one second end effector being controllable or regulatable with respect to the base of the handling device by the control or regulating unit using a second drive train. It can be provided that the control or regulating unit is designed to calculate a movement of the base on the basis of a controlled or regulated movement of the at least one second end effector, with the calculated movement of the base as a characteristic signal by the control or regulation unit the control or regulation of the (first) drive train is taken into account. For example, no further signals from outside may be required for the control or regulation unit of the handling device, but rather control or regulation signals for a second handling device - more precisely: for a second drive train - when controlling or regulating a first drive train (the first Handling device) must be taken into account.

It can advantageously be provided that the control or regulating unit is designed to take the characteristic signal into account with the aid of inverse kinematics. The person skilled in the art is also familiar with inverse kinematics through the expressions “backward transformation” or “inverse kinematics”.

The regulation or control of a handling device is usually carried out on the basis of a defined reference point or a defined reference coordinate system (hereinafter referred to as “reference” for short), the end effector having a certain orientation and distance to this reference. In the same way, starting from this reference, the displacement or tilting of the base can also be determined.

For example, the base of the handling device can be used as such a reference. However, the reference can be freely selected, provided that at least one controllable or regulatable axis is provided between the reference and the end effector, a shift or tilt of the reference with respect to the end effector can be compensated for, compensated for or used.

The area of the handling device that connects the handling device with the environment, the place of use or a cooperating machine is referred to as the base of the handling device. The base can for example be designed as a flange for screwing.

Protection is also sought for an arrangement of a handling device according to the invention and a machine cooperating with the handling device, at least one characteristic signal being able to be provided by at least one machine cooperating with the handling device.

It is preferably provided that the base of the handling device is arranged on at least one machine component of the machine cooperating with the handling device or is formed by a machine component of the machine cooperating with the handling device. This can, for example, as already described in the introduction to the description, be designed in such a way that the handling device is firmly connected, for example screwed or welded, to a molding machine or - more precisely: to a fixed platen of an injection molding machine.

In this context, molding machines can be understood to mean injection molding machines, transfer presses, presses or the like. The examples described under injection molding machines in this context can of course be applied in the same way to other types of molding machines.

It can be provided that the characteristic signal is a control signal for a movement of a machine component of the machine cooperating with the handling device.

It can be provided that the machine cooperating with the handling device has at least one machine sensor for detecting a movement of the base of the handling device.

It is preferably provided that the machine cooperating with the handling device is a molding machine - preferably an injection molding machine.

It is preferably provided that a fixed platen or a moving platen, on which the handling device is arranged, is designed as the base.

It can be provided that the machine cooperating with the handling device has a control or regulating unit, the control or regulating unit of the machine cooperating with the handling device being able to provide a characteristic signal for the control or regulating unit of the handling device. It can preferably be provided that the control or regulation unit of the handling device is formed by the control or regulation unit of the machine cooperating with the handling device - or vice versa - with a control or regulation of the handling device and a control or regulation of the machine cooperating with the handling device is preferably formed by different, mutually communicating processor units and / or different programs.

It is preferably provided that the characteristic signal is a process variable and / or a process state of the machine cooperating with the handling device. In the exemplary embodiment in which the machine cooperating with the handling device is a shaping machine, this can be, for example, a signal that provides information that a closing force, opening force or a certain speed is applied to the closing unit.

It can be provided that the control or regulating unit is designed to determine a movement of the base resulting from a deformation on the basis of the signal provided by the machine cooperating with the handling device. Such a deformation of the base can be caused, for example, by a closing force.

It can be provided that the control or regulating unit is designed to calculate a movement of the base with the aid of the signal provided by the machine cooperating with the handling device and / or a stored relationship - preferably in the form of a look-up table - ascertain.

It can thus be provided that the characteristic signal in and of itself does not have to do directly with a deformation, movement or acceleration of the base, but can be inferred from a computational relationship or a lookup table. In particular, this can be used if the characteristic signal of the cooperating machine is only a drive signal of a component of the cooperating machine, such as a control signal for a clamping force of a molding machine. A calibration of the computational relationship or the setting of the look-up table can take place, for example, through a measurement. This is of course also possible using a model calculation.

It can be provided, for example, that the end effector is moved by the drive train in such a way that it remains in one position relative to the surroundings and only a movement of the base is compensated.

Protection is also sought for a method for controlling or regulating a handling device, with at least one end effector being controlled or regulated with the help of a drive train with respect to a base of the handling device, with at least one signal which is characteristic of a movement - preferably a tilting and / or displacement - the basis of the handling device is taken into account.

Protection is also sought after for a computer program product, the computer program product having instructions which cause an executing computer to receive signals which are characteristic of a movement - preferably tilting and / or displacement - of a base of a handling device and, based on the signals, to control or to adapt control commands for a drive train to move an end effector relative to the base of the handling device.

It can be provided that a handling device and / or arrangement according to the invention is designed as part of a production system for a molding process, in particular for an injection molding process. Production systems influence a tool, a material, a finished product and / or an element necessary for production. Production systems consist of a forming machine, an optional handling device and optional peripheral devices (such as temperature devices).

• 1 ein erstes Ausführungsbeispiel einer Handhabungsvorrichtung,
• 2 das Ausführungsbeispiel aus 1 mit gekippter Basis,
• 3 das Ausführungsbeispiel der 2 mit Kompensation der gekippten Basis,
• 4 einen exemplarischen Zusammenhang in Form einer Grafik,
• 5 eine Messung einer Abweichung der Endeffektorposition bei Kraftbeaufschlagung,
• 6 ein zweites Ausführungsbeispiel einer Handhabungsvorrichtung,
• 7 das Ausführungsbeispiel aus 6 mit gekippter Basis und
• 8 das Ausführungsbeispiel der 7 mit Kompensation der Verkippung der Basis.

Various embodiments of the invention emerge from the figures and the associated description of the figures. It shows:

• 1 a first embodiment of a handling device,
• 2 the embodiment 1 with tilted base,
• 3 the embodiment of 2 with compensation of the tilted base,
• 4th an exemplary context in the form of a graphic,
• 5 a measurement of a deviation in the end effector position when a force is applied,
• 6th a second embodiment of a handling device,
• 7th the embodiment 6th with tilted base and
• 8th the embodiment of 7th with compensation of the tilt of the base.

1 shows a first embodiment of a handling device 13th for handling objects 10 , being through an end effector 9 (provided as a gripper in this embodiment) an object 10 can be picked up, transported and stored. The handling device 13th is in this embodiment with its base 4th on a fixed platen 1 a molding machine 15th attached. In this exemplary embodiment, the base is used as a reference 4th the handling device 13th has been chosen.

The end effector 9 is via a kinematic chain with the base 4th the handling device 13th connected, which in this embodiment by two arms 5 and a wrist axis 6th is trained. The drive train of the handling device 13th consequently has at least three drive units through which the first degree of freedom q _x of the first arm 5 , the second degree of freedom q _y of the second arm 5 and the third degree of freedom q _{A of} the hand axis 6th can be controlled and / or regulated.

For controlling or regulating the handling device 13th is a control or regulation unit 17th provided, which conducts signals (shown by the dashed line) with the individual components of the handling device 13th connected is. There is also a sensor 8th on the handling device 13th provided, which one on the handling device 13th acting movement and / or a force can determine. These sensors 8th are mostly designed as acceleration sensors.

The shaping machine 15th This embodiment has a fixed platen 1 and a movable platen movable relative thereto 2 on (each relative to a machine frame 12th ). The movable platen 2 _{can thereby execute the closing movement q M} marked by the arrow (or in the same way an opposite opening movement), which via the closing unit 3 can be executed.

The clamping unit 3 the molding machine 15th is over the machine frame 12th with the fixed platen 1 connected. To access the components of the molding machine 15th Force measuring sensors are used to determine acting forces 7th intended. One of those force measuring sensors 7th is also on the handling device 13th arranged. It is also entirely conceivable that the force measuring sensors in this exemplary embodiment 7th provided sensors are designed as a gyro sensor, position sensors, acceleration sensors or the like.

For controlling or regulating the molding machine 15th is this with a control or regulation unit 16 connected. The signal-conducting connection between the molding machine 15th and control or regulation unit 16 is exemplified in this embodiment by the dashed line. The control or regulation units 16 , 17th can communicate with each other through a signal-conducting connection (shown by the dashed line).

In the 2 is the embodiment of 1 shown under the application of clamping force, whereby by the clamping unit 3 the movable platen 2 to the fixed platen 1 was introduced and a compressive force between these platen 1 , 2 was built up, which as a closing force F _s is indicated.

The closing force F _s leads to a (exaggerated) tilting of the fixed platen 1 and the movable platen 2 at an angle q _k .

This tilting around the angle q _k leads directly to a tilting of the handling device 13th , whereby - as can be seen - the end effector 9 by tilting around the angle q _k is removed from its target position. To better illustrate this is the handling device 13th Dashed lines in the target position (without tilting around the angle q _k ) shown.

With a clamping force that varies over time F _s is an exact positioning of the end effector 9 only possible with great difficulty, since the deviation of the End effector 9 from a target position - as can be clearly seen here - from the magnitude of the closing force F _s and the resulting tilt q _k is dependent.

However, as in 3 As can be seen, it is now possible through the control or regulation unit to set the correction factors q _x (t) , q _y (t) and q _a (t) depending on the time-varying closing force F _s (t) to investigate.

The number of correction factors is of course dependent on the number of controllable or regulatable kinematic axes of the handling device. For example, a correction factor can be determined for each drive unit of a kinematic axis of the handling device.

So can from the control or regulation unit 16 the molding machine 15th A characteristic signal to the control or regulation unit via the signal-conducting connection 17th the handling device 13th transmitted, which information about the time-variable clamping force F _s (t) gives.

The control or regulation unit 17th the handling device 13th On the basis of this transmitted characteristic signal, the correction factors can be calculated using a stored relationship, a lookup table or a calculation q _x (t) , q _y (t) and q _a (t) and an adjustment via the drive train of the handling device 13th make. This means that even if the base is tilted 4th the handling device 13th due to the time-variable closing force F _s (t) the end effector 9 the handling device 13th assume a target position and a target alignment with respect to the environment (as indicated by 3 shown).

This correlation of the correction factors q _x (t) , q _y (t) and q _a (t) to a time-variable closing force F _s (t) can, for example, by means of a formula or a graphically representable relationship in the control or regulation unit 17th the handling device 13th be deposited.

Such a graphically represented relationship is for example by the 4th shown. The size of the correction factor can be stored q _x (t) for a target position P1 due to a prevailing, time-variable closing force F _s (t) to choose. This graphical relationship can either be defined by an (exact) higher-order function (shown by the dashed line) or given by a linear function (shown by the solid line), the calculation of the correction factors being simplified by a linear function the computing power is reduced.

The 4th shows only the graphic representation of the correction factor q _x (t) . Such a relationship would also apply to the correction factors q _y (t) and q _A (t) for a design like that by the 1 to 3 shown to choose.

However, a translational and rotational movement (static and dynamic) of the shaping machine can also be carried out via an (elastic) model 15th and the handling device 13th can be calculated with respect to a static model and the correction factors due to the deviation q _x (t) , q _y (t) and q _A (t) be calculated.

Via such an (elastic) model of the elements of the molding machine relevant to the build-up of the clamping force 15th can be due to a tilt by the angle q _k are closed, which in turn is used to determine the correction factors q _x (t) , q _y (t) and q _A (t) can be determined.

Alternatively, the tilting around the angle can also be measured q _k conceivable. An externally attached measuring system could of course be used for this purpose. So that this external equipment does not have to be on site at all times, it is necessary to save tilting depending on the clamping force F _s (t) conceivable in a table.

Such a measurement of a tilt about the angle q _k is for example through the 5 shown. Here is a measuring sensor 11 arranged to a position of the end effector 9 ascertain. Examples of such measuring sensors are acceleration sensors, position sensors or optical sensors. The closing force is now used to measure the deviation F _s built up causing it to tilt around the angle q _k comes and the end effector 9 moves in its position what by the measuring sensor 11 can be determined.

The geometrical relationships, which are known, can now be applied to the angle q _k be inferred and this is clearly a closing force F _s be assigned. With such a measurement, the closing force F _s run through a force profile and each closing force F _s (t) tilting at an angle q _k be assigned.

If the tilt (as a function of the closing force) is known, the displacement of the end effector caused by the tilt can be used 9 as well as a twisting of the end effector 9 using the inverse kinematics, taking into account the tilting around the angle q _k the base 4th by the control or regulation unit 17th the handling device 13th be compensated, thereby increasing the correction factors q _x (t) , q _y (t) and q _a (t) as a function of a closing force F _s (t) surrender.

In a similar way, it is also conceivable to use a variable (from the closing force F _s (t) dependent) storage / pick-up position with the method described.

Unless a measuring sensor 11 is available, the handling device could 13th with their end effector 9 can also be moved into a desired storage / receiving position when the molding machine has a first clamping force F _s executes. This position could then be saved. Then the closing force could F _s through the shooting unit 3 can be changed and the end effector 9 the handling device 13th could in turn be moved to this desired storage / receiving position, and this position could also be saved again.

By interpolating these two positions as a function of the two associated closing forces F _s there could thus be a connection between the correction factors q _x (t) , q _y (t) and q _A (t) and the closing force F _s (t) getting produced.

However, an embodiment is also quite conceivable in which the end effector 9 is “held” in a defined position and a force measurement sensor is used to apply the clamping force to the end effector 9 acting force is measured.

Correction factors could also be achieved through this measured force q _x (t) , q _y (t) and q _A (t) depending on the closing force F _s (t) be determined.

However, deformations, which are the basis, are not only to be expected when the clamping force is built up 4th the handling device 13th influence. Vibrations can also occur due to dynamic stimuli and elasticities in the system (plate deflection, frame deflection, ...). A model of this elasticity could also show the effect of movements, accelerations and decelerations on the end effector 9 the handling device 13th Getting corrected.

Are multiple handling device 13th , 14th together at one base 4th attached, a movement, acceleration or load change of one handling device also influences that of the other. Depending on the position, speed or change in load, there is an elastic deformation of the common base 4th .

Such an embodiment with several handling devices 13th , 14th is through the 6th shown. Any handling device 13th , 14th has a second arm 5 on which an end effector 9 owns what an object 10 is movable.

The handling devices 13th , 14th are via a common control or regulation unit 17th controllable or adjustable.

If now one of the handling devices 13th , 14th exerts an acceleration or an object 10 absorbs, there is a deformation of the base due to the ubiquitous elasticity of building elements 4th , thereby also the position of the other handling device 13th , 14th changed as by 7th is made clear.

To compensate for this undesirable change in position of the end effector 9 it can now be provided that the control or regulation unit 17th automatically when the one handling device is moved 13th , 14th the other handling device 14th , 13th controls or regulates accordingly.

This can be done in the control or regulation unit 17th a corresponding computer program product, which correction factor q _x (t) , q _y (t) q _a (t) by signals from the sensors 8th , 7th calculated and to compensate for a deformation of the base 4th executes (like through 8th can be seen).

List of reference symbols

1

fixed platen

2

movable platen

3

Clamping unit

4th

Base of the handling device

5

Arm of the handling device

6th

Wrist axis

7th

Force measuring sensors

8th

sensor

9

End effector

10

object

11

Measuring sensor

12th

Machine frame

13th

Handling device

14th

second handling device

15th

Forming machine

16

Control or regulating unit of the molding machine

17th

Control or regulating unit of the handling device

qx

first degree of freedom

qy

second degree of freedom

qa

Degree of freedom of the wrist axis

sqm

Closing movement

qk

Angle of tilt

Fs

Closing force

Fs (t)

time-variable closing force

qx (t)

Correction factor

qy (t)

Correction factor

qA (t)

Correction factor

P1

Target position

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• EP 0995575 B1 [0020]

Claims (20)

Handling device for handling objects (10), at least one end effector (9) being movable with respect to a base (4) of the handling device (13) by means of a drive train and a control or regulation device for controlling or regulating this movement of the at least one end effector (9) Control unit (17) is provided, characterized in that the at least one control or regulating unit (17) is designed to provide at least one characteristic of a movement - preferably tilting and / or displacement - of the base (4) of the handling device (13) To receive the signal and to take the characteristic signal into account when controlling or regulating the drive train. Handling device according to Claim 1 , characterized in that the control or regulating unit (17) is designed to compensate for the movement of the base (4) of the handling device (13) by controlling or regulating the drive train - preferably at the end effector (9). Handling device according to the preceding claim, characterized in that at least one sensor (7, 8, 11) is provided, the at least one sensor generating a characteristic signal for a movement of the base (4) of the at least one control or regulation unit (17). can be provided. Handling device according to at least one of the preceding claims, characterized in that at least one second end effector (9) is provided, wherein the at least one second end effector (9) opposite the base (4) of the handling device (13) by the control or regulation unit (17) ) can be controlled or regulated using a second drive train. Handling device according to Claim 4 , characterized in that the control or regulating unit (17) is designed to calculate a movement of the base (4) based on a controlled or regulated movement of the at least one second end effector (9), the control or regulating unit (17 ) the calculated movement of the base (4) is taken into account as a characteristic signal in the control or regulation of the (first) drive train. Handling device according to at least one of the preceding claims, characterized in that the control or regulating unit (17) is designed to take into account the characteristic signal with the aid of inverse kinematics. Arrangement with a handling device according to at least one of the preceding claims and a machine cooperating with the handling device (13), characterized in that the at least one characteristic signal can be provided by at least one machine cooperating with the handling device (13). Arrangement according to Claim 7 , characterized in that the base (4) of the handling device (13) is arranged on at least one machine component of the machine cooperating with the handling device (13) or is formed by a machine component of the machine cooperating with the handling device (13). Arrangement according to Claim 8 , characterized in that the characteristic signal is a control signal for a movement of a machine component of the machine cooperating with the handling device (13). Arrangement according to at least one of the Claims 7 or 9 , characterized in that the machine cooperating with the handling device (13) has at least one machine sensor (7, 11) for detecting a movement of the base (4) of the handling device (13). Arrangement according to at least one of the Claims 7 to 10 , characterized in that the machine cooperating with the handling device (13) is a molding machine (15) - preferably an injection molding machine. Arrangement according to Claim 11 , characterized in that a fixed platen (1) or a moving platen (2), on which the handling device (13) is arranged, is designed as a base (4). Arrangement according to at least one of the Claims 7 to 12th , characterized in that the machine cooperating with the handling device (13) has a control or regulating unit (16), the control or regulating unit (16) of the machine cooperating with the handling device (13) generating a characteristic signal for the control or the control unit (17) of the handling device (13) can be provided. Arrangement according to Claim 13 , characterized in that the control or regulating unit (17) of the handling device (13) is formed by the control or regulating unit (17) of the machine cooperating with the handling device (13) - or vice versa - with a control or regulation of the handling device (13) and a control or regulation of the machine cooperating with the handling device is preferably embodied by different processor units communicating with one another and / or different programs. Arrangement according to at least one of the Claims 7 to 14th , characterized in that the characteristic signal is a process variable and / or a process state of the machine cooperating with the handling device (13). Arrangement according to at least one of the Claims 7 to 15th , characterized in that the characteristic signal is a closing force (F _s ) or an opening force or a speed of the machine designed as a shaping machine (15) cooperating with the handling device (13). Arrangement according to at least one of the Claims 7 to 16 characterized in that the control or regulating unit (17) is designed to determine a movement of the base (4) resulting from a deformation on the basis of the signal provided by the machine cooperating with the handling device (13). Arrangement according to at least one of the Claims 7 to 17th , characterized in that the control or regulating unit (17) is designed to use the signal provided by the machine cooperating with the handling device (13) to calculate a movement of the base (4) and / or a stored relationship - preferably in form a lookup table - determine. A method for controlling or regulating a handling device (13) - preferably a handling device (13) or an arrangement according to one of the preceding claims - wherein at least one end effector (9) is controlled or controlled with the aid of a drive train relative to a base (4) of the handling device (13) is controlled, characterized in that when controlling or regulating the drive train, at least one signal which is characteristic of a movement - preferably tilting and / or displacement - of the base (4) of the handling device (13) is taken into account. Computer program product comprising commands which cause an executing computer to receive signals which are characteristic of a movement - preferably tilting and / or displacement - of a base (4) of a handling device (13) and, on the basis of the signals, control or regulating commands for a Adapt drive train for moving an end effector (9) relative to the base (4) of the handling device (13).

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