DE20321782U1 - robot system - Google Patents

Abstract

A system for detecting, influencing and exploiting robot movements, with which position, position and movement-dependent functions can be measured on selected bodies and surfaces, which are arranged within the reach of a robot, with sensors guided by the latter and with which the measured values are digitized in particular stored in a computer and / or can be introduced into the control of the robot movements.

Description

The The invention relates to a system for detecting, influencing and exploiting of robot movements according to claim 1.

For industrial robots, for example DE-C3-36 27 560 It can be seen how and with which manufacturing and assembly tasks can be solved economically. An important application of robots is the control of movements, recently especially in combination with vision systems and sensors. With the increasingly common robot-based measuring technique one uses the possibility to use robots as sensorized measuring tools, furthermore for many measuring tasks as well as in automated production and test procedures, for example in the vehicle industry. In DE-U1-200 03 381 is a tester for mobile optical measuring devices explained, which may be single or multi-axis and guided by a manipulator. In order to avoid that robot positioning errors are included in the calibration, a reference pattern - such as a hole, edge or the like - is temporarily positioned by a holder in such a way that a tool center point (TCP) can be observed and displayed. its calibration can be readjusted without robot error by means of a control device or relative to it.

Also in the interface area between humans and technology finds the Robotics an application field, for example, to sense impressions into actionable and usable data. The active touch technical devices and direct contact with controls affects the behavior of users who are comfortable on and the comfortable adjustability of functional components. Therefore there is a need for opportunities for this interaction To develop basics and standards that are beyond to go beyond purely subjective feeling.

The The invention aims to provide measuring and testing tasks in production and quality assurance through use of robotics using various sensors to solve. In particular, states and movements should be reliable be detected so that their data for desired Use actions and controls of various kinds can. By obtaining objective, reproducible assessment criteria Among other things, comparisons of own and third-party products are to be made quickly be possible, especially with regard to the feel in vehicle interiors. Important purposes of the Meßrobotic are the harmonization of the Operating forces, so that all officials be designed harmoniously, and also a consistent high value appearance.

main features The invention are set forth in claim 1. Embodiments are The subject matter of claims 2 to 18.

With a system according to the invention for detecting, influencing and taking advantage of robot movements during their Procedure according to claim 1 location, location and movement-dependent functions on selected bodies and surfaces, the are arranged in range of a robot, with guided by this Sensors are measured or sampled, and the digitized measured values be z. B. stored in a computer and / or in the controller the robot movements introduced.

you wins in this way very quickly and simply spatial Vector and Scalar fields as needed for later Analysis saved or immediately to the sensor-guided Robot controller can be used. The reliable ones Measurement results are comparable with each other. The system is extremely versatile, for example when loading and unloading machine tools or measuring machines, at the manufacture of precision parts and assembly and in general in handling technology. You can do it in research and development as well as in production, in the On-line quality control and overall vehicle analysis. It is also well suited for use on a single component, such as a climate control device, and in a defined functional space, z. B. on a vehicle center console. It is possible also the harmonization on many or all operating components of a Vehicle, which in such case the selected body or form surfaces. For example, gaps, Layer thicknesses, structure-borne noise, currents, temperatures, Shift travel and times, insertion and removal forces, closing moments etc. measure, log or even in direct feedback immediately to use as controlled variables.

By Execution and evaluation of the measurements according to claim 2 in real time you get an extraordinary time advantage over traditional methods, because the results can be used instantaneously. Specifically, claim 3 provides that to the Bodies and surfaces selected operating functions can be introduced and that during their expiration operating forces and moments depending on actuation paths and angles with the sensors measurable and / or z. B. by means a camera are monitored. The results are so immediately available and can be immediately if necessary feed into running processes.

An important embodiment according to claim 4 is that with the or each robot, a recorded sensor can be guided on a programmed curve, the robot track at the same time each sensor measured values or -Messßfeldern zugeord is net. Thanks to the linkage of the or each point in space of the robot track with the sensor measurement data, an exact actual determination of positions and / or movements is ensured at each moment, which makes it possible in the simplest possible way to compare with nominal values or previously obtained values. If a subtask is then solved, a sensor that is no longer needed can be stored and a new sensor can be picked up for the next job.

By doing according to claim 5 on or in robot arms multiaxial forces and moment sensors and / or laser sensors, cameras u. Like. Soluble are attached, can be actuation forces and - Measure moments on various components even in tight spaces and evaluate. Also complicated measuring and monitoring tasks are to cope in this way, with measurement results after Need for individual components and / or for whole Facilities are available.

According to claim 6 are the measured values or measuring fields with PC programs can be logged and / or analyzed. That also allows the deployment for statistical purposes. Suitable for support Software offers z. RobFlow on Windows NT or Linux. robot and PC are over a network like Ethernet, ARCNET, etc. in contact with each other. A test procedure can, for example for a Windows NT-based computer in Visual Basic, C ++ or Delphi are programmed.

in the In accordance with claim 7 are the logged measured values or measuring fields can be transmitted in real time to the robot controller, preferred according to claim 8 via a real-time kernel interface, a network connection, a parallel interface o. The like., so that over the conventional technique Multiple processing speed is achieved.

Loud Claim 9 are similar means and aids both in the Development as well as in product control applicable, namely on-line. As a result, all work can be carried out both as well as accompanying production, whereby the use same or similar components compatibility the results from the outset.

One in itself stationary, but altogether quite displaceable frame of reference arises if according to claim 10 of the or each robot in a vehicle, on or next to a test table, a measuring platform u. Like. Is fixed. Furthermore, in the development of claim 11 at least one test table, a measuring platform, a base plate o. The like. Be provided, what by PC-controlled Control programmed test table and / or robot positions are precisely startable, the appropriate be determined in advance in the teach-in procedure. A whole number of parts to be measured can be accommodated comfortably, z. B. in individually buildable magazines of different sizes. In addition to ease of use you achieve high flexibility and mobility, because about interchangeable segment recordings new Test parts including data carriers quickly used and can be measured. The set-up times are therefore short, which greatly increases the availability of the system becomes.

Especially well suited according to claim 12 is a circular limited test table, the angled, individually has insertable and removable segments. This is a very simple, clear Configuration, since such segments the round test table build in the quick-change system quasi cake pieces. In accordance with claim 13 are at least predetermined segments each with a non-contact scanned disk Provided memory information for automatically initiating Contains measuring operations. The to be measured or to be tested components can be so without additional Interventions by segment z. B. identified and controlled at the periphery become. It is advantageous if, according to claim 14 of the Test table stepwise through a servo direct drive can be moved or rotated, whose drive axle specifically the 7th axis of an articulated robot forms or associated with it is. It is preferably interpolating to the measuring points method.

Of the or each robot is according to claim 15 on or next to a test table, a measuring platform u. Like. Can be mounted, if necessary in the laboratory, in a production robot cell, in a climatic chamber, a vehicle o. The like. With particular advantage it is for haptics examination according to claim 16 in a vehicle namely on the vehicle floor fixable in the place of the seat of driver or passenger to Move and / or measure all operating elements accessible from there to be able to.

Yet Another specialization is according to claim 17 in the arrangement of three module tables or stations within the range of at least one robot, preferably in a space-saving Star grouping. The robot is according to claim 18 between or arranged next to two module tables or stations and in particular linear movable, so that one and the same robot several work fields served.

Further Features, details and advantages of the invention will become apparent the wording of the claims and the description below of embodiments with reference to the drawings. In this demonstrate:

1 a schematic plan view of a robot assembly with three module fields,

2 an oblique view of a test table with measuring robot,

2a a diagonal top view of two test table segments,

3 a schematic representation of the arrangement of a robot in a motor vehicle,

4 a schematic plan view of a robot in the center of module tables,

5 a schematic side view of a test cell for on-line product control and

6 a schematic side view of another test cell.

Schematically is in 1 a star-shaped arrangement of three module tables or stations I, II, III shown, which surround a central robot R. This is in the longitudinal direction L on a base plate Z movable. On an arm A, he carries a (indicated) sensor S. The composite of modules system can be a fixed system or mobile.

The Module station I is designed as a test table T, which with a number of segments W provided or assembled from these is. These carry different test objects, each one similar objects on a segment W in matching Distances are arranged so that the robot R they detect with his sensor S and example on her Condition, their surface finish o. Like can. Between stations I and III is located in the longitudinal direction L of the robot R a module stage II. This station holds a larger, component that can be equipped with various components. the Modultisch III, which may be a measuring platform M are Reserved stations assigned V, from which other objects are picked up can to put them on the platform M.

All three module tables or stations I, II, III can be rotated be driven, as indicated by double arrows. Preferably Carriers can be attached to the perimeter of each table be scanned non-contact by identification the items present on the table are program controlled operations to initiate and carry out. You can z. Selected Components based on their identification in a predetermined order bring to a segment W, insert this into the test table T, Check the components with a sensor S and according to proper findings replace the relevant segment W with a new one.

The Base plate Z is for example a polymer casting, the a number of mounting holes for mounting a Carriage guide H of the robot R and the turntable bearings having.

Racks can accommodate the robot controller ST and a computer PC (see FIG. 5 and 6 ), which manages the measuring plates of the or each sensor S. The robot R may be of the Scara type. 2 However, shows a articulated robot R in vertical assignment to a test table T with individual segments W, each having handles G. It can be seen that the segments W have a relatively small marking field as data carrier D on the circumference. As soon as it has run into the control or measuring position with its segment W, the program step triggered thereby begins. After the end of the turntable moves to its next position.

Out 3 It can be seen that the robot R can be conveniently installed in a car at the location of the removed driver's seat on the vehicle floor, which is the optimal positioning for testing in the vehicle interior. Thus, all electromechanical tests as well as measurements of haptics, temperature, currents, stiffness etc. can be carried out conveniently and reliably, but also test stand and control settings can be made.

4 shows the arrangement of a z. B. in the direction of the arrow pivoting robot R on a carriage guide H in the center of a hexagon testing station with six stations that can accommodate different candidates. Schematically and without limitation, these specific examples are in 4 a center console B, a cupholder C, a group of cockpit panels E, a turn signal lever system N, a climate control device arrangement P and a group of door modules U drawn.

For on-line product control in series production, a test cell, as shown schematically in FIG 5 is shown. It can be seen that it is a robot-based test cell having a 3D measuring table M in a housing X, which may consist of aluminum profiles with Makrolon safety discs. The measuring table M preferably has a transfer device Y, which has a coupling station KS (left in FIG 5 ) is assigned to the supply and discharge of material. The robot R can be a 6-axis articulated robot, which can be operated from the ST controller (right in 5 ) is controllable and equipped with a gripper changing station and suitable sensors. In this way, specimens 1, 2, 3, 4, 5 etc. can be checked in a convenient and reliable manner.

through The test cell automates the product control directly in the production process. From the coding of the tool carrier recognizes the coupling station KS the test specimen, which then enter a control station can. Depending on the task, the robot R adapts automatically the necessary gripper or sensor and controls z. B. compliance predetermined manufacturing tolerances. At the end of this process will be specific processes initiated, for example, the Prüfling feedback in the assembly line.

For measurement, testing and adjustment, a robot-based test cell of the type of 6 serve. In turn, it has a glazed with Makrolonscheiben safety enclosure X. In the right subspace is located next to a single test table T controlled by a controller ST robot R, for example, a 6-axis articulated robot. As indicated schematically, he adapts z. B. from a change station the respectively required gripper or sensor for testing, testing and / or adjusting a test piece, such as a Cupholders C.

Here as in the example of 5 the test cell has a suitable for solving the task in each case sensors and a 3D measuring table M with holes in the standard grid of z. B. 100 mm for variable robot and DUT recordings. At the cell housing X preferably two sliding doors with safety switch allow safe access to the inside. The industrial PC controls the processes in the entire test cell, documents the results and makes them available for further processing.

The The invention is not limited to one of the described embodiments and applications limited, but in more diverse Modify and use way. The system and the associated process steps are not just in the development of HMIs and elements are extremely useful, for example in pre-series and experimental series, but also, for example, in the environmental simulation in climatic chambers, in quality assurance and in the Total vehicle analysis. One can especially with the testing in the Vehicle interior measurements that otherwise only very expensive possible are in the cockpit during the operation of switches, Levers, nozzles, etc. as well as when accessing glove compartments, Cup holders, straps and more Like. Perform. So wins you already have objective data for the perceived value by what a vehicle occupant sensually captures later, d. H. Subjectively feels, hears and sees. Test sequences can be flexibly designed, because of the ongoing analysis of operation-dependent forces, torques, hysteresis switching points u. Like. Based on the electrical signal responses and effects results in the further examination process. Will a robot of outside along a linear rail or by means of a lifting station retracted into a vehicle, he can at predetermined calibration points orient and even independently operating positions Find. In manufacturing and assembly are the short set-up times extremely advantageous, because thereby the availability and easily increase the reusability of robots, which leads directly to cost reductions.

you sees that according to the invention for detecting, influencing and exploiting robot movements during their course Locally, positionally and motion dependent functions on selected bodies K and surfaces F, which you to Meß-, Prüf- or Arranges handling purposes within reach of a robot R, with Measured by him or assigned to him sensors S measurable or be scanned to digitized measured values in particular in a computer (PC) store and / or directly in the controller the robot movements. The relevant robot R leads in each case one sensor S on programmed measuring curves, wherein each robot point RB [x (t), y (t), z (t)] at the same time a sensor reading or -Meßfeld [SM (t)] is assigned while selected on the bodies K and faces F. Initiated operating functions and the forces occurring, Moments, surface changes, etc. dependent measured and / or monitored by actuation paths and angles become. The measured values or fields [SM (t)] are, for example, by PC programs can be logged, analyzed and / or - preferred in real time - transferable to the robot controller, namely via a real-time kernel interface. One uses expediently at least one rotatable test table T, a measuring platform M o. The like. With exchangeable segments W and non-contact scanned media D.

All from the claims, the description and the drawing resulting features and benefits, including constructional details, spatial arrangements and method steps, can both for yourself and in various combinations be essential to the invention.

A

Robot arm

B

center console

C

cupholder

D

disk

e

Cockpit Panels

F

surfaces

G

handles

H

carriage guide

K

body

L

longitudinal direction

M

Measuring platform / measuring table

N

Turn signal lever system

P

Climate controls

PC

computer

R

robot

RB

robot path

S

sensors

SM

Sensor measuring unit / -Meßfelder

ST

controller

T

test table

U

door modules

V

supply station

W

segments

X

housing

Y

transfer device

Z

baseplate

I, II, III

Module tables / stations

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 3627560 C3 [0002]
• - DE 20003381 U1 [0002]

Claims (18)

System for detecting, influencing and exploiting of robot movements, whereby during their course local, position and motion dependent functions on selected ones Bodies and planes that are within reach of a robot are arranged, with measurable guided by this sensor are and with what the measured values in digitized form in particular storable in a computer and / or in the control of the robot movements can be introduced. System according to claim 1, characterized by feasibility and evaluation of the measurements in real time. System according to claim 1 or 2, characterized that on the bodies and surfaces selected Operating functions are introduced, what to do during their Sequence operating forces and moments depending on of actuation paths and angles with the robot-guided or associated sensors can be measured and / or monitored are, for. B. by means of a camera. System according to one of claims 1 to 3, characterized in that with the or each robot a recorded sensor on programmed trace feasible is, where the robot path RB [x (t), y (t), z (t)] simultaneously Sensor measured values or measuring fields [SM (t)] is. System according to one of claims 1 to 4, characterized in that on or in robot arms multi-axis Force and torque sensors and / or laser sensors solvable are attached. System according to one of claims 1 to 5, characterized in that the measured values or Measuring fields [SM (t)] can be logged with PC programs and / or are analyzable. System according to claim 6, characterized in that the logged measured values or measuring fields [SM (t)] be transferred in real time to the robot controller. System according to claim 7, characterized in that the Measurement protocol transmission a real-time kernel interface, a network connection, a parallel interface o. The like. is available. System according to one of claims 1 to 8, characterized in that the same means and aids can be used both in development and in product control are, especially on-line. System according to one of claims 1 to 9, characterized characterized in that the or each robot in a vehicle, on or next to a test table, a measuring platform u. Like. Can be fixed. System according to one of claims 1 to 10, characterized characterized in that at least one test table (T), a measuring platform (M), a base plate (Z) o. The like. Exists and that programmed check table and / or Robot positions can be started by PC-controlled control. System according to claim 11, characterized in that that a circular limited test table (T) available is the acute-angled, individually insertable and removable segments (W). System according to claim 12, characterized in that that at least predetermined segments (W) each with a Non-contact scanned data carrier (D) provided are storage information for automatically initiating Contains measuring operations. System according to one of claims 10 to 13, characterized in that the test table (T) gradually by a servo-direct drive traversed and / or is rotatable, which forms an articulated robot axis or associated with it is. System according to one of claims 10 to 14, characterized in that the robot (R) on or in addition to a test table, a measuring platform u. like. can be mounted, if necessary in a laboratory, a climatic chamber, a production robot cell, a vehicle o. System according to claim 15, characterized that at least one robot (R) in a vehicle by name on the floor of the vehicle at the driver or passenger seat can be mounted. System according to one of claims 1 to 16, characterized characterized in that three module tables or stations (I, II, III) within reach of at least one robot (R) are arranged, preferably in a star cluster. System according to claim 17, characterized in that that the or each robot (R) between or next to two Module desks or stations (I, III) arranged and in particular is linearly movable.