EP3131710A1 - Dispositif robot présentant un axe linéaire - Google Patents

Dispositif robot présentant un axe linéaire

Info

Publication number
EP3131710A1
EP3131710A1 EP15716485.6A EP15716485A EP3131710A1 EP 3131710 A1 EP3131710 A1 EP 3131710A1 EP 15716485 A EP15716485 A EP 15716485A EP 3131710 A1 EP3131710 A1 EP 3131710A1
Authority
EP
European Patent Office
Prior art keywords
robot
linear axis
drive
carriage
joints
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Withdrawn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
EP15716485.6A
Other languages
German (de)
English (en)
Inventor
Richard ZUNKE
Julian STOCKSCHLÄDER
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.)
KUKA Systems GmbH
Original Assignee
KUKA Systems GmbH
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 KUKA Systems GmbH filed Critical KUKA Systems GmbH
Publication of EP3131710A1 publication Critical patent/EP3131710A1/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Withdrawn legal-status Critical Current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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • 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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40599—Force, torque sensor integrated in joint

Definitions

  • the invention relates to a robot device, comprising a linear axis, an adjustable on the linear axis, a plurality of joints and the joint connecting Glie ⁇ containing robotic arm, and a robot controller is formed and / or set up, the joints of Robo ⁇ terarms on automatically Basis of a robot program o- in a manual drive operation force and / or torque controlled.
  • EP 1914043 Al describes a device for geradli ⁇ Nigen displacement of at least one carriage with a substrate structure were Trä ⁇ and rails for guiding the at least one car.
  • a device is also referred to as a linear axis or linear drive.
  • Such a device is known from robotics and is also known as a linear guide.
  • Such linear guides comprise equipsele ⁇ elements, for example in the form of a pair of rails, and give the or the robot (s) an additional degree of freedom in the form of a friction-free as possible translation in vertical and / or horizontal direction along a rectilinear path.
  • the distance traveled by the respective robot displacement path along this path is also referred to as a hub.
  • the nominal stroke is defined as the maximum possible displacement travel of the robot along the path.
  • EP 1 323 503 B1 describes a safety device for devices with freely movable parts in space, in particular for handling devices such as industrial robots or driverless transport devices, with switching means that cause in collision of the moving parts with persons or objects a control signal through which the moving parts quiet ⁇ overall settable or an approaching movement counter set motion sequence causing emergency program are set in motion.
  • the object of the invention is to provide a safe robot device which has a large working space and thus can be used very flexibly.
  • the task should be solved in particular for a partially automated workplaces in the context of a human-robot cooperation.
  • the object of the invention is achieved by a robot apparatus comprising a linear axis, one on the linear axis adjustably mounted, a plurality of joints and the Ge ⁇ joints connecting links having robot arm, and a robot controller which is designed and / or arranged to the joints of the robot arm automatically controlled on the basis of a robot program or in a manual drive operation force and / or torque-controlled, wherein the Robotersteue ⁇ tion is also designed and / or set up to drive the Li ⁇ nearachse force and / or torque controlled.
  • the robot apparatus accordingly comprises a robot arm, a linear axis on which the robotic arm is movable assembled advantage and a robot controller which both the Robo ⁇ terarms, as power and the linear axis and / or momentge ⁇ regulates controls.
  • a linear axis is also referred to as a linear guide or linear drive.
  • Robot arms with associated robot controls are working machines that can be equipped for the automatic handling and / or machining of objects with tools and are programmable in several axes of motion, for example, in terms of orientation, position and workflow.
  • Industrial robots typically have a robotic arm with multiple over joints connected members and programmable robot controllers (control means) that automatically control during the operation of the loading ⁇ motion sequences of the robotic arm and re ⁇ rules.
  • the links are drives, in particular elec- motorized actuators, which are controlled by the robot controller, in particular with respect to the movement axes of the industrial robot, which represent the degrees of motion of the joints Ge ⁇ moved.
  • a robotic arm having a plurality of links connected by joints may be configured as an articulated robot having a plurality of links and joints serially arranged, in particular, the redundant industrial robot may comprise a robotic arm having seven or more joints.
  • Robotic arms with associated robot controllers as indus- rieroboter but may in particular be so-calledchtbauro ⁇ boter which differ first from conventional industrial robots in that they have a beneficial for the man-machine cooperative size and thereby a relatively high to their own weight bearing capacity - point.
  • lightweight robots can in particular also force and / or torque-controlled instead of only position ⁇ controlled operation, which makes, for example, a human-robot cooperation safer.
  • such a safe man-machine cooperation can be achieved that, for example, unintentional collisions of the robot arm with persons such as workers and fitters either prevented or at least so beau ⁇ can be weakened, so that the persons or fitters no harm.
  • Such a robot arm or such a lightweight robot preferably has more than six
  • the lightweight robot can respond to external forces in appropriate ways.
  • force sensors can be used which can measure forces and torques in all three spatial directions.
  • the external forces can be estimated at ⁇ play using the measured motor currents of the actuators at the joints of the lightweight robot also sensorless.
  • control concepts for example, an indirect force control by modeling the lightweight robot as a mechanical resistance (impedance) or a direct force ⁇ control can be used.
  • the industrial robot can be a redundant industrial robot, which is understood to mean a robotic arm which can be moved by means of a robot controller and has more manipulatory degrees of freedom than are necessary for the fulfillment of a task.
  • the degree of Re ⁇ dancy results from the difference in the number of degrees of freedom of the robot and the dimension of the event space in which the task is to be solved. It may be a kinematic redundancy or a task-specific redundancy. In the case of kinematic redundancy, the number of kinematic degrees of freedom, generally the number of joints of the robot arm, is greater than the event space, which in a real environment when moving in space is the three translational and three rotational degrees of freedom, ie six Degrees of freedom is formed.
  • a redundant industrial robot may therefore be, for example, a lightweight robot with seven joints, in particular seven hinges.
  • the dimension of the task on the other hand is smaller than the number of the kinematic degrees of freedom of the robot arm. This is the case, for example, when the robot arm on its hand flange around a tool drive shaft carries rotatable screwing tool and one of the rotary joints of the robot arm is aligned along this tool drive axis.
  • the joints of the robot arm can be parameterized in terms of their rigidity.
  • ⁇ th driving actuators of the robot arm by means Impe ⁇ danzregelung or admittance.
  • the robot controller can be set up, one for the safe one
  • a hand-held operation can also mean that the robot arm can be moved manually by a worker, ie the joints of the robot arm can be manually adjusted.
  • the actuator force and / or torque-controlled drives In a non-positive and / or moments ⁇ controlled driving of the linear axis of the at least one linear guide drive can be pa ⁇ been parameterised in terms of its stiffness.
  • the force- and / or torque-controlled driving of drives of the line axis can take place by means of impedance regulation or admittance regulation.
  • the robot controller may be configured to generate a form suitable for safe human-robot cooperation compliance of the linear axis in particular by means Impedanzre ⁇ gelung or admittance.
  • a hand-driving operation can also mean that the linear axis can be adjusted manually guided by a worker, ie the transla on the linear axis ⁇ toric adjustable robot arm may be on the linear axis be manually pushed back and forth.
  • the robot arm is automatically moved back and forth on the linear axis, due to the operation controlled by force and / or torque a worker, for example, the automatic movement of the robot arm can be in the way, the robot control the robot arm on the actuator immediately stops, for example, when a member of the robot arm comes into contact with the worker or when the worker, for example, engages in a gap on the carriage of the linear axis.
  • This allows a secure Be ⁇ operating the robot arm and the linear axis comprehensive robotic device ensures that the operator, which operates as part of a human-robot cooperation, can not come to any harm, in particular can not be violated.
  • the robot controller can be designed and / or set up to control the linear axis in a compliance control. Due to such compliance control of the trolley of the linear axis, a person, in particular a worker, for example, can grip the robot arm on one of its links and pull the entire robot arm to a desired working position. Such a pulling of the entire robot arm to a different position can therefore take place analogously to a manual movement of an object suspended on a drive-free running cat.
  • a force and / or moment-controlled driving the Linea ⁇ rachse and in particular the robot arm, in particular the compliance control can be performed by means of impedance control or admittance.
  • An impedance control is based on an existing torque control in contrast to an admittance control Joint level. It will be the deviation of the actual location of a defined target position measured and a desired generalizations ⁇ yerte force or forces and moments determined according to the desired dynamic behavior.
  • This force can be substituted ⁇ det to corresponding joint torques via the known kinematics of linear axis and the robot arm. The torques can finally be adjusted via the subordinate torque control.
  • the acting from outside on the actuator, in particular ⁇ sondere on the carriage of the linear axis and the robot arm generalized forces need to be measured.
  • Starting from these forces corresponding to the desired dynamic behavior of movement of the carriage on the base frame or the robot arm is determined, which is commanded via ei ⁇ ne inverse kinematics and the subordinate position control of the drives of the linear axis and the articulation drives of the robot arm.
  • the realization of these regulations can be achieved by the integration of torque sensors in the joints of the robot arm and the drive of the trolley of the linear axis.
  • the sensor detects or the sensors detect, for example, the one-dimensional torque acting on the output of a transmission.
  • This variable can be used for the control as a measured variable and thus makes it possible to take account of the elasticity of the joints in the context of the control.
  • a torque sensor in contrast to the use of, for example, a force / moment sensor on an end effector of the robot arm, those forces are measured that are not exerted on the end effector, but on the individual members of the robot arm and on the carriage of the linear axis.
  • the robot controller can be designed and / or set up to control the linear axis in a gravitationally compensated manner.
  • a gravitation-compensated control of the linear axis is particularly important if the movement of the trolley on the base of the linear axis in ver ⁇ tical direction or at least has a direction of movement, which has a vertical direction component.
  • a vertical BEWE ⁇ supply device can in this case in a hand driving carriage by manually guiding the trolley or of the robot arm driving ⁇ raised and / or lowered without having a person or the operator would have to bear the weight of the trolley or the robot arm.
  • the carriage can thus be moved along its route manually with little effort.
  • the vehicle or robot arm is released, the vehicle stops at the manually set altitude.
  • the carriage must not necessarily be held by braking and the carriage
  • the actuator may comprise a base frame and one on the base frame linearly displaceably mounted carriage, on which the robot arm is disposed and which carriage by means of a drive, in particular electric drive is at least ⁇ sondere driven automatically adjustable.
  • a drive in particular electric drive is at least ⁇ sondere driven automatically adjustable.
  • at least one sensor may be provided, which one from the drive, in particular from the
  • the drive of the linear axis may comprise a drive motor, in particular an electric drive motor, wherein the at least one sensor is arranged on the linear axis and the at least one sensor is designed to detect a force occurring on the drive train between the drive motor and the carriage and / or occurring moment ,
  • the at least one sensor may be arranged directly on the drive motor or in the drive motor and there detecting the occurring force and / or the occurring torque.
  • a separate sensor it may alternatively or additionally be provided that a force and / or moment of the drive motor is derived from the motor currents measured at the drive motor.
  • the robot controller can be designed and / or set up, the axis positions of the joints of the robot arm
  • the robot control only the already existing at the joints of the robot arm sensors or other means for detecting forces and / or moments at the joints of the robot arm uses to control the linear axis.
  • an unplanned adjustment of at least one of the joints of the robot arm can result in a collision of the robot arm with a robot. or a person can be closed and on this basis a movement of the trolley on the base of the linear axis are stopped immediately.
  • the robot controller may thus formed and / or registered directed be at least one drive of the linear axis, into ⁇ particular the drive motor of the linear axis such Huaweisteu ⁇ ren that from the detected forces and / or moments on the linear axis, in particular in the drive train between the drive motor and trolley, on the drive motor of the linear axis and / or on the joints of the robot arm detects a collision and a safe stop of the linear axis and / or the robot arm is performed.
  • the at least one sensor is preferably designed in a safer technique, and / or in a redundant, in particular diversified design, in particular in a two-channel evaluation arrangement .
  • the robot arm can be by the robot controller in a compliance control or compensated gravitation Betrie ⁇ ben, especially after a manual switching means is actuated.
  • a manual switching means when actuated, and the carriage of the linear axis in ei ⁇ ner compliance control or gravitation compensated by manually guided moving the manipulator or the trolley can be automatically adjusted. It can be provided that in a state of the robot device, in particular the robot controller, in which the manual
  • the linear axis may comprise a base frame and a carriage mounted linearly displaceably on the base frame, on which the robot arm is arranged and in which gaps, nip points and / or pinch points present between the carriage and the base frame are provided with a cover which is formed to prevent manual intervention.
  • the cover can be embodied in a manner known to the person skilled in the art, for example as a bellows, as cover plates lying on top of one another, elastic sealing lips and / or as sealing brushes.
  • FIG. 1 shows a schematic illustration of an exemplary partially automated robot work station with a robot apparatus according to the invention, comprising
  • Robotic arm and a linear axis Robotic arm and a linear axis
  • Fig. 2 is a schematic representation of an alternative
  • Fig. 3 is a schematic representation of the robot device with a portion of a linear axis, which is provided with a cover.
  • Fig. 1 shows a partially automated Roboterarbeits- space with a robot 1 in an exemplary embodiment as a so-called lightweight robot which includes a robot arm 2, a linear axis 13, and both the robot arm 2 and the linear axis 13-addressing robot controller 3 on ⁇ .
  • the robot arm 2 comprises a plurality of links 5 to 12, which are arranged one after the other and are connected to one another by means of joints 4.
  • the robot controller 3 of the robot 1 is designed or configured to execute a robot program, by means of which the joints 4 of the robot arm 2 are automated according to the robot program or can be automatically adjusted or rotated in a manual operation.
  • the robot ⁇ control 3 is provided with controllable electrical drives the connectedness, which are designed to adjust the joints 4 of the robot. 1
  • the actuator 13 includes a base frame 15 and one on the base frame 15 linearly displaceably mounted carriage 16 which is arranged on which the robot arm 2 and wel ⁇ cher carriage 16 is driven automatically adjustable by means of at least one drive 17 into ⁇ special electric drive 17a, and at least one sensor 20 is provided, which detects a transmitted from the drive 17, in particular from the electric drive 17a on the carriage 16 force and / or transmitted from the drive 17, in particular from the electric drive 17a on the carriage 16 torque.
  • the sensor 20 is connected to the robot controller 3, ie the sensor 20 is controlled and evaluated by the robot controller 3.
  • the drive 17 of the actuator 13 comprises in the case of vorlie ⁇ constricting embodiment of a drive motor 17b, and in particular an electric drive motor 17b, wherein the at least one sensor 20 is arranged on the linear axis 13 and a sensor 20 is formed, at least, one at the Powertrain between drive motor 17b and carriage 16 occurring force and / or torque occurring to seize.
  • the drive 17 of the actuator 13 so far has an on ⁇ drive motor 17b, in particular an electric drive motor 17b and the at least one sensor 20 is arranged on the drive motor 17b.
  • the robot controller 3 is formed there and / or incorporated ⁇ directed is to detect the axial positions of the joints 4 of the robot arm 2 and / or up to the joints 4 of the robot arm 2 passing forces and / or torques and / or off zu79, and at least to control based on a result obtained from the evaluation of the a driver 17 insbeson ⁇ particular the drive motor 17b of the linear axis.
  • the robot controller 3 is designed and / or set up to drive the drive 17 of the linear axis 13, in particular the drive motor 17b of the linear axis 13, so that from the detected forces and / or moments on the linear axis 13, in particular on the drive train between the drive motor 17b and Trolley 16, detected on the drive motor 17b of the linear axis 13 and / or at the joints 4 of the robot arm 2, a collision and a safe stop of the linear axis 13 and / or the robot arm 2 can be performed.
  • the robot arm 2 is determined by the robot controller 3 in a compliance control or compensated gravitation Betrie ⁇ ben, especially after a manual shift means 18 be ⁇ actuated.
  • the linear axis 13 has the carriage, which is so far in a compliance control of the linear axis 13 or gravitation compensated for manually guided movement of the manipulator arm 2 is automatically and resiliently adjustable. 2 shows an embodiment in which a gravita- tion compensated control of the linear axis 1 can be applied.
  • a gravity-compensated control of the actuator 13 comes namely particularly a significance ⁇ tung to when the movement of the carriage 16 on the base gesteil 15 of the linear axis 13, as shown in FIG. 2, takes place in the vertical direction or having at least one motion ⁇ direction having a vertical directional component.
  • a vertical BEWE ⁇ supply device can in this case in a hand driving operation by performing Nuelles by mass of the carriage 16, for example by means of egg Nes attached to the carriage 16 handle 21, or raised by manually guiding the robot arm 2 of the carriage 16 and / or lowered without a person or the worker 14 would have to carry the weight of the trolley 16 or the robot arm 2.
  • the carriage 16 can thus be moved manually along its travel path with little effort.
  • the trolley 16 stops on the vice manually ⁇ th altitude.
  • the carriage 16 need not necessarily be held by braking and the carriage 16 does not "slip" by gravity to a lower altitude.
  • the robot apparatus is shown with a portion of the actuator 13 are schematic, which is provided with egg ⁇ ner cover 22.
  • the linear axis 13 has a base frame 15 and a traveling carriage 16 mounted so as to be linearly displaceable on the base frame 15, on which the robot arm 2 is arranged. Between the carriage 16 and the base frame 15 existing column, clamping points and / or squeezing are provided with a cover 22 which is designed to prevent a manual intervention ver ⁇ .

Abstract

L'invention concerne un dispositif robot présentant un axe linéaire (13), un bras de robot (2) monté déplaçable sur l'axe linéaire (13), qui comporte plusieurs articulations (4) et des éléments (5-12) reliant lesdites articulations (4), ainsi qu'une commande de robot (3) qui est conçue et/ou configurée pour assurer la commande des articulations (4) du bras de robot (2) de manière automatique, sur la base d'un programme de robot,ou dans un mode de fonctionnement par pilotage manuel, par asservissement de force ou de couple. la commande de robot (3) étant en outre conçue et/ou configurée pour commander l'axe linéaire (13) par asservissement de force ou de couple.
EP15716485.6A 2014-04-15 2015-04-09 Dispositif robot présentant un axe linéaire Withdrawn EP3131710A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014207275.1A DE102014207275A1 (de) 2014-04-15 2014-04-15 Robotervorrichtung mit einer Linearachse
PCT/EP2015/057785 WO2015158612A1 (fr) 2014-04-15 2015-04-09 Dispositif robot présentant un axe linéaire

Publications (1)

Publication Number Publication Date
EP3131710A1 true EP3131710A1 (fr) 2017-02-22

Family

ID=52875143

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15716485.6A Withdrawn EP3131710A1 (fr) 2014-04-15 2015-04-09 Dispositif robot présentant un axe linéaire

Country Status (3)

Country Link
EP (1) EP3131710A1 (fr)
DE (1) DE102014207275A1 (fr)
WO (1) WO2015158612A1 (fr)

Families Citing this family (4)

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Publication number Priority date Publication date Assignee Title
JP6571618B2 (ja) * 2016-09-08 2019-09-04 ファナック株式会社 人間協調型ロボット
DE102018126873A1 (de) * 2018-10-26 2020-04-30 Franka Emika Gmbh Roboter
CN111688526B (zh) * 2020-06-18 2021-07-20 福建百城新能源科技有限公司 一种用户侧新能源汽车储能充电站
DE102020132525A1 (de) 2020-12-07 2022-06-09 bAhead GmbH Arbeitsplatzanordnung für einen kollaborierenden Roboter

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JPH0627344Y2 (ja) * 1988-05-26 1994-07-27 神鋼電機株式会社 リニアモータ走行路の防塵装置
US6204619B1 (en) * 1999-10-04 2001-03-20 Daimlerchrysler Corporation Dynamic control algorithm and program for power-assisted lift device
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Also Published As

Publication number Publication date
WO2015158612A1 (fr) 2015-10-22
DE102014207275A1 (de) 2015-10-15

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