EP2117784A2 - Moteur - Google Patents

Moteur

Info

Publication number
EP2117784A2
EP2117784A2 EP08715460A EP08715460A EP2117784A2 EP 2117784 A2 EP2117784 A2 EP 2117784A2 EP 08715460 A EP08715460 A EP 08715460A EP 08715460 A EP08715460 A EP 08715460A EP 2117784 A2 EP2117784 A2 EP 2117784A2
Authority
EP
European Patent Office
Prior art keywords
bumper
machine according
output
end effector
rigidity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08715460A
Other languages
German (de)
English (en)
Inventor
Berend Denkena
Armin Wedler
Peter Hesse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leibniz Universitaet Hannover
Original Assignee
Leibniz Universitaet Hannover
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leibniz Universitaet Hannover filed Critical Leibniz Universitaet Hannover
Publication of EP2117784A2 publication Critical patent/EP2117784A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers

Definitions

  • the invention relates to a machine, in particular a positioning machine, with a frame, an end effector and at least one drive for moving the end effector in a drive direction. According to a further aspect, the invention relates to a method for operating a machine according to the invention.
  • Positioning machines are, for example, robots, such as handling robots.
  • Handling robots are used to position workpieces for mounting on other workpieces or for feeding to processing units.
  • Handling robots are frequently used in complex production lines, which take over a workpiece from a second robot and transfer it to another processing unit such as a press or forge.
  • the invention has for its object to overcome disadvantages in the prior art.
  • the invention solves the problem by a generic machine which has a controllable in its rigidity in the drive direction bumper.
  • the invention solves the problem by a method for operating a machine according to the invention with the steps: (a) detecting a position to be approached with the end effector, (b) reducing the rigidity of the bumper, (c) approaching the position to be approached with the End effector; and (d) increasing the stiffness of the bumper.
  • An advantage of the invention is that a machine according to the invention can be controlled so that positioning inaccuracies lead to small forces acting on the machine forces. This protects the components of the machine and reduces wear. Another advantage is that due to the low forces, the positioning accuracy of the machine decreases more slowly than in machines without inventive bumper.
  • Another advantage is the simple structure, which manages without complex sensors. Since a machine according to the invention, if a collision can not be ruled out, can be controlled such that it has a reduced rigidity, forces only build up slowly when the end effector collides with another machine. This leaves enough time to switch off the relevant drives. It is also advantageous that a collision with an end effector of a machine according to the invention also leads to no or less damage to the collision partner.
  • the machine according to the invention can be equipped with a collision protection system which shuts off affected drives of the machine in the event of a collision.
  • the bumper then advantageously extends the path that can be traveled after an impact before damage to the machine occurs.
  • the machine according to the invention can therefore be moved at higher speeds than conventional machines.
  • an end effector is understood in particular to mean any component which acts directly on a workpiece or passively holds a tool. Examples of end effectors are grippers, tool holders, soldering, welding or glue guns.
  • the stiffness of the bumper is understood to be the derivative of that function by the path that indicates the force that must be applied to move mutually displaceable components of the bumper, such as an output and a housing, against each other.
  • a bumper is understood in particular to mean a component of a kinematic chain which may have a stiffness which is smaller than the rigidity of the other components of the kinematic chain.
  • bumpers have a spring travel that two components of the bumper, such as a housing or a drive, can cover against each other before it comes to a plastic deformation that is longer than all other components of the kinematic chain.
  • a bumper which can take three, four, five or more stiffnesses.
  • a continuously adjustable in its stiffness bumper is understood in particular a bumper, which can take three, four, five or more stiffnesses.
  • a continuously adjustable in its stiffness bumper is understood in particular a bumper, which can take three, four, five or more stiffnesses.
  • a continuously adjustable in its stiffness bumper is understood in particular a bumper, which can take three, four, five or more stiffnesses.
  • the bumper may be formed as a purely passive component. But it is also possible to form the bumper so that its output is actively positioned relative to the housing.
  • the bumper is arranged in a kinematic chain between the at least one drive and the end effector.
  • the kinematic chain is understood to mean a sequence of components of the machine which transmits a force or a torque from the at least one drive to the end effector.
  • the end effector attached directly to the bumper. In this case, only slight acceleration forces occur in a collision of the end effector.
  • the bumper comprises a first protagonistic active element which can be acted upon by a fluid and acts in the drive direction.
  • the rigidity of the system increases as the actuator, such as a piston or McKibben's muscle, moves away from its home position, that is, the greater the deflection. This is advantageous in that at the beginning of the movement a particularly small rigidity is present and so only very small forces can occur in a collision.
  • the bumper preferably has two, three or more protagonistic active members. These active elements can be arranged, for example, in equidistant angular steps around an output, so that tilting moments on the output are avoided.
  • the bumper comprises a second, acted upon by the fluid, acting in or against the drive direction, antagonistic tisch active element, which is designed to counteract the first operative member.
  • a preset stiffness of the bumper can be adjusted.
  • the machine comprises a pneumatic system for applying, in particular for the individual application of compressed air to the protagonistic active member and the antagonistic active member. This makes it possible to change the output connected to both active members in its position to a housing of the bumper by selectively applying the antagonistic active member or the protagonistic active member.
  • the machine preferably has an output connected to both active members and a position sensor for detecting a position of the output. It can be provided a digital control of the machine, which controls the pneumatic system due to signals of the position sensor so that the output is always in a predetermined position.
  • the pneumatic system is preferably adapted to set a predetermined pressure in the protagonist and the antagonistic actuator. In this way, the rigidity can be easily and quickly adjusted by means of the pressure in the active elements.
  • the active members are particularly preferably pneumatic muscles or McKibben's muscles.
  • McKibben muscles shorten when they are subjected to compressed air and represent a simple and therefore easy and inexpensive to manufacture variant of an active member.
  • Another advantage of McKibben muscles is their non-linear characteristic. With increasing pressure in the McKibben muscles, the McKibben muscle shortens with decreasing amounts as the shortening increases.
  • a bumper with a stiffness that is non-linearly dependent on the deflection is obtained.
  • the active members are designed so that at constant pressure to be applied for a deflection of the output of the bumper force in a non-linear manner depends on the deflection. In this way, the rigidity of the bumper can be adjusted particularly effectively.
  • the machine preferably has two, three or more stiffness-adjustable bumpers that differ in the directions in which they can absorb shocks.
  • the directions in which the at least two bumpers can intercept shocks, for example, are perpendicular to each other.
  • the bumper preferably has a stop arranged in the drive direction for the piston or the output.
  • the position of the output or the piston is fixed relative to the other components of the bumper with high accuracy.
  • An end effector attached to the output can then be positioned with high positioning accuracy.
  • the rigidity of the bumper is preferably reduced only when the position to be approached is approached by an adjusting movement.
  • An actuating movement is a movement in which only the positioning accuracy of the position to be approached, but not the positioning accuracy plays a role along the trajectory, on which the position to be approached is reached.
  • the rigidity of the bumper is preferably not changed and / or kept hard. As a result, a high accuracy in performing the active movement is possible.
  • the step of reducing the rigidity preferably includes the step of moving the output to a position closer to a center position, the center position being that position of the output in which both pistons can travel the same distance until they or the output reach a stop.
  • FIG. 1 shows a schematic representation of a machine according to the invention
  • FIG. 2 is a schematic drawing of a bumper adjustable in its rigidity
  • Figure 3 shows another embodiment of a bumper for a machine according to the invention, which is constructed of six partial bumpers and
  • FIG. 4 shows a bumper constructed from six McKibben muscles.
  • Figure 1 shows a positioning machine in the form of a robot 10 with a frame 12, an end effector 14, a first arm 16 and a second arm 18.
  • the first arm 16 is from a not shown first motor by a rotation angle ⁇ ⁇ about a rotation axis Di pivoted.
  • the second arm 18 is pivotally mounted about a rotational axis D 2 by a second motor, also not shown, by a rotation angle ⁇ 2 .
  • a bumper 20 is pivotally mounted about a rotation angle ⁇ 3 about a rotation axis D 3 , to which the end effector 14 is attached in the form of a gripper.
  • the first motor, the first arm 16, the second motor and the second arm 18 are parts of a drive 22, with which the end effector 14 can be moved in a drive direction, which is indicated by an arrow A.
  • the end effector 14 comprises an actuator 24 for actuating a first gripping finger 26.1 and a second gripping finger 26.2. By actuating the actuator 24, a schematically drawn workpiece 28 can be gripped by the robot 10.
  • FIG. 1 shows the situation in which the workpiece 28 is to be placed in the drive direction A immediately in front of a stationary object 30.
  • Inaccuracies in the drive 22 can lead to the case that the workpiece 28 is already in contact with the object 30 and the robot 10 nevertheless tries to move it further in the drive direction A.
  • the reason for this may be that the robot 10 is programmed incorrectly or that positioning inaccuracy of the robot 10 causes the robot 10 to attempt to place the workpiece 28 at a location where the object 30 is located. In this case, the bumper 20 intercepts the resulting shock.
  • the bumper 20 as shown in Figure 2, an output 32 which is rigidly connected to the end effector 14.
  • the output 32 is slidably mounted in a housing 34 via two sliding guides 36.1, 36.2.
  • the output 32 is connected to a first, protagonistic active member in the form of a pneumatic muscle 40, which operates on the McKibben principle.
  • the muscle 40 can be acted upon by a not shown pneumatic valve with compressed air from a likewise not shown pneumatic line.
  • the protagonistic muscle 40 When the protagonistic muscle 40 is pressurized with compressed air, it inflates and moves the output 32 by a distance s in a direction of displacement v.
  • a second, antagonistic active member 42 in the form of a pneumatic muscle according to the McKibben principle is likewise connected to the output 32.
  • the antagonistic muscle 42 can be acted upon by a non-illustrated pneumatic valve with compressed air from the not shown pneumatic line with compressed air. If the antagonistic muscle 42 is acted upon with compressed air, he blows up and moves the output 32 in the direction of the path s opposite path -s with respect to the direction of displacement v. By applying more force to the protagonistic muscle 40 or the antagonistic muscle 42, therefore, the position of the output 32 in the displacement direction v can be adjusted.
  • the bumper 20 includes a schematically drawn position sensor 44, with which a position of the output 32 in the direction of displacement v can be detected.
  • the position sensor 44 is in communication with a not shown digital control, which in turn is connected to the two not shown pneumatic valves.
  • the digital controller is set up to adjust the position of the output 32 to a preset position by applying the compressed pressure to the protagonistic muscle 40 or the antagonistic muscle 42 or by releasing compressed air from one of the two muscles 40, 42.
  • the bumper 20 also includes for each of the two muscles 40 and 42, a pressure sensor, not shown, for measuring the air pressure p in the respective muscle.
  • the two pressure sensors are also connected to the digital control, so that at a predetermined position of the output 32 and the prevailing in the two pistons 40 and 42, air pressure pi or P 2 is adjustable variable.
  • the stiffness depends on the pressure prevailing in both pistons.
  • the muscles will be referred to as pistons and modeled as pistons.
  • the stiffness ⁇ is ideally proportional to the pressure po, which prevails in the two pistons in the zero position. For larger deflections s is the
  • the digital control reduces the pressure p in both muscles 40, 42 so that the position of the abrasion 32 does not change. Conversely, the digital controller increases the pressure p in both muscles 40, 42 when high stiffness is desired.
  • one of the two muscles is subjected to the maximum possible air pressure, whereas the other muscle remains pressure-free.
  • the output 32 is pressed against a stop 46, so that the relative position of the output 32 to the housing 34 is fixed with high accuracy.
  • the end effector 14 connected to the abrasion 32 can then be positioned with as high positioning accuracy as would be possible without the presence of the bumper 20.
  • FIG. 3 shows an alternative embodiment of a bumper 20 for a machine according to the invention.
  • the bumper 20 includes 6 partial bumpers 48.1, 48.2, 48.3, 48.4, 48.5 and 48.6, each connected to a base platform 50 and an output platform 52 via respective universal joints 54.1 ... 54.6 and 56.1 ... 56.6.
  • the result is a Hexapod structure in which the stiffness with respect to all three spatial directions x, y and z and all rotational degrees of freedom is adjustable by the respective pressures p in the muscles of the TeM bumpers 48.1 to 48.6 are set accordingly.
  • FIG. 4 shows a bumper 20 which has three protagonistic muscles, of which only the two muscles 40.1 and 40.2 are visible in FIG.
  • the three protagonistic muscles are arranged offset in angular increments of 120 ° and act together on a receiving plate 58, which in turn is connected to the output 32.
  • the bumper 20 according to FIG. 4 also comprises three antagonistic muscles, of which, however, only the muscle 42. 1 is visible.
  • the three antagonistic muscles are also arranged offset by 120 ° and are also connected via a second receiving plate 60 to the output 32.
  • the output 32 is provided at its end facing away from the end effector 14 with a central recess 62 in which a measuring head 64 is received.
  • the measuring head 64 is fixed to the housing 34 and designed to measure a relative movement of the output 32 relative to the housing 34.
  • the protagonistic muscles 40.1, ... are supplied with air pressure via a first pneumatic valve 66 and the antagonistic muscles 42.1,... Are supplied with compressed air via a second pneumatic valve 68. Both pneumatic valves 66, 68 are connected to the controller not shown.
  • a method according to the invention is carried out by first detecting a position to be approached with the end effector 14.
  • the rigidity of the bumper 20 is reduced by the pressures p in all the muscles of the bumper 20, for example in the Substantially reduced to ambient pressure.
  • the approaching position is approached with the end effector 14 and it is detected by the position sensor 44, whether the output 32 has moved relative to the respective housing 34, which would indicate a collision. If this is not the case, the pressure p in the muscles of the bumper 20 is increased, thus setting the desired increased rigidity.
  • the rigidity of the bumper may be reduced during insertion of the cylinder head into the liner to prevent damage to the cylinder head and bushing due to positioning errors of the robot.
  • a bumper constructed of a plurality of partial bumpers is only increased or reduced in its stiffness with regard to individual degrees of freedom of movement.
  • the degrees of freedom of the bumper relating to the insertion direction of the cylinder head into the bushing have high rigidity, whereas tilt and lateral shift degrees of freedom have low rigidity, so that the cylinder head does can be inserted with a predetermined force in the bushing, but it does not come to a tilting, because appropriate tilting movements are absorbed by the bumper.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Machine Tool Units (AREA)
  • Jigs For Machine Tools (AREA)

Abstract

L'invention concerne un moteur, notamment un moteur de positionnement (10) comportant (a) une structure (12), un effecteur terminal (14), et (c) au moins un entraînement (22) destiné à déplacer l'effecteur terminal (14) dans une direction d'entraînement (A). Selon l'invention, ledit moteur comporte un amortisseur de chocs (20) dont la raideur peut être réglée dans la direction d'entraînement (A).
EP08715460A 2007-02-09 2008-02-07 Moteur Withdrawn EP2117784A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200710007165 DE102007007165B4 (de) 2007-02-09 2007-02-09 Maschine
PCT/DE2008/000227 WO2008095480A2 (fr) 2007-02-09 2008-02-07 Moteur

Publications (1)

Publication Number Publication Date
EP2117784A2 true EP2117784A2 (fr) 2009-11-18

Family

ID=39545551

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08715460A Withdrawn EP2117784A2 (fr) 2007-02-09 2008-02-07 Moteur

Country Status (3)

Country Link
EP (1) EP2117784A2 (fr)
DE (1) DE102007007165B4 (fr)
WO (1) WO2008095480A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010033326B4 (de) * 2010-08-04 2014-05-15 Siemens Aktiengesellschaft Roboter, insbesondere zur Ausführung einer medizinischen Behandlung
DE102011109786B4 (de) * 2011-08-08 2014-01-23 Festo Ag & Co. Kg Antriebsvorrichtung
DE102019218485B4 (de) 2019-11-28 2022-03-31 Festo Se & Co. Kg Arbeitseinrichtung

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5739183Y2 (fr) * 1975-09-17 1982-08-28
JPS60127931A (ja) * 1983-12-15 1985-07-08 Mitsubishi Electric Corp 産業用ロボツト装置
US4700932A (en) * 1985-02-21 1987-10-20 Tokai Sogo Sekkei Kabushiki Kaisha Anti-impact safety apparatus for robot
US5498121A (en) * 1994-05-16 1996-03-12 Director-General Of Agency Of Industrial Science And Technology Robot which is capable of receiving impact load
FR2725652B1 (fr) * 1994-10-12 1997-01-10 Soc Et Et Realisations En Prod Robot de manipulation de pieces et dispositif absorbeur de chocs associe
NL1009144C2 (nl) * 1998-05-13 1999-11-17 Univ Delft Tech Tweebenig lichaam.
DE10017104A1 (de) * 2000-04-06 2001-10-11 Univ Ilmenau Tech Fluidmechanisches Antriebselement
DE202004007938U1 (de) * 2004-05-14 2005-09-22 Kuka Schweissanlagen Gmbh Überlastsicherung

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2008095480A3 *

Also Published As

Publication number Publication date
DE102007007165A1 (de) 2008-08-14
WO2008095480A2 (fr) 2008-08-14
DE102007007165B4 (de) 2009-02-26
WO2008095480A3 (fr) 2008-10-02

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