Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/16—Programme controls
  • B25J9/1602—Programme controls characterised by the control system, structure, architecture
  • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J1/00—Manipulators positioned in space by hand
  • B25J1/02—Manipulators positioned in space by hand articulated or flexible
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J13/00—Controls for manipulators
  • B25J13/02—Hand grip control means
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J13/00—Controls for manipulators
  • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B25J13/085—Force or torque sensors
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10S901/00—Robots
  • Y10S901/02—Arm motion controller
  • Y10S901/09—Closed loop, sensor feedback controls arm movement
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10S901/00—Robots
  • Y10S901/46—Sensing device

Definitions

• the present invention relates to a manual control device for robot and a collaborative robot equipped with such a device and its industrial application.
• Such a device finds its application, in particular, in industrial robotics for the assistance of the pilot of a robot during finishing tasks, assembly of parts or machining requiring both great precision and significant effort exercising in multiple directions.
• the present invention aims to solve these problems of ergonomics, safety and efficiency so satisfactory by proposing a solution to offer the operator a very precise mechanical assistance coupled with enhanced security.
• This object is achieved according to the invention by means of an assistance device which comprises, on the one hand, a control handle mounted via a ball joint on the arm of the robot while being deported relative to the tool and, d on the other hand, a force sensor coupled to the robot and providing continuous detection, from the handle, intentional efforts of the operator to maneuver the tool both in direction and intensity.
• the tool is associated with a motor mounted on a mandrel connected upstream to the ball and carrying said control handle.
• the force sensor is disposed between the handle and the end of the arm.
• the device comprises a vibratory isolation element interposed between the handle and the tool.
• control handle comprises a state sensor ensuring the continuous detection of orders and / or possible troubles of the operator in driving the tool.
• the handle comprises a presence detector of the hand of the operator.
• the state sensor detects the stop orders and the running orders as well as the clashes of the hand of the operator.
• the state sensor is associated with a limiter of the speed of movement of the robot arm.
• the handle comprises at least one push-button that is sensitive to the pressure of the fingers and connected to the state sensor.
• the handle acts directly on a safety PLC.
• a collaborative robot comprising an arm whose end carries a tool and which is equipped with the device according to the invention; said arm having a general shape in C.
• Yet another object of the invention is a use of the collaborative robot in which the operator is placed at the end of the arm of the robot being entwined by the latter and drives the robot manually and only thanks to the control handle.
• the device of the invention is mounted directly on the arm of the robot which allows to secure the operation of the machine since it is the direct detection of the intentions of the operator in the conduct of his task that controls the movement of the arm.
• the device is in direct contact with the hand of the operator, the detection of his accidental disorders resulting in a loosening or a simple tension, is sufficient to cause the immobilization of the robot arm which eliminates the presence of a specific body emergency stop.
• the device of the invention thus ensures that the work of the tool will be performed at speeds comparable to those of a human arm while providing the operator with a controlled amplification of its mechanical forces.
• the comfort gain is remarkable because the device is deported to the end of the arm and the operator's hand is thus isolated from the tool and is no longer directly subjected to the vibrations generated, in particular by its high speed rotation.
• the execution speed of the tasks is thus comparable to that of a human arm which improves the comfort and the quality of the work.
• the device of the invention allows the presence of personnel in the immediate vicinity of the robot without generating risk of accident which simplifies, in particular, the conduct of maintenance operations.
• FIGS. 1A, 1B and 1C show perspective views respectively of overall and of detail (FIG 1C), of an embodiment of the collaborative robot of the invention with an operator (fig.lA).
• FIG. 2 represents a partial perspective view of an embodiment of the assistance device of the invention.
• FIG. 3 represents a schematic view of the embodiment of FIG. 1.
• FIG. 4 represents a schematic view of the structure of the assistance device of the invention.
• the robot shown in FIGS. 1 and 3 comprises, in the traditional way, an arm B fastened at one end to a partition or to a base E and carrying, at its other end, a power tool M.
• This arm B consists, in the manner of a human arm, sections or segments SI, S2, S3 articulated to each other by means of pivots PI, P2 and / or ball joints RI, R2, R3.
• the arm B is equipped, according to the invention, with an assistance device for the operator H responsible for performing a precise task by means of the tool m.
• This device comprises a control handle 1 mounted on the arm B via the ball joint R3 acting in the manner of a human wrist while upstream, the segment S3 forms the equivalent of a forearm.
• the handle 1 which is in the form of a handle, is offset relative to the tool M by being mounted on a mandrel 2 which is connected upstream via the ball joint R3, in the extension of the segment S3 of the arm B.
• the handle and therefore the forearm of the operator is thus parallel to the tool holder which facilitates its task and makes operations more precise.
• the mandrel 2 carries either directly the motor M of the tool m (FIG. 4) or the transmission means T of the movement (FIGS. 1A, 1B and 1C) between the motor M which is then integrated into the arm and the tool m. If necessary, an element 3 ensuring the vibratory isolation of the handle will be mounted in an intermediate manner between the handle 1 and the tool m.
• the assistance device further comprises a force sensor 4 coupled to the robot and providing continuous detection, from the handle 1, of the intentional forces of the operator for the maneuver of the operator. tool m, both in direction and in intensity.
• the force sensor 4 is disposed between the handle 1 and the end of the arm B.
• the handle 1 also includes a state sensor (not shown) ensuring the continuous detection of the orders of the operator H.
• the state sensor responds to stop commands and running commands and / or to the eventual troubles of the operator H in driving the tool, such as stress-related hand wriggles, a handling error or accident.
• the state sensor is sensitive to direct contact with the operator's hand because its interface consists of actuators in the form of pushbuttons K carried by the handle 1.
• the handle 1 is intended to be grasped by the hand of the operator in the manner of a "joystick", as shown in Figure 2; the fingers exerting a variable pressure on the buttons K, depending on the circumstances and the nature of the task.
• the tool m is suitable for brushing and / or polishing metal parts (not shown).
• the sensor is capable of detecting three main states, respectively, of releasing the pressure of the fingers on the buttons K in a state of stopping, depressing on a mean depth (substantially halfway) corresponding to a normal state of work and high pressure (tension) bringing the button at the end of the race or at least beyond its average position in a so-called critical state.
• the control handle acts via a built-in status sensor on a safety PLC.
• the handle is furthermore equipped with a hand presence detector which is coupled to the safety automaton.
• This detector is either constituted by a thin element disposed on the surface of the handle and which is sensitive to the touch of the hand, or an additional key located in the gripping area of the handle.
• the operation of the device is very intuitive because it is sufficient for the operator to place his hand on the handle to activate the status sensor and still manually move this handle to jointly activate the force sensor.
• the signal delivered by these sensors is sent to a computer which controls and controls the movements of the arm B of the robot so that it follows very precisely and sufficiently flexible and faithful, despite its inertia, the intentions of the hand of the 'operator.
• the robot If the finger pressure is within the acceptable range, the robot is available but the speed of its movements is controlled and regulated.
• the state sensor is preferably associated with a speed limiter for moving the robot arm to avoid sudden movements.

Landscapes

• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Automation & Control Theory (AREA)
• Human Computer Interaction (AREA)
• Physics & Mathematics (AREA)
• Artificial Intelligence (AREA)
• Evolutionary Computation (AREA)
• Fuzzy Systems (AREA)
• Mathematical Physics (AREA)
• Software Systems (AREA)
• Manipulator (AREA)

Applications Claiming Priority (2)

Publications (1)

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Country Status (6)

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Citations (1)

Family Cites Families (5)

• 2012
  • 2012-03-26 FR FR1252694A patent/FR2988320B1/fr not_active Expired - Fee Related
• 2013
  • 2013-03-25 EP EP13711907.9A patent/EP2830834A1/de not_active Withdrawn
  • 2013-03-25 US US14/388,348 patent/US20150051732A1/en not_active Abandoned
  • 2013-03-25 JP JP2015502288A patent/JP2015511544A/ja active Pending
  • 2013-03-25 WO PCT/EP2013/056321 patent/WO2013144103A1/fr active Application Filing
  • 2013-03-25 BR BR112014023839A patent/BR112014023839A8/pt not_active IP Right Cessation

Patent Citations (1)

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