EP3108217A1

EP3108217A1 - Measuring instrument and measuring method

Info

Publication number: EP3108217A1
Application number: EP15708457.5A
Authority: EP
Inventors: Henning Borkeloh
Original assignee: KUKA Systems GmbH
Current assignee: KUKA Systems GmbH
Priority date: 2014-02-21
Filing date: 2015-02-18
Publication date: 2016-12-28
Also published as: DE202014100803U1; WO2015124635A1

Abstract

The invention relates to a measuring instrument (2) and a measuring method for a steering wheel (3) in a motor vehicle (5). The measuring method is carried out by a programmed tactile industrial robot (8), an end effector (9) of which firmly holds the steering wheel (3) in a defined position. The industrial robot (8) comprising the end effector (9) acts as a steering wheel centering device.

Description

DESCRIPTION

Measuring device and measuring method The invention relates to a measuring device and a

Measuring method for a steering wheel in a motor vehicle with the features in the preamble of the device and

Main method claim. Such a measuring device is known in the form of a steering wheel balance from DE 10 2008 016 045 A1 and DE 10 2005 042 446 B3. The steering wheel scale is a mobile measuring device, which is manually attached to the steering wheel and fixed. It needs u. U. also another rigid connection to a body-mounted part, e.g. the dashboard. For the measurement and adjustment of the steering angle and the steering wheel angle at a station for the

Suspension adjustment, especially the

Steering adjustment, such a steering wheel balance is only partially suitable.

It is an object of the present invention to provide a

show improved measuring technology.

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

The claimed measuring technique, i. the measuring device and the measuring method, use a tactile industrial robot with an end effector. The sensitive properties of the tactile industrial robot are used for the resulting measurement tasks. The tactile

Industrial robots can replace the previous steering wheel balance.

The claimed measuring technology has various technical and economic advantages. On the one hand, it allows full automation of the measuring technology and, if necessary, further processing of the measured values for Adjustment changes of the steering wheel. The tactile

Industrial robots can be used not only as a measuring device, but possibly also as a handling and setting device for the steering wheel. The measuring operations and, where appropriate, adjustment operations can also be carried out in conjunction with a mounting of the steering wheel in the motor vehicle, wherein the tactile industrial robot also as

Mounting device for the steering wheel can be used. The tactile end robot with its end effector can

be arranged outside the motor vehicle and may be connected through a vehicle opening, e.g. an open window, enter the vehicle interior and the steering wheel. Of the

End effector can be connected automatically and in a defined position with the steering wheel. This makes it possible to achieve a very high degree of accuracy in the measuring processes and, if necessary, in setting processes.

The sensitive properties of the tactile

Industrial robots can participate in this process

be used in different ways. Upon delivery of the end effector to the steering wheel, this sensitivity can be used to determine if the vehicle window or other access is actually open. This can be done in the

closed case by a contact with the window glass or the like. be detected, which is possible damage-free thanks to the sensitive robot properties. In such a case, the industrial robot reacting to external stress may stop or evade. He can backwards and e.g. move to a rest position.

With the sensitive properties of the tactile

Industrial robots can be done different measuring tasks. This relates in particular to the measurement of externally acting on the steering wheel forces and / or moments, for example, induced via the steering line from the outside become. At a station for testing and possibly adjusting the suspension, in particular the steering, and possibly the vehicle wheels, such external forces or moments can be initiated via a stationary control device which, for example, the vehicle wheels on a

Floating plate moves, in particular, turns or rotates. The readings for manual or automatic suspension or

Steering be used.

Furthermore, with the tactile industrial robot the

Steering wheel rotation angle and / or a steering hysteresis are measured, whereby the steering wheel in the steering play center can be leveled. In addition, the

Tilt angle of the steering wheel in one or more

Measure directions. If necessary, the measuring technology can also be used for a correspondingly adapted and possibly corrected assembly of the steering wheel. 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 station with a robot-based

Measuring device on the steering wheel of a vehicle and

Figure 2: a tactile industrial robot in one

preferred embodiment.

The invention relates to a measuring device (2) and a measuring method for a steering wheel (3) in a motor vehicle (5). The invention further relates to a station (1) with such a measuring device (2).

FIG. 1 shows a station (1) with a motor vehicle (5) and the measuring device (2). The station (1) may e.g. be designed as a test bench. Here, the chassis of the motor vehicle (5) can be checked and adjusted if necessary. This can e.g. relate to a test and adjustment of the steering, of which in Figure 1, the steering wheel (3) and a part of the steering line (4) are shown. The test may further relate to one or more vehicle wheels (6), e.g. in terms of lane, camber angle or the like ..

The station (1) has in the illustrated embodiment, an adjusting device (24) together with a controller (25), which can be used for adjusting and aligning the vehicle wheels (6) and optionally the steering (3,4). One or more vehicle wheels (6) may e.g. pivoted about an upright axis or in her

Steering angle to be changed. This can

fully automatic or by manual operation

happen. One or more vehicle wheels (6) may be mounted on a resilient base (26), e.g. one

Floating plate, rest. The measuring device (2) has a tactile

Industrial robot (8) with an end effector (9). The industrial robot (8) can record the steering wheel (3) firmly in a defined position with the end effector (9).

This allows steering wheel movements on the end effector (9) and further on the tactile industrial robot (8)

be transmitted. Likewise, forces and moments acting on the outside of the steering wheel (3) can also be transmitted via the fixed receptacle to the tactile industrial robot (8). This can e.g. Be via the steering line (4) induced moments. You can of the

Actuating device (24) via the rotation or the

Pivoting of one or more vehicle wheels (6) are initiated.

Conversely, forces and moments as well as possibly movements of the industrial robot (8) via the end effector (9) and the fixed recording on the steering wheel (3) and further via the steering line (4) to the steered vehicle wheels (6) are transmitted. The said fixed recording ensures accurate, backlash-free and secure transmissions in one or both directions. The end effector (9) is designed for said fixed receptacle in any suitable manner. Im shown

Embodiment, it is designed as a gripping tool, which via a robot connection (10) with the

Industrial robot (8) is connected. The gripping tool (9) has a frame with one or more driven and controllable gripping means (11) which engage in defined manner at intended locations of the steering wheel (3). The gripping means (11) may e.g. be designed as controllable clamps or clamps, a steering wheel part, e.g. engage the turntable, with positive locking and / or clamping. The thus caused firm recording is

play. The gripping means (11) can also be connected to the Be adapted shape of the steering wheel locations, with a form-free fit and adaptation to the steering wheel geometry a backlash-free fixed Aufname and Vernestung in all

translational and rotational spatial axes can be achieved.

To form the fixed mount, the end effector (9) is docked by the tactile robot (8) to the steering wheel (3), e.g. delivered with open gripping means (11), positioned with positive locking and by closing the

Gripping means (11) is brought into exact engagement.

The gripping tool (9) can also be adjustable, wherein the gripping means (11) as needed to the

acted upon steering wheel locations can be delivered. On the other hand, the gripping tool (9) on

Different shapes and sizes of steering wheels (3) are adjusted and is characterized type-flexible and reusable. The aforementioned properties and functions also apply to other constructive

Formations of an end effector (9).

The tactile industrial robot (8) is shown in FIG

Embodiment arranged outside the motor vehicle (5). It can be on the floor or on a pedestal. The tactile industrial robot (8) has a plurality of movably connected members (13-16) and a plurality of robot axes (I-VII). Figure 2 shows a preferred embodiment of the tactile

Industrial robot (8), closer to the following

will be received.

The tactile industrial robot (8) can have any number and arrangement of links (13-16) and rotary and / or translatory robot axes (I-VII). In the illustrated and preferred embodiment, it is designed as an articulated arm robot or articulated robot and has seven rotary robot axes (I-VII).

The robot axes (I-VII) each have a joint or a pivot bearing and a controllable and possibly adjustable final drive. The axle drives are connected to a robot controller (12) which is external

arranged or on the industrial robot (8) can be grown. The tactile industrial robot (8) has sensitive

Properties. For this purpose, it has an associated sensor system (19) which can absorb or detect externally acting loads. The sensor (19) is also connected to the robot controller (12). The assignment of the sensor (19) can be done in different ways. In the illustrated and preferred embodiment, the sensor system (19) in the industrial robot (8) and in particular in the members (13-16) is integrated. Alternatively or additionally, a sensor (19) externally on

Industrial robots (8) to be grown. It can be e.g. between an output element (17) of the tactile industrial robot (8) and the robot connection (10) of the end effector (9). The tactile industrial robot (8) can by means of the sensor (19) acting from the outside via the steering wheel (3)

Loads, especially forces and / or moments, detect and measure. The tactile industrial robot (8) can also detect and measure positions and possible movements of the steering wheel (3) via the same or a different sensor (19) and the fixed mount.

The preferably integrated sensor system (19) can both

Complete detection and measurement tasks. For example, in the exemplary embodiments shown, it has a moment sensor and a displacement sensor (not shown) on each robot axis (I-VII). These sensors can each be connected separately be arranged the axis or integrated in the final drive. The torque sensor detects externally introduced moments about the respective rotating robot axis (I-VII). The displacement sensor detects paths and / or positions

in particular absolute and / or relative rotation angle of the respective rotary robot axis (I-VII).

In a modification of the embodiments shown, one or more such sensors may be arranged only on one or on some robot axes (I-VII). The

The aforementioned sensor arrangement can also be found in

Adaptation to another axle configuration, e.g. a translatory robot axis, change. The tactile industrial robot (8) has e.g. the

said members (13-16), wherein the

output side end member (16) an output member (17) is arranged, which rotates about a rotation axis (18). The axis of rotation (18) may be the output axis and the last robot axis (VII). The output member (17) may be e.g. be designed as a flange.

The end effector (9) is preferably held and aligned by the tactile industrial robot (8) such that the output axis (18) or robot axis (VII) with the

Rotary axis of the fixedly received steering wheel (3) is aligned or at least aligned in parallel. The end effector (9) also has a corresponding geometry and assignment of its frame and the robot connection (10).

The robot connection (10) can directly with the

Output element (17) connected, for example, be screwed. Alternatively, a coupling (21) merely indicated in FIG. 2 may be interposed. This may be, for example, a mechanical and automatic change coupling with which the industrial robot (8) the end effector (9) as needed on a magazine (not shown) and can switch to another end effector. The coupling (21) may alternatively or additionally for the transmission of resources, such as electrical currents, fluids or the like. to be used. You can be designed for this purpose as a media coupling. Such a media coupling can

also be separable and an automatic

Enable effector change. The robot controller (12) can have a display (22) for the measured values recorded by the sensor system (19). A display (22) may alternatively or additionally be located elsewhere, e.g. be arranged on the control (25) of the station (1). The robot controller (12) may further comprise an interface (23) shown in Figure 1 for connection and unidirectional or bidirectional data transmission with the actuator (24) and / or for connection to the controller (25). The measured values recorded by the tactile robot (8) with the associated sensor system (19) are evaluated at a suitable location and, if necessary, processed. This can be done in the robot controller (12) and / or in the

Station control (25) happen. With the tactile

Industrial robots (8) can take various measurements

be performed. Depending on the application, all or only part of the measurements can be made.

The tactile industrial robot (8), especially the

Sensor (19), on the one hand, the steering wheel rotation angle about the axis of rotation of the steering wheel (3) measure. This can be done via the aforementioned path detection. This can be done in

Connection with the test stand (1) can be determined whether the steering wheel (3) has the correct rotational position in the case of vehicle wheels (6) aligned in straight-ahead driving or whether it must be readjusted at a suitable location. With the tactile industrial robot (8) can alternatively or In addition, a steering hysteresis can be measured. Furthermore, the steering play detected and possibly the steering wheel in the

Lenkspielmitte be leveled. Here can

optionally the rotational position of the steering wheel (3) via the adjusting device (24) and / or via the tactile

Industrial robots (8) to be changed.

The tactile industrial robot (8) can also measure in the aforementioned manner on the steering wheel (3) externally acting and in particular via a steering line (4) induced forces and / or moments. This concerns e.g. the steering wheel torque for rotating or pivoting the steered vehicle wheels (6). On the other hand, acting on the steering wheel (3) reaction torque at an external

Wheel adjustment by the adjusting device (24) are measured.

The tactile industrial robot (8) can also the

Measure the angle of inclination of the steering wheel (3) in one or more directions or spatial axes. The steering wheel (3) of a motor vehicle (5) is normally tilted in the forward direction of travel and at an angle of e.g. mounted about 20 ° against the vertical axis in the vehicle (5). There may also be other inclinations or

Inclinations and angles occur against one or more other spatial axes, which can also be measured.

Furthermore, the spatial position of the steering wheel (3) relative to the motor vehicle (5) with the absolute

Space coordinates are measured. All of these measurements, including the initially mentioned steering angle of rotation, can be transmitted via the end effector (9) and in the

Industrial robots (8) integrated path detection can be measured. The end effector (9) with its TCP (Tool Center Point) and the tactile industrial robot (8) can be calibrated for this purpose and also against the Motor vehicle (5) are referenced.

The tactile industrial robot (8) may have one or more compliant robot axes (I-VII). These

allow e.g. a yielding in externally induced

Steering wheel movements. The industrial robot (8) can follow such a steering wheel motion powerless or with a limited counterforce, the latter can be controlled or regulated. Such a tactile robot (8) may e.g. according to DE 10 2007 063 099 A1, DE 10 2007 014 023 A1 or DE 10 2007 028 758 B4.

The tactile industrial robot (8) can have one or more force-controlled or force-controlled robot axes (I-VII). Compliant robot axes can be one

Have compliance control, e.g. can be designed as a pure force control or a combination of position and force control. In addition, the robot axes (I-VII) may have a control or shiftable brake.

Figure 2 shows a preferred embodiment of the tactile industrial robot (8). The articulated or articulated robot has e.g. four articulated links (13-16) and seven rotating links

Robot axes or axes of motion (I-VII) on. Individual members (14, 15) may be multi-part and movable, in particular rotatable about the longitudinal axis. The tactile industrial robot (2) has seven driven axles (I - VII). The output side end member (16) of the robot (8) is formed, for example as a robot hand and has the about the axis of rotation (18) rotatable output member (17). By the optionally hollow output member (17) and possibly other robot members (13-16) can be an internal media supply (20) with one or more lines for resources be performed starting from a terminal on the base and on the flange (17) to the outside and possibly connected to a media coupling (21). Operating equipment can be, for example, electrical signal and / or power flows, one or more fluids, eg compressed air, hydraulic oil,

Coolant or the like. be. They may be used to supply the end effector (9) and its components, e.g. of the

Gripping means or actuators used. The tactile industrial robot (8) can be switched into various modes of operation, e.g. can be switched powerless for the measurement processes.

He can also enter a spring mode or steam mode

be switched, in which he e.g. when unexpected resistances occur, springy or damped deflects until the load disappears or in one

Contact position with limited strength remains. This can e.g. be used in the aforementioned delivery of the end effector (9) through the window (7) with open-check. Another area of application is the application of the

End effector (9) on the mounted in the motor vehicle (5) steering wheel (3) and the search of the current steering wheel position. The steering wheel position can deviate from the desired position, wherein the actual position is found by the tactile search function and the exact recording can be done.

The sensitive robot properties can also be used for setting purposes. The tactile

For example, industrial robot (8) can rotate the steering wheel (3) in a predetermined manner. The specification may, for example, relate to the path or angle of rotation and / or the force or the torque. Also for the steering wheel assembly of the tactile industrial robot (8) can be used, where he searches with its sensitivity, for example, the steering shaft or other receiving part and aligns the firmly recorded steering wheel (3) according to mounting and deliver. In this case, the aforementioned measurements and any adjustments to the steering wheel (3) and / or on the steering line (4) or the steered vehicle wheels can be made. For personal protection, the tactile industrial robot

(8) be provided with an accompanying protective device. This may be due to physical contact with people or other unexpected obstacles

Immediately stop and stop robot movements.

On the other hand, the tactile industrial robot (8) for human-robot cooperation or collaboration ion

(abbreviated MRK) suitable trained. Such a tactile robot (8) can also be with his

Endeffektor (9), in particular with its Tool Center Point (TCP), manually guide if necessary. This can be used for simple and quick teaching of the robot program, in particular the train or exercise program.

The industrial robot (8) preferably has a relatively low weight of less than 100 kg, especially 50 kg or less. He also has a correspondingly limited load capacity. The industrial robot (8) can be designed as a small robot. Preference is also given to training as a lightweight robot, which is constructed of particularly lightweight materials, in particular plastic, at least in parts.

Modifications of the shown and described

Embodiments are possible in various ways. In particular, the characteristics of the various

Embodiments and their modifications are arbitrarily combined with each other or swapped.

The sensor system (19) can be designed and divided in another way. An external, strains

receiving sensor (19) can eg with wegaufnehmenden and in the robot (8) integrated sensors or possibly also be combined with external sensors, such as an optical measuring system.

REFERENCE SIGN LIST

1 station, test bench

2 measuring device

3 steering wheel

4 steering column

5 motor vehicle

6 vehicle wheel

7 windows

8 tactile industrial robot

9 end effector, gripping tool

10 robot connection

11 gripping means

12 robot control

13 member, base member

14 member, intermediate member

15 link, pontics

16 member, end member, hand

17 output element

18 axis of rotation, output axis

19 sensors

20 media feed

21 coupling, media coupling

22 display

23 interface

24 adjusting device

25 control test bench

26 ground, floating plate

VII axis of robot

Claims

Measuring device for a steering wheel (3) in one

Motor vehicle (5), characterized

There is no such thing as the

Measuring device (2) a programmable tactile industrial robot (8) with an end effector (9) for firmly receiving the steering wheel (3) in one

has defined position.

Measuring device according to claim 1, characterized

There is no such thing as tactile

Industrial robot (8) an associated, outer

Having loads receiving sensors (19).

Measuring device according to claim 1 or 2, characterized in that the tactile

Industrial robots (8) an integrated, external

Having loads receiving sensors (19).

Measuring device according to claim 1, 2 or 3, characterized in that the tactile

Industrial robot (8) has a plurality of movable, in particular articulated members (13-16).

Measuring device according to one of the preceding

Claims, characterized in that the industrial robot (8) has a plurality of robot axes (I - VII), each having a controllable and possibly adjustable final drive.

Measuring device according to one of the preceding

Claims, characterized in that the industrial robot (8) has a plurality of robot axes (I - VII), each having sensors for detecting paths and / or positions and for receiving externally acting loads, in particular

Forces or moments.

7.) Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) has at least one robot axis (I-VII) yielding under external load.

Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) has one or more force-controlled or force-controlled robot axes (I-VII).

Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) at least one robot axis (I-VII) with a

Compliance control, in particular a pure force control or a combination of position ^¬ and force control having.

10.) Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) has an integrated media supply (20) for the end effector (9). 11.) Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) on the driven-side end member (16) has a preferably automatic coupling (21) for releasably receiving the end effector (9).

12.) Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) a

Robot controller (12).

13.) Measuring device according to one of the preceding

Claims, characterized in that the robot controller (12) has a display (22) and / or an interface (23) for connection to an adjusting device (24) and / or a control (25) of a test stand (1) for a chassis of a

Motor vehicle (6).

14.) Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) the

Steering wheel angle and / or a steering Hystere measures.

15.) Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) acts on the steering wheel (3) externally, in particular via a

Steering arm (4) measures induced forces and / or moments.

16.) Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) measures the inclination angle of the steering wheel (3).

17.) Measuring device according to one of the preceding

Claims, characterized in that the end effector (9) as a gripping tool with a driven and controllable gripping means (11) for positionally accurate gripping the steering wheel (3).

18.) Measuring device according to one of the preceding

Claims, characterized in that the end effector (9) is adjustable, in particular adapted to different steering wheel geometries.

19.) Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) as

Articulated robot or articulated robot is formed.

20.) Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) as

Lightweight robot is designed.

21.) Measuring device according to one of the preceding

Claims, characterized in that the tactile industrial robot (8) for a human

Robotic Cooperation or Collaboration (MRK) is trained.

22.) station, in particular test stand for a chassis

a motor vehicle (6) with an adjusting device

(24) for the chassis, in particular the steering and possibly vehicle wheels, and with a measuring device (2) for a steering wheel (3) in the motor vehicle (5) characterized in that the

Measuring device (2) after at least one of

Claims 1 to 21 is formed.

23) station according to claim 22, characterized

There is no such thing as the

Robot controller (12) with a controller (25) of

Station (1) and / or the adjusting device (24) is connected. Measuring method for a steering wheel (3) in one

Motor vehicle (5), wherein the measuring method is carried out with a measuring device (2), characterized in that the measuring method with a programmable tactile industrial robot (8) is performed, with an end effector (9) the steering wheel (3) in a defined position firmly absorbs.

25.) Process according to claim 24, characterized

There is no such thing as the

Industrial robot (8) with the end effector (9) works as a steering wheel balance.

26.) Process according to claim 24 or 25, characterized

There is no such thing as the

Industrial robots (8) as handling and

Setting device for the steering wheel (3) is used.

27.) Process according to claim 24, 25 or 26, characterized

There is no such thing as the

Industrial robot (8) is used as a mounting device for the steering wheel (3).

28.) Method according to one of claims 24 to 27,

By this means that the

Industrial robot (8) with an associated,

in particular integrated sensor system (19), the

Steering wheel angle around the axis of rotation of the steering wheel (3) measures.

29.) Method according to one of claims 24 to 28,

By this means that the

Industrial robot (8) with an associated,

in particular integrated sensor system (19), a

Steering hysteresis measures.

30.) A method according to any one of claims 24 to 29, characterized in that e

Industrial robot (8) with an associated, in particular integrated sensor system (19), the

Detected steering play and possibly the steering wheel in the

Steering center centered.

31.) Method according to one of claims 24 to 30,

By this means that the

Tilt angle of the steering wheel (3) measures in one or more directions.

32.) Method according to one of claims 24 to 31,

By this means that the

Industrial robot (8) with an associated, in particular integrated sensor (19), on the steering wheel (3) externally acting and in particular via a steering line (4) induced forces and / or moments measures.

33.) Method according to one of claims 24 to 32,

By this means that the

Industrial robot (8) is arranged outside the motor vehicle and the end effector (9) through a vehicle opening (7), in particular an open

Window, into the vehicle interior and to the steering wheel (3), whereby the end effector (9) automatically and in a defined position with the steering wheel (3)

is connected.

34.) Method according to one of claims 24 to 33,

By this means that the

Industrial robots (8) at the delivery of

End effector (9) to the steering wheel (3) for open-testing the vehicle opening (7), in particular of the window, is used.

35.) Method according to one of claims 24 to 34,

characterized in that with the measured values of the industrial robot (8) the chassis of the motor vehicle (5), in particular the steering and the vehicle wheels (6), checked and possibly

be set.

36.) Method according to one of claims 24 to 35,

By doing so, the tactile industrial robot (8) is used for human-robot cooperation or collaboration (MRC).