DE102021131437A1 - Manipulator for operating swiveling functional elements of motor vehicles - Google Patents

Abstract

The invention relates to an end effector of a manipulator (1) for vehicle assembly or functional control of vehicle components, which comprises a gripper (3) arranged at a distal end of the manipulator (1) and having at least two gripping surfaces (9) on two jaws (10), the Jaws (10) are attached to an effector base (2) and can be moved inside in a gripper plane (E). The task of reducing the number of manipulators (1) on a production line and ensuring a high level of reliability and protection against damage is achieved according to the invention by an auxiliary rod (4) which is aligned orthogonally or parallel to the gripper plane (E) on the gripper ( 3) and has a roller (6) mounted rotatably about an auxiliary rod axis (A). Furthermore, a method for vehicle assembly or function control is presented, in which the manipulator (1), which has an auxiliary rod (4) arranged on an end effector with a roller (6) rotatably mounted about the auxiliary rod axis (A), aligns the auxiliary rod (4) in such a way and means that an element (12, 14) to be pivoted about the pivot axis (S) always touches the rotatably mounted roller (6) and is pivoted by a linear movement (C) of the end effector (3) lateral to the auxiliary rod (4).

Description

The invention relates to an end effector of a manipulator for vehicle assembly or functional control of vehicle components with a gripper arranged at a distal end of the manipulator, the gripper comprising at least two gripping surfaces on at least two jaws which are attached to an effector base and are movable within a gripper plane.

In production lines, in particular in the automotive industry, robot arms, so-called manipulators, are often used in the context of automation. With these, it is possible to carry out individual production steps quickly, precisely and with repeatability, to lift and insert heavy components such as vehicle doors and to check the installed components for correct seating and functionality.

Manipulators consist of several arm segments that are connected by motorized joints. The number of these joints and segments varies depending on the task and range of motion of the individual manipulator, it being advantageous in many applications if the manipulator has more joints than are necessary for the movement and orientation of the end segment in space. Depending on the task of the respective manipulator, a tool is attached to the end segment, which is usually referred to as an end effector. This can be a gripper, a welder, a suction device, a screwdriver or any other tool. As a rule, each manipulator is adapted for a specific purpose: for example, a first manipulator removes a body part and places it in position, while a second manipulator uses a welding attachment to connect the body part to the rest of the body.

One of the most versatile end effectors is a gripper, which is capable of performing a variety of tasks. Such includes at least two jaws that can be brought together, and an actuator that drives the gripper. There are a wide variety of designs, an example of which can be found in the WO 2013/075245 A1 is revealed. On the one hand, objects can be grabbed, on the other hand, such an end effector also enables objects to be moved, buttons to be pressed, vehicle doors to be opened or components and tools to be passed on. The gripper is therefore not only used during assembly, but also when testing the built-in components. For example, a gripper can be used to test the functionality of a height adjustment on the vehicle seats or other elements that can be operated with one hand.

In the vehicle production line, it regularly happens that the vehicle doors or the trunk have to be opened by one or more manipulators. While this is technically possible with a manipulator equipped with a gripper, the movement is extremely complex: In order not to scratch the component to be processed, which may already be painted, a gripper must always touch the vehicle door or the trunk lid at the same point and thus perform a pivoting movement. Programming a manipulator accordingly is extremely complex, so specialized robots are used as an alternative.

Such a robot is in the DE 10 346 054 A1 discloses a method for grasping a vehicle door mounted on a body and a device for opening the vehicle door. The handling robot uses an adapted device to intervene in a window slot on the vehicle door. The device is mounted on the inner part of the door and has a plate that the handling robot uses as a guide to be able to reach into the window shaft without colliding with the mounted vehicle door when opening and damaging it due to tolerances. The handling robot is not a classic manipulator, but a robot specialized in opening the vehicle door. When moving this robot, too, care must be taken to ensure that the vehicle door opens in a pivoting movement, so that either the robot itself follows a corresponding curve or mechanically compensates for the pivoting movement.

In order to facilitate the work process, however, it is advantageous that as few manipulators and/or robots as possible have to work on a production line. In this way, malfunctions, such as collisions between manipulators or necessary evasive movements, which can slow down the production process, are reduced. In addition, it is desirable to accomplish both assembly and testing with as few manipulators as possible.

It is therefore the object of the invention to reduce the number of manipulators and/or robots located on a production line by tasks for specialized robots being taken over in a simple manner by one or more manipulators. A high level of reliability and protection of the vehicle from damage caused by collisions, for example, must also be taken into account.

The task is in the case of an end effector of a manipulator for vehicle assembly or functional control of vehicle components, comprising a gripper arranged at a distal end of the manipulator, the gripper having at least two gripping surfaces on at least two jaws, which are attached to an effector base and are movable within a gripper plane , According to the invention solved in that the gripper has an auxiliary rod, which is arranged orthogonally or parallel to the gripper plane aligned on the gripper, and that the auxiliary rod has a rotatable about an auxiliary rod axis mounted roller.

The rotatably mounted roller is advantageously designed as a cone, truncated cone, cylinder or sphere, with combinations of the shapes also being possible. In this way, the end effector according to the invention can be used in a variety of ways. Preferably, at least the periphery of the roller is made of a rubber-like or elastic plastic or other surface-friendly material, as is also used in demanding transport or drive rollers.

In addition, it is favorable if the auxiliary rod terminates with the rotatably mounted roller. With this structure, the auxiliary bar can be used to press buttons or similar control elements. In addition, the tip of the assist stick is protected by the roller, reducing the risk of damage should the assist stick hit a component due to a malfunction.

Furthermore, it can be advantageous to attach the auxiliary rod to a jaw located on the gripper. In this way, the gripper maintains a low profile.

Alternatively, it is advantageous if the auxiliary rod is attached to the gripper via an adapter element attached to the effector base. Such a solution does not load the jaws of the gripper and can transfer larger forces. An adapter element also increases flexibility when positioning the auxiliary rod on the end effector.

The adapter element particularly advantageously extends from the effector base along the gripper in such a way that there is a free space between the jaws and the adapter element. This allows free movement of the jaws of the gripper and enough space to grip a workpiece.

In addition, it is particularly advantageous if the adapter element does not extend beyond the gripping surfaces, so that the gripping surfaces protrude beyond the adapter element. In this way, the space above and below the gripping surfaces, ie where objects are picked up, is kept completely free and any impairment of the gripping function of the end effector is avoided.

In general, it is desirable to releasably connect the auxiliary rod to the adapter member or jaw to maximize the flexibility of the system. Above all, it can be advantageous to automatically pick up and put down the auxiliary rod during operation of the manipulator, depending on which task the manipulator has to perform at the moment.

It is also advantageous if the auxiliary rod has a taper at its distal end. This makes it even easier to press buttons or other controls.

Depending on the area of application, it can also be advantageous if the auxiliary rod or the adapter element includes a force sensor that detects forces acting on the auxiliary rod. A direct measurement of the forces acting on the auxiliary rod allows a precise determination of the forces acting on the component to be processed and thus the greatest possible security against damage to the component, the end effector or the manipulator.

• - Bereitstellen eines Manipulators mit einem Endeffektor, an dem ein Hilfsstab angeordnet ist, der eine drehbar gelagerte Rolle aufweist,
• - Ausfahren des Manipulators gegen ein zu schwenkendes Element, das eine Schwenkbewegung um eine Schwenkachse ausführen kann,
• - Ausrichten des am Endeffektor befestigten Hilfsstabs derart, dass die um die Hilfsstabachse drehbar gelagerte Rolle das zu schwenkende Element berührt, und
• - Rotieren des zu schwenkenden Elements um die Schwenkachse durch eine zum Hilfsstab laterale Linearbewegung des Endeffektors, wobei die drehbar gelagerte Rolle zu jedem Zeitpunkt Kontakt mit dem zu schwenkenden Element hat.

The object is also achieved by a method for vehicle assembly or functional control of vehicle components, which includes the following steps:

• - Providing a manipulator with an end effector on which an auxiliary rod is arranged, which has a rotatably mounted roller,
• - Extension of the manipulator against an element to be pivoted, which can perform a pivoting movement about a pivot axis,
• - Aligning the auxiliary rod attached to the end effector in such a way that the roller, which is rotatably mounted about the auxiliary rod axis, touches the element to be pivoted, and
• - Rotating the element to be pivoted about the pivot axis by means of a linear movement of the end effector lateral to the auxiliary rod, the rotatably mounted roller being in contact with the element to be pivoted at all times.

• 1 einen Manipulator mit erfindungsgemäßem Endeffektor,
• 2 eine zweckmäßige Ausführung des erfindungsgemäßen Endeffektors,
• 3 eine zweite Ausführung des erfindungsgemäßen Endeffektors,
• 4a-d verschiedene Ausgestaltungen des Hilfsstabs mit Rolle,
• 5a einen vorteilhaften Anwendungsfall eines Manipulators mit erfindungsgemäßem Endeffektor für das Anheben einer Kofferklappe,
• 5b einen weiteren bevorzugten Anwendungsfall eines Manipulators mit erfindungsgemäßem Endeffektor zur Betätigung eines Einstellhebels eines Autositzes und
• 5c eine vergrößerte Detailansicht des in 5b umrandeten Ausschnittes mit dem erfindungsgemäßen Endeffektor beim Betätigen des Einstellhebels.

The invention will be explained in more detail below with reference to drawings. Here show:

• 1 a manipulator with end effector according to the invention,
• 2 an expedient embodiment of the end effector according to the invention,
• 3 a second embodiment of the end effector according to the invention,
• 4a-d various configurations of the auxiliary staff with role,
• 5a an advantageous application of a manipulator with an end effector according to the invention for lifting a suitcase flap,
• 5b a further preferred application of a manipulator with an end effector according to the invention for actuating an adjusting lever of a car seat and
• 5c an enlarged detailed view of the in 5b bordered section with the end effector according to the invention when you press the adjustment lever.

The 1 shows a manipulator 1 for vehicle assembly or a functional check of vehicle components, which is equipped with the end effector according to the invention. The structure of the manipulator 1, i.e. its dimensions, degrees of freedom or shapes of its individual segments, is flexible and can be adapted to external circumstances, for example the structure and dimensions of the production line in which the manipulator 1 is to be used with the end effector according to the invention. The end effector is designed here as a gripper 3 and is composed of an effector base 2 and a gripping device. It also has an auxiliary rod 4 . The gripper 3 and the auxiliary rod 4 are described below with reference to FIG 2 described in more detail.

The gripper 3 comprises at least two gripping surfaces 9 on at least two jaws 10, which are fastened to the effector base 2 and with which the gripping surfaces 9 are movably guided relative to one another within a gripper plane.

In the embodiment according to 2 an adapter element 8 is attached to the effector base 2 next to the gripper 3, to which the auxiliary rod 4 is attached. The auxiliary rod 4 can be attached to the adapter element 8 in a fixed or detachable manner. A one-piece production is also possible in principle.

The auxiliary rod 4 has a centrally running auxiliary rod axis A, which is orthogonal to the plane E of the gripper. The auxiliary rod 4 is composed of an axle bolt 7 , a roller 6 mounted around the auxiliary rod axis A and an end piece 5 . The end piece 5 is screwed or clamped to the axle bolt 7 and rotatably fastens the roller 6 to it. The end piece 5 is ideally made with a rubberized or a similarly gentle material or is provided with a corresponding cap. In this way, the auxiliary rod 4 can be used to actuate buttons or other operating elements, in particular if the auxiliary rod 4 has a narrowing at its distal end facing away from the gripper 3 .

Alternatively, the roller 6 can be directly rotatably mounted on the end piece 5, while the latter can be firmly connected to the axle bolt 7. In addition to a notch provided on the roller 6, it can be achieved in this way that the auxiliary rod 4 terminates with the roller 6, so that the entire tip of the auxiliary rod 4 is enclosed, which as far as possible prevents damage to the vehicle parts to be machined or moved. In this way, other forms of the rotatably mounted roller 6 can also be integrated, for example a cone, truncated cone, cylinder, sphere or bodies composed of these. This can be adapted to the needs of the respective task.

In this exemplary embodiment, the adapter element 8 extends from the effector base 2 along the gripper 3 , with a free space being present between the jaws 10 and the adapter element 8 . Basically, the difficulty of attaching additional elements to a gripper 3 is that the function of the gripper 3 must not be restricted. Therefore, the adapter element 8 should also not extend beyond the gripping surfaces 9, as is the case in this embodiment 2 is implemented. The gripping surfaces 9 protrude beyond the adapter element 8 and can therefore work without restriction.

The end effector has a force sensor 11 here, which can detect forces acting on the auxiliary rod 4 . As shown, this can be located directly on the auxiliary rod 4 , but it can also be integrated into the adapter element 8 or the effector base 2 . The force sensor 11 allows forces acting on the auxiliary rod 4 to be measured directly. The control of the manipulator 1 can thus be adjusted if the forces acting on the auxiliary rod 4 are too great, which indicate either damage to the workpiece being examined and/or to be assembled or a disruption to the operating sequence.

The 3 shows an alternative possibility of attaching the auxiliary rod 4 directly to the gripper 3. The auxiliary rod 4, which has the same structure (as in 2 ) consisting of end piece 5, roller 6 and axle bolt 7 and optional force sensor 11, attached laterally to one of the two gripping surfaces 9. In principle, the auxiliary rod 4 can be attached to one of the jaws 10 in the area of the gripping surfaces 9 as desired. The auxiliary rod axis A is in the gripper plane E or a plane parallel thereto, so that the Auxiliary rod 4 does not increase the gripper 3 excessively or restricts its field of application.

The 4a-d show different versions of the auxiliary rod 4, as it can be used in practice. What the four representations have in common is that the auxiliary rod 4 ends with the roller 6 and the end piece 5 is covered by the roller 6 . However, the hidden end piece 5 is not absolutely necessary, but only has the advantage if an injury to the moving parts by a free end piece 5 of the auxiliary rod 4 is to be ruled out. The variants in the 4a until 4d show the various forms described above that are possible for the embodiment of the roller 6. In addition, combinations of the drawn designs of the role 6 are possible. In particular, the cone shape in combination with the cylinder or the sphere makes sense when opening a door or flap with a small initial opening angle requires “threading” of the auxiliary rod 4 with the end piece 5 covered.

5a shows the end effector according to the invention together with a manipulator 1, as it opens a trunk lid 12. A vehicle door, lever or any other pivoting element can also be moved in the same way. A pivoting element has a moveable, lateral bearing, so that it can perform a pivoting movement (ie a limited-angle rotational movement).

The opening of the trunk lid 12, as is regularly necessary during vehicle assembly or during the functional check of vehicle components, will be explained below. In principle, however, this procedure can be transferred to any element that can be pivoted about a pivot axis S.

First, the manipulator 1 moves to the trunk lid 12 and aligns the auxiliary rod 4 on the end effector in such a way that the rotatably mounted roller 6 touches the trunk lid 12 on an inner surface that should not have any cracks or other discontinuities. In order to open trunk lid 12 , manipulator 1 performs a linear movement C of the end effector that is lateral to auxiliary rod 4 , ie, laterally directed, and thus lifts trunk lid 12 . Depending on the shape and size of the trunk lid 12 and the size of its opening angle, a combination of several linear movements C may also be necessary for opening. In any case, the programming of the manipulator 1 is clearly simplified by the linear movement(s). The roller 6 of the auxiliary rod 4 touches the trunk lid 12 at all times during the opening process, but during the linear movement C a contact point (or line) at which the roller 6 is in contact with the trunk lid 12 constantly travels along the trunk lid 12 , in that the roller 6 rotates around the auxiliary rod axis A during the movement and rolls on the trunk lid 12.

The 5b shows the manipulator 1 according to the invention when testing a vehicle seat 13. In order to check the adjustability of the vehicle seat 13 for functionality, the gripper 3 according to the invention with auxiliary rod 4 can also be used. The manipulator 1 introduces the auxiliary rod 4 of the gripper 3 to a seat lever 14, so that it can be used with this via the roller 6, as shown in the detail of FIG 5b enlarged in 5c shown, comes into contact. The seat lever 14 is an element that can be pivoted about the pivot axis S and can be raised and rotated about its pivot axis S by means of a (for example vertical) linear movement C. This pivoting movement triggers an adjustment function of the vehicle seat 13, such as a height adjustment or an adjustment of the backrest, which can be carried out and checked in this way.

These two areas of application are exemplary for a large number of other possible uses. A gripper 3 equipped with an auxiliary rod 4 can be used to open vehicle doors, including actuating the opening lever inside the vehicle, or to move components that are sensitive to scratches. In the latter case, the roller 6 protects the scratch-sensitive components from damage.

Reference List

1

manipulator

2

effector base

3

gripper (end effector)

4

Dummy element

5

tail

6

role

7

axle bolt

8th

adapter element

9

gripping surface

10

jaw

11

force sensor

12

trunk lid

13

vehicle seat

14

seat lever

E

gripper level

A

auxiliary rod axis

C

linear motion

S

pivot axis

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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

• WO 2013/075245 A1 [0004]
• DE 10346054 A1 [0006]

Claims (10)

End effector of a manipulator for vehicle assembly or functional control of vehicle components, comprising - a gripper (3) arranged at a distal end of the manipulator (1), - the gripper (3) having at least two gripping surfaces (9) on at least two jaws (10), which are attached to an effector base (2) and are movable within a gripper plane (E), characterized in that - the gripper (3) has an auxiliary rod (4) which is aligned orthogonally or parallel to the gripper plane (E) on the gripper (3 ) is arranged, and - the auxiliary rod (4) has a rotatable about an auxiliary rod axis (A) mounted roller (6). end effector after claim 1 , characterized in that the rotatably mounted roller (6) is designed as a cone, truncated cone, cylinder or a sphere. end effector after one of the Claims 1 or 2 , characterized in that the auxiliary rod (4) terminates with the rotatably mounted roller (6). end effector after one of the Claims 1 until 3 , characterized in that the auxiliary rod (4) is attached to a jaw (10) located on the gripper (3). end effector after one of the Claims 1 until 3 , characterized in that the auxiliary rod (4) is attached to the gripper (3) via an adapter element (8) attached to the effector base (2). end effector after one of the claim 5 , characterized in that the adapter element (8) extends from the effector base (2) along the gripper (3) in such a way that there is a free space between the jaws (10) and the adapter element (8). end effector after one of the Claims 5 or 6 , characterized in that the adapter element (8) ends in front of the gripping surfaces (9), so that the gripping surfaces (9) project beyond the adapter element (8). end effector after one of the Claims 1 until 7 , characterized in that the auxiliary rod (4) is detachably connected to the adapter element (8) or the jaw (10). end effector after one of the Claims 1 until 8th , characterized in that the auxiliary rod (4) has a taper at its distal end. Method for vehicle assembly or functional control of vehicle components, comprising the steps: - Providing a manipulator (1) with an end effector on which an auxiliary rod (4) is arranged, which has a rotatably mounted roller (6), - Extension of the manipulator (1) against an element (12, 14) to be pivoted, which can perform a pivoting movement about a pivot axis (S), - Aligning the auxiliary rod (4) attached to the end effector (3) in such a way that the roller (6) rotatably mounted about the auxiliary rod axis (A) touches the element (12, 14) to be pivoted, and - Rotating the element (12, 14) to be pivoted about the pivot axis (S) by means of a linear movement (C) of the end effector (3) lateral to the auxiliary rod (4), the rotatably mounted roller (6) being in contact at all times with the pivoting element (12, 14).

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