EP3062971A1

EP3062971A1 - Working device and operating method

Info

Publication number: EP3062971A1
Application number: EP14801948.2A
Authority: EP
Inventors: Matthias Reichenbach; Simon Klumpp; Robert Haman; Richard ZUNKE; Konrad Wirth; Christian Eberdt; Kurt Strauss; Reinhard NEUREITER; Niklas LEDERER; Thomas Rau; Julian STOCKSCHLÄDER; Georg Wild; Martin WITTEL; Otmar Honsberg; Ralf Kühnemann
Original assignee: KUKA Systems GmbH
Current assignee: KUKA Systems GmbH
Priority date: 2013-10-30
Filing date: 2014-10-28
Publication date: 2016-09-07
Also published as: WO2015074841A1; DE202013104860U1

Abstract

The invention relates to a working device (1), comprising a controller (6) and an industrial robot (2), which industrial robot carries a process tool (3). The working device (1) is designed for human-robot collaboration and has a detection device (5) for detecting an occurred collision of the industrial robot (2) or the process tool (3) with a worker (7), which detection device is connected to the controller and has a sensor device (16). The detection device (5) additionally detects a distance (d) between the industrial robot (2) and/or the process tool (3) and the obstacle (7), wherein the working device (1) has the industrial robot (2) perform an evading motion (a) with respect to the obstacle (7), which evading motion passes by the obstacle (7) and avoids the obstacle (7), or the evading motion (a) enlarges a distance from the obstacle or worker (7) that is too small.

Description

DESCRIPTION

Working device and operating method

The invention relates to a working device and an operating method with the features in the preamble of the method and device main claim.

Working devices with one or more robots and tools are in practice in different

Characteristics known. As a rule, they are considered

Fully automatic stations designed and for

Accident-proofing of workers equipped with protective partitions, which mechanically prevent the worker access or shut down the industrial robot.

Furthermore, there are aspirations to people with

Cooperate or collaborate with industrial robots in the execution of work processes. This is called human-robot cooperation or collaboration (MRK). Standardization, in particular ISO / TS 15066 and EN ISO 10218-1,2, contain requirements for the MRC with regard to protective measures, sensory

Failure safety and the like .. In the MRK is a detected collision of the robot or its tool with an obstacle, in particular with a worker detected with a detection device and for safety

Protective measure, in particular a standstill or a backward movement of the robot initiated. The

Collision detection can be touching and possibly with a measurement of collision forces occurring.

Suitable tactile articulated arm industrial robots for this purpose are known, for example, from DE 10 2007 063 099 A1, DE 10 2007 014 023 A1 and DE 10 2007 028 758 B4. It is an object of the present invention to provide a

show improved working technique.

The invention solves this problem with the features in the method and device main claim.

The claimed working technique, i. the

Working device and the associated operating method, have the advantage that higher performance and

Availability of the working device without limitation of MRK fitness can be achieved. By measuring the distance, an imminent risk of collision can be detected in advance, with the industrial robot performing an evasive movement.

As a result, on the one hand a collision and a MRK protection measure, in particular a standstill or a backward movement of the industrial robot can be avoided. The work process and the process movement of the

Industrial robot can thanks to the evasive movement

be continued and possibly completed. The zmaßnahme with a MRK protection measure timing problems can be avoided. In a MRK protection measure, it can not be predicted whether and how long the industrial robot will be interrupted in its process movement.

An essential feature of the invention

Dodge, in particular the operating method of the working device, is an upstream

Dodge strategy that becomes active before a collision occurs and is detected.

The industrial robot can make an evasive movement past the obstacle and avoid this. In an evasive movement, the distance measurement can be continued, the success of the evasive movement checked and the evasive movement are corrected as needed can. This is particularly advantageous if the

Obstacle moves. For a dynamic

Dodge strategy is beneficial with the

Detection device not only the existence of a

Obstacle, especially of a worker, but also the

Location and / or the size and / or a possible movement of the obstacle to detect. With a moving obstacle direction and speed can be detected and for a planning as well as a possible correction of the

Evasive movement be used.

The working device and in particular its control are provided for the aforementioned and claimed functions and designed in a suitable manner.

Preferably, the control for the evaluation of the measured or determined distances and the planning and initiation of the evasive movement and their possibly.

Correction responsible and controls the industrial robot accordingly.

The detection device may comprise a plurality of sensor devices. For this purpose are in the subclaims

various embodiments indicated. Special advantage offers a registration technique, on the one hand

contacting detects the occurrence of a collision and additionally has a distance-measuring sensor device for the avoidance strategy.

The MRK safety and sensory failure safety required by the standardization mentioned above can be combined with the

Sensor device can be achieved, the one occurred

Collision preferably touchingly detected and the

Standard specifications are designed according to MRK-suitable.

For this purpose, a self-MRK-suitable, in particular tactile industrial robot, with an associated, in particular integrated, and acting loads detecting sensors are used. The additional sensor device for preferably

Non-contact distance measurement needs this

Standard specifications not to follow and can be made much easier and cheaper. These

Sensor device may have a simple and inexpensive sensor that can be located on the industrial robot or externally. The sensor can be considered optical

Sensor, e.g. as a 3D camera, be trained. Such cameras are from other areas, in particular

Computer applications for animation and games, in building technology or the like. available and because of great

Quantities correspondingly inexpensive. The MRK suitability of the working device and possibly the

Industrial robots can be fully preserved, with the additional function of evasion strategy can be achieved in a particularly simple and cost-effective manner. in the subclaims are further advantageous

Embodiments of the invention indicated.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

Figure 1: a schematic representation of a

Working device with an industrial robot and a detection device,

Figures 2 and 3: Schematic representations for impending

Collision cases and evasive movements and

Figure 4: a tactile industrial robot.

The invention relates to a working device (1) and a method for operating such a working device (1).

The working device (1) contains at least one industrial robot (2) which carries and guides a process tool (3) and carries out a process with it. A preferred embodiment is shown in Figure 4 and will be explained in more detail succession. The working device (1) further comprises a controller (6). This can be a robot controller or another, in particular superior, station or system controller. The process tool (3) and the executable

Processes can be designed as desired. It may be joining processes, client or forming processes, handling ^¬ and assembly processes and corresponding tool training. The process tool (3) can also have one or more own axes of motion and drives. In the exemplary embodiments is a possibly changeable

Gripping tool (3) shown. The industrial robot (2) is programmable and has for this purpose a corresponding robot controller (6) with suitable interfaces and memories. In the

Robot controller (6) are stored one or more path programs for the robot movements in the processes to be executed. In the railway programs, the

Space coordinates of one or more target points (19) and any points to be approached in the process along with the associated Cartesian trajectories (21) to be stored. In particular, an algorithm or a program for the evaluation of detected distances (d) and the execution of an evasive movement (a) of the industrial robot (2) can be stored in the controller or robot controller (6).

The working device (1) is for a human-robot cooperation or collaboration (abbreviated MRK) in

suitably trained. A worker (7) can work without protective separation in the working area of the

Stop and move the industrial robot (2). At a

Cooperation the industrial robot (2) and the worker (7) can work independently. In a collaboration, a collaboration of industrial robots (2) and workers (7) takes place in the process.

The MRK-compatible working device (1) introduces

Occurrence of a collision a MRK Schut zmaßnahme according to the above-mentioned relevant standardization. If the industrial robot (2) itself or with his

Process tool (3) collides with the operator (7) or with another unforeseen obstacle and comes in touching contact sees the MRK measure e.g. a stoppage or a backward movement of the

Industrial robot (2) ago. At a standstill, the industrial robot (2) may also be switched powerless and can be pushed away by the worker (7) or another obstacle. For the detection of an occurred collision, the working device (1) has a detection device (5). This can have one or more sensor devices (16) for collision detection.

In the illustrated and preferred embodiment, the industrial robot (2) is itself MRK-capable and equipped with an associated sensor device (16) for collision detection. The sensor device

(16) may include one or more sensors (17) for detecting a physical contact between the industrial robot (2) and / or the process tool (3) and the operator (7) or other obstacle. With a sensor (17) may possibly also occurring

Collision forces are measured.

In the exemplary embodiment shown, one or more sensors (17) are integrated in the industrial robot (2) and detect the loads acting on the outside in the event of a collision. In another, not shown

Embodiment, one or more sensors (17) on the process tool (3) or between the industrial robot (2) and the process tool (3) may be arranged. Furthermore, it is possible to prevent the occurrence of a collision in another way, e.g. electrically via current flow upon contact or the like. , and with a suitably trained

Detecting sensor device (16). The detection device (5) additionally detects a distance (d) between the industrial robot (2) and / or its process tool (3) and the worker (7) or another unforeseen obstacle. The detection or detection can by direct measurement or by

other indirect determination, in particular

Calculation of a distance. For the

Distance detection is one or more additional Sensor device (s) (14,15) provided. The

Sensor devices (14, 15, 16) are connected to the controller (6) via a signal connection (18), e.g. the shown

Signal line, or wirelessly coupled by radio or otherwise.

The working device (1), in particular the controller (6) is then designed to be at a threatening

Risk of collision the industrial robot (2) a

To make evasive movement (a) with respect to the worker or obstacle (7). The threat of collision can be determined from the recorded distance. This can be done by evaluating the distance size. A

Danger of collision occurs if the detected distance (d) is equal to or less than a predetermined one

Collision distance (x) is. Figures 2 and 3 show this two embodiments.

The detection device (5) checks in advance along the programmed trajectory the environment on the

Occurrence of such collision hazards. By a

Dodge movement (a), the industrial robot (2) avoid the obstacle or worker (7) collision-free and continue his programmed process movement or

continue. If no collision or non-negotiable

If obstacles arise, the industrial robot (2) can complete its programmed process movement, e.g. the target point (19) shown in Figures 2 and 3 is achieved. The evasive movement (a) can lead past the obstacle (7) and circumvent it or possibly increase too small a distance from the obstacle or the worker (7). Through this pre-field acquisition and the avoidance strategy, an MRC measure and a process interruption,

in particular, a standstill of the working device (1) can be avoided. The evasive movement (a) becomes

executed until the target point (19) is reached, or until the occurrence of a collision is detected. Figure 2 illustrates the case in which in the

programmed trajectory movement of the industrial robot (2) to a destination point (19), the trajectory (21) by a detected obstacle or a worker (7) runs.

Here, by the sensor device (14,15), a distance (d) along the trajectory of a

collision relevant point (4) up to one

Impact site at the obstacle or worker (7) detected. A collision relevant point (4) may e.g. the in

Movement foremost and most likely the

Impact point reaching the process tool (3). In the other case of FIG. 3, the obstacle or the worker (7) is located outside the path of movement or the trajectory (21) of the industrial robot (2)

Target point (19). In pursuit of this orbital movement, however, the lateral distance to the obstacle or worker (7) would be too small and could fall below a given minimum distance. The distance measurement then relates to the lateral distance (d) between the trajectory (21) and the obstacle or worker (7). The detection device (5) detects the distance (d) according to position and size. This is preferably done without contact. The detection may consist in a direct measurement of the distance (d) between a collision-relevant point (4) and the obstacle or worker (7). On the other hand, the distance (d) can be determined from another distance measurement. This is the case, for example, if the measuring reference point is distanced from the collision-relevant point (4). There are various possibilities for designing the sensor device (s) (14, 15) for distance detection. A sensor device (14) can eg according to Figure 1 on Industrial robot (2) and / or be arranged on the process tool (3). She is in the robot movement

carried. Such a sensor device (14) can be one or more suitable sensors for preferably

non-contact scanning of the environment of the programmed

Trajectory or trajectory (21) in advance and at a distance to the current robot position have. Such a sensor may e.g. be an ultrasonic sensor.

Alternatively, an optical sensor or other suitable sensor with distance effect is possible.

The detection device (5) can alternatively or

additionally a sensor device (15) arranged separately and externally by the industrial robot (2) for the

Have distance detection. This may also include one or more suitable sensors. The

Sensor device (15) may e.g. an optical

Perform work space monitoring and has for this purpose one or more optical sensors. A sensor may e.g. as a 3D camera, as a depth image camera, as

Laser distance sensor or the like. be educated. The

Sensor device (15) can be above the

Industrial robot (2) and the obstacle or worker (7) and carry out a bird's eye view. Alternatively, other arrangements and

Formations of the sensor device (s) (14,15) possible.

The working device (1) is suitable

configured to perform an evaluation of the detected distance (d). It also makes the decision on an evasive movement (a) depending on this and then carries it out. These operations can be in one

appropriately trained control (6), in particular the robot control, are performed. An evaluation of the distances (d) and possibly a decision for a

Evasive movement (a) can also occur in the

Detection device (5) take place. The fallback process can be dynamic. A recording and evaluation of the distances can during the

Evasive movement (a) take place and may possibly become one

Correct the evasive movement (a). This may be the case in particular with moving obstacles or workers (7).

Preferably, the detection device (5) detects not only the existence, but also the position and / or the size and / or a possible movement of the obstacle or worker (7). The said position closes the position and

Orientation in the room. Become a movement

preferably detects their direction and speed. The detection takes place via the sensor device (s) (14, 15).

The evasive movement is preferably planned and executed by the controller (6). This has for this purpose the mentioned algorithm for the compensation movement (a).

This can also include an online tra ector planner that creates a preferably collision-free path planning.

As FIGS. 2 and 3 illustrate, e.g. of the

Algorithm or online tra ector planner

additional track point (20) generated and the

Programmed path motion of the robot changed accordingly. The evasive movement (a) leads via one or more additional track points (20) to the

process-related target point (19). The movement can be changed as a point-to-point movement on accordingly

Trajectories expire. The one or more track points (20) could, if necessary, in a dynamic

Avoidance strategy are changed, especially when the obstacle or the worker (7) move or a new obstacle (7) appears. The MRK fitness of the working device (1) and possibly of the industrial robot (2) can be produced in different ways. In the exemplary embodiments shown, the industrial robot (2) itself is MRK-compatible.

Preferably, it is a tactile

multiaxial industrial robot (2) with a preferably integrated sensor device (16), the sensitive

Features and even has a physical contact with the human body or other obstacles

and then react with said MRC measure. The tactile industrial robot (2)

detect for MRK purposes a touch or

Collision contact as an external load, which on a

Robot position occurs where this burden is not expected. For the reaction to a

Physical contact, there may be different levels of stress ^¬ and reaction thresholds. The tactile industrial robot (2) can with the worker (7) in an open

Working area without fence or other machine border work together. It can also come to painless or painless contacts.

The industrial robot (2) may e.g. in accordance with DE 10 2007 063 099 A1, DE 10 2007 014 023 A1 and / or DE 10 2007 028 758 B4. A preferred embodiment is shown in FIG.

The industrial robot (2) is connected to an external or

Integrated robot control (6) connected. The tactile industrial robot (2) can be the in Figure 5

indicated, preferably integrated sensor device (16) for the detection of externally acting forces and / or moments, which is connected to the robot controller (6) and for control or regulation,

in particular compliance rule, the

Robot movements is used. The tactile Industrial robots can in particular power or

have momentum-controlled axes.

The industrial robot (2) has several, e.g. four movable and connected members (8,9,10,11). The links (8, 9, 10, 11) are preferably articulated and connected to one another and to a pedestal via rotating robot axes I-VII. The socket may have a connection for equipment shown in FIG. It is also possible for individual members (9, 10) to be multi-part and movable, in particular rotatable about the longitudinal axis.

In the illustrated embodiment, the industrial robot (2) is designed as Gelenkarm- or articulated robot and has seven driven axes or axes of motion I-VII. The axes I-VII are connected to the robot controller and can be controlled and possibly regulated. The output side end member (11) of the robot (2) is e.g. trained as a robot hand and assigns this to a

Rotation axis (13) rotatable output element (12), e.g. an output flange, on. The axis of rotation (13) forms the last robot axis VII. By a possibly hollow output element (12) and possibly other robot members (8,9,10) one or more lines for resources, e.g. Power and signal currents, fluids, etc. be guided and on the flange (12) to the outside. The signal line (18) can be guided inside the robot. The robot (2) preferably has three or more movable members (8, 9, 10, 11). In the exemplary embodiment shown, it has a base with a base

connected base member (8) and the aforementioned end member (11) and two intermediate links (9,10) on. The

Intermediate links (9,10) are multi-part and in itself

rotatably formed by means of axes (III) and (V). The number of intermediate links (9, 10) can alternatively be smaller or bigger. In a further modification, individual or all intermediate links (9, 10) can be designed to be rotationally fixed and without an additional axle. The limbs

(8, 9, 10, 11) can be straight or according to FIG. 4

have angled shape. The industrial robot (2) can be arranged standing or alternatively hanging according to FIG.

The robot axes I-VII each have an axle bearing, e.g. Swivel or a joint, and a here associated and integrated controllable, possibly adjustable final drive, e.g. Rotary drive, up. In addition, the robot axes I-VII may have a controllable or switchable brake and possibly redundant sensor device (16). The sensor system may be integrated and may be e.g. Have one or more, schematically indicated in Figure 1 sensors (17) on one or more robot axes I-VII. These sensors (17) can have the same or different functions. In particular, they can be used to capture

acting loads, in particular of moments be formed. You can also detect rotational movements and possibly rotational positions.

The aforementioned force control or force control of the robot axes (I-VII) refers to the effect on the outside of the output element (12) of the end member (11) and on the reaction forces acting there. Robot-internally, a torque control or torque control takes place on the rotating axes or axle drives.

The industrial robot (2) can be one or more resilient axles (I-VII) for the MRK-fitness

have compliant axle drives with a compliance control. The compliance rule can be a pure

Force control or a combination of a position and a force control. Such a compliant axle avoids accidents involving people and crashes Objects in the work area by force limitation and possibly standstill or resilient Dodge in the case

unforeseen collisions. On the other hand, it can be used advantageously in various ways for the work sprozess. On the one hand, the springy

Dodge capability of the industrial robot (2) for manual teaching and programming. Over a

Load detection with the robot sensors on the axles (I - VII) can also search and find the

Working position of the process tool (2) supported and facilitated on the workpiece. Also angular errors in the relative position of the members (8,9,10,11) can

be detected and corrected as needed. One or more compliant axes are also advantageous for tracking the process tool (3) according to the feed. The industrial robot (2) can also apply as needed a defined pressing or pulling force. In the different cases, a weight compensation can also take place.

The illustrated industrial robot (2) can as

Lightweight robot be trained and off

lightweight materials, e.g. Light metals and plastic exist. He also has a small size. That simplified in its construction and function

Process tool (3) also has a low weight. The industrial robot (2) with its process tool (3) is thus lightweight overall and can be transported without much effort and moved from one location to another. The weight of

Industrial robot (2) and process tool (3) can be less than 50 kg, in particular about 30 kg. By the

Possibility of manual teaching, the

Industrial robots (2) quickly and easily programmed, put into operation and to different processes

be adjusted. The industrial robot (2) is programmable, wherein the robot controller (6) has a computing unit, one or more memories for data or programs as well as input and output units. The process tool (3) can be connected to the robot controller (6) or another common control and can eg as

controlled axis to be implemented in the robot controller. The robot controller may process relevant data, e.g. Sensor data, save and for a

Log quality control and backup.

Modifications of the shown and described

Embodiments are possible in various ways. On the one hand, the features of the embodiments and their modifications can be arbitrarily combined with each other and also replaced.

In an MRK-compatible working device (1), it is also possible to use another conventional industrial robot (2) without its own MRK capability, e.g. is not tactile and / or has only position controlled axes. The detection device (5), in particular the

Collision detecting sensor device (16) is designed for this purpose.

LIST OF REFERENCE NUMBERS

1 working device

2 robots, tactile robots, lightweight robots

3 process tool

4 collision relevant point

5 detection device

6 control

7 obstacle, worker

8 link, base link

9 link, link

10 link, intermediate link

11 member, end member, hand

12 Output element, output flange, rotary flange

13 axis of rotation

14 Sensor device Distance measurement on robots

15 Sensor device Distance measurement external

16 Sensor device collision detection

17 Sensor technology in robots

18 signal connection

19 target point

20 additional train point

21 trajectory a evasive movement

d measured distance

x collision distance

I - VII axis of robot

Claims

PATENT CLAIMS Working device comprising an industrial robot (2) carrying a process tool (3) and a controller (6), said working device (1) being designed for human-robot cooperation or collaboration (MRK) and having one Control connected detection device (5) with a sensor device (16) for the detection of an occurred collision of the industrial robot (2) or the process tool (3) with an obstacle (7), in particular with a worker, wherein the detection device (5) additionally a distance (d) between the industrial robot (2) and / or the process tool (3) and the obstacle (7) detected and the working device (1),

in particular, the controller (6) is designed to be detected at a distance determined from the distance

Risk of collision, the industrial robot (2) to execute a deflection movement (a) relative to the obstacle (7), wherein the evasive movement (a) past the obstacle (7) and the obstacle (7) bypasses or the evasive movement (a) one too small Distance from obstacle or worker (7) increased. Working device according to claim 1, characterized

There is no such thing as the

Industrial robot (2) in the evasive movement (a) continues its programmed process movement and possibly leads to an end. A working device according to claim 1 or 2, characterized in that the

Detection device (5) the position and / or size and / or movement, in particular the direction and speed of the obstacle (7) detected .

A working device according to claim 1, 2 or 3, characterized in that the

Sensor device (16) touching detects a collision occurred and measures collision forces, if necessary.

Working device according to one of the preceding claims, characterized in that the detection device (5) has a sensor device (14, 15) which measures the distance (d) preferably without contact.

Working device according to one of the preceding claims, characterized in that a distance (d) measuring without contact

Sensor device (14,15) on the industrial robot (2) or on the process tool (3) or separately and externally arranged.

Sensor means (14,15) comprises an optical sensor or an ultrasonic sensor.

A working device according to one of the preceding claims, characterized in that the industrial robot (2) is MRK-compatible.

Working device according to one of the preceding claims, characterized in that the industrial robot (2) executes an MRK protection measure during a collision, in particular stops or carries out a backward movement.

10.) working device according to one of the preceding

Claims, characterized in that the industrial robot (2) is designed as a tactile robot, one of which is the contact of the

Industrial robot (2) or the process tool (3) with an obstacle (7) detecting

Sensor device (16) has a the industrial robot (2) associated with sensor (17). 11.) working device according to one of the preceding

Claims, characterized in that the tactile industrial robot (2) a plurality of movable, in particular rotatable, interconnected members (8,9,10,11,) and one or more force-controlled or force-controlled robot axes (I - VII) and an integrated, acting loads having sensing sensor (17).

12.) working device according to one of the preceding

Claims, characterized in that the tactile industrial robot (2) at least one compliant robot axis (I - VII) with a

Compliance control, in particular a pure force control or a combination of position and force control, has.

13.) working device according to one of the preceding

Claims, characterized in that the controller (6) a stored web program for the robot movements and an algorithm for the

Has evasive movement (a).

14.) working device according to one of the preceding

Claims, characterized in that an algorithm for the evasive movement (a) one

Online tra ector planner, in particular for collision-free rail planning.

15.) working device according to one of the preceding

Claims, characterized in that the working device (1), in particular the

Detection device (5) or the controller (6), an evaluation of the measured distances (d)

performs.

16.) Operating method for a working device (1) with an industrial robot (2), the one

Process tool (3) carries, and with a controller

(6), wherein the working device (1) for a

Human-robot cooperation or collaboration (MRK) is trained and one with the controller

connected detection device (5) with a

Sensor device (16) for the detection of an occurred collision of the industrial robot (2) or the process tool (3) with an obstacle

(7), in particular with a worker, wherein the detection device (5) additionally has a

Distance (d) detected between the industrial robot (2) and / or the process tool (3) and the obstacle (7), wherein the working device (1), in particular the controller (6), at a collision risk determined from the distance the

Industrial robot (2) makes an evasive movement (a) relative to the obstacle (7), wherein the evasive movement (a) past the obstacle (7) and the obstacle (7) bypasses or the evasive movement (a) too close a distance from

Obstacle or worker (7) enlarged.

17.) Process according to claim 16, characterized

There is no such thing as the

Industrial robot (2) continues its programmed process movement during a dodge and leads to an end.

18.) Process according to claim 16 or 17, characterized

That is, the position and / or the size and / or a movement, in particular according to direction and speed, of the obstacle (7) is detected and evaluated.

19.) Process according to claim 16, 17 or 18, characterized

There is no such thing as that in a

Evasive movement of the industrial robot (2)

Distance measurement is continued, checking the success of the evasive movement and the

Evasive movement is corrected if necessary.