EP3630419A1 - Antriebseinheit einer automationskomponente, insbesondere einer greif-, spann- und wechsel- oder schwenkeinheit - Google Patents
Antriebseinheit einer automationskomponente, insbesondere einer greif-, spann- und wechsel- oder schwenkeinheitInfo
- Publication number
- EP3630419A1 EP3630419A1 EP18726801.6A EP18726801A EP3630419A1 EP 3630419 A1 EP3630419 A1 EP 3630419A1 EP 18726801 A EP18726801 A EP 18726801A EP 3630419 A1 EP3630419 A1 EP 3630419A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- drive unit
- drive
- computing device
- unit
- automation component
- 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.)
- Pending
Links
- 238000011156 evaluation Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000012423 maintenance Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000003745 diagnosis Methods 0.000 claims description 2
- 238000012795 verification Methods 0.000 claims 1
- 230000006870 function Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 3
- 239000000969 carrier Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000007435 diagnostic evaluation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000010979 ruby Substances 0.000 description 1
- 229910001750 ruby Inorganic materials 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
-
- 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
-
- 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
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/066—Redundant equipment
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
-
- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1658—Programme controls characterised by programming, planning systems for manipulators characterised by programming language
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39466—Hand, gripper, end effector of manipulator
Definitions
- the invention relates to a drive unit of a
- Automation component in particular a gripping, clamping, alternating, linear or pivoting unit which is arranged in or on a base housing of the automation component and comprises a drive and a control unit.
- Control unit is used in particular for controlling the drive of the moving parts of the automation component
- Drive units of an automation components in particular a gripping, clamping, alternating, linear or pivoting unit are used in handling and robotics and are used for handling, gripping units, for example of
- Gripping units or gripped components are used to move workpieces along a
- Clamping units serve to clamp workpieces or workpiece carriers.
- clamping units In particular, zero-point clamping systems for
- the control unit processes input signals and generates control signals dependent on the input signals.
- the control signals of the control unit for example via a bus system of a higher-level control available
- the motor controller comprises power electronics for supplying the electric drive with motor current in
- the motor controller thus acts directly on that of a power source
- control units with the interposition of the motor controller, the electric drive and in particular the position and operating points of the moving parts are controlled by appropriate programming are programmed at the lowest programming level and can not after their installation, or only with relatively great effort be reprogrammed. As a result, such gripping and pivoting units are not flexible, especially in themselves
- Control unit Motion conroller
- a motor controller servo amplifier
- a redundant, robotic manipulator is known via a bus system, a field device, such as a motor,
- drive units in human-robot cooperation (MKR).
- MKR human-robot cooperation
- special requirements are made of the drive units.
- the known drive units are not or only conditionally suitable for being used in such a human-robot cooperation (MKR).
- the present invention has for its object to provide the aforementioned drive units of automation components that remedy the disadvantages mentioned and are flexible.
- the present invention has for its object to provide the aforementioned drive units of automation components that remedy the disadvantages mentioned and are flexible.
- control unit at least one
- Computing device is set up with an operating system through which programs written in a high-level programming language or programs that are translated from a higher-level programming language on the
- Computing means includes, for example, a memory on which the operating system is stored and a processor is formed, instructions of the operating system
- Programs that are written in a high-level programming language or programs that are from a higher level are written in a high-level programming language or programs that are from a higher level
- the processor is
- Programming languages can use common languages such as Java, C ++, Python, PHP or Ruby. This has the
- the invention may also find use in a human-robot cooperation (MKR), in which case preferably the
- All input and output signals can be processed by the two computing devices diverse and / or redundant, with the two
- the two computing devices form a common evaluation logic or they are followed by a logic device, with a mutual monitoring and / or with the adjustment of the redundant output signals of the two
- Computing device is designed as a single-board computer, in particular as a mini-PC.
- a single-board computer is a computer system that includes all the electronic components necessary for operation a single circuit board are summarized.
- only the power supply is the only one
- Single-board computers can be programmed very flexibly, which means that the drive unit can be used flexibly.
- the at least one computing device for direct control ie power supply to the drive without the interposition of a motor controller is programmed and set up.
- the computing device then takes over the function of the motor controller or forms
- At least one computing device and preferably both computing devices, thus form the power electronics for the electric drive and supply the electric drive and control the drive directly and without the interposition of a separately formed
- the computing devices are preferably part of a control loop and regulate the motor current in particular
- At least one computing device is advantageously not only set up to control the drive, but also for maintenance, for data transmission, for diagnosis and / or for programming. Consequently, with the computing device
- Data transmission for example in a network and a higher-level control, is also conceivable. Furthermore, can Diagnostic functions are perceived. Due to the programming, it is possible to flexibly adapt all functions to the respective requirements.
- the at least one computing device has a user interface or can be connected to a user interface.
- the user interface can preferably be formed by a display, a tablet or a smartphone.
- connection with a tray is advantageous, since it is to be provided in particular when a diagnostic evaluation or programming is to take place on site.
- sensors are provided in or on the automation component, the sensor data generated by the sensors being processed by the at least one computing device, and in the case of a human-machine cooperation by both computing devices.
- the sensors can be used as distance measuring sensors,
- Proximity sensors temperature sensor, humidity sensor and / or be designed as a camera module. Depending on the application and the measured variable to be determined, one or more similar sensors can be used in each case. Of course may be provided within the scope of the invention still further sensors.
- the at least one computing device can be accommodated within the basic housing or in a housing housing arranged on the base housing.
- Mounted housings has the advantage that for different automation components such as in particular gripping units and pivot units each a similar or identical mounting housing can be used.
- an automation component in particular by a gripping, clamping, alternating, linear or pivoting unit, which has a
- Automation component thus represents an embedded system in which the computing device is integrated into the automation component.
- the computing device assumes in particular monitoring, control or regulating functions and / or is responsible for a form of data or signal processing.
- Figure 1 shows a schematic representation of a
- the automation component according to the invention in the form of a
- Gripping unit 10 as it can be found in a human-robot cooperation (MRK) use.
- FIG. 1 shows a gripping unit 10 according to the invention, which has a schematically indicated basic housing 12 and provided in the base housing 12 drive unit 14 with a drive 13 in the form of an electric motor.
- the drive 13 drives a shaft 16 shown schematically, which is coupled in motion with two mutually to and away from each other movably arranged jaws 18.
- a control unit 15 with two computing devices in the form of single-board computers 20, 22 is provided in the housing 12.
- Single-board computer 20,22 checks for redundancy.
- the two single-board computers 20, 22 are connected to each other via lines 26 for mutual monitoring.
- Evaluation unit 24 can also be in one of
- the single board computers 20, 22 are with a special one
- Drive 13 are programmed and set up without the interposition of a motor controller.
- the single-board computers 20, 22 thus form the power electronics for the drive 13 and directly control the motor current for the drive 13, i. they act directly on the current provided by a current source (not shown in the figure)
- the gripping unit 10 has on the jaws 18 force measuring sensors 28 which measure the gripping force. Via data lines 30, the force-measuring sensors 28 are connected to the two single-board computers 20, 22. The measuring signals of the force measuring sensors 28 are thus from both single-board computers 20, 22nd
- Encoder sensors 32 are provided whose output signals are supplied via data lines 34 to the single-board computers 20,22.
- a sensor in the form of a camera module 36 is provided in the area between the two jaws 18.
- the output signals of the camera module 36 are the two via data lines 38
- a current measuring sensor 40 is provided in the power line 25, the output signals of which are supplied to the two single-board computers 20, 22 via the data lines 42.
- the two output signals may also be provided a temperature sensor (not shown in the figure), the two output signals
- Environmental sensors may be provided, in particular the
- the two single-board computers 20,22 evaluate independently
- Control signals resulting from a corresponding programming are supplied to the evaluation unit 24, which supplies the
- the two single-board computers 20, 22 and optionally the evaluation unit 24 communicate with a higher-level controller via a corresponding network 46, which serves as the
- Ethernet, WLAN or bus system can be established.
- the two single-board computers 20, 22 can be accessed via the higher-level control or else via an external tablet.
- Control of the two jaws 18 take place, but it can also maintenance functions, diagnostics, analysis,
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017111651.6A DE102017111651A1 (de) | 2017-05-29 | 2017-05-29 | Antriebseinheit einer Automationskomponente, insbesondere einer Greif-, Spann- und Wechsel- oder Schwenkeinheit |
PCT/EP2018/063541 WO2018219744A1 (de) | 2017-05-29 | 2018-05-23 | Antriebseinheit einer automationskomponente, insbesondere einer greif-, spann- und wechsel- oder schwenkeinheit |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3630419A1 true EP3630419A1 (de) | 2020-04-08 |
Family
ID=62235970
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18726801.6A Pending EP3630419A1 (de) | 2017-05-29 | 2018-05-23 | Antriebseinheit einer automationskomponente, insbesondere einer greif-, spann- und wechsel- oder schwenkeinheit |
Country Status (5)
Country | Link |
---|---|
US (1) | US11413749B2 (de) |
EP (1) | EP3630419A1 (de) |
JP (1) | JP6970216B2 (de) |
DE (1) | DE102017111651A1 (de) |
WO (1) | WO2018219744A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018112361A1 (de) * | 2018-05-23 | 2019-11-28 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Antriebseinheit einer Automationskomponente, insbesondere einer Greif-, Spann- und Wechsel- oder Schwenkeinheit |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01310882A (ja) | 1988-06-08 | 1989-12-14 | Hitachi Ltd | 把持装置 |
US6683432B2 (en) | 2001-09-12 | 2004-01-27 | Eigenpoint Company | Safety circuit with automatic recovery |
JP2006059308A (ja) | 2004-08-17 | 2006-03-02 | Hiroki Maruchi | 汎用化されリアルタイム可能な情報処理装置 |
DE112011103155T5 (de) * | 2010-09-21 | 2013-07-18 | Toyota Jidosha Kabushiki Kaisha | Beweglicher Körper |
US8745467B2 (en) | 2011-02-16 | 2014-06-03 | Invensys Systems, Inc. | System and method for fault tolerant computing using generic hardware |
JP2012206219A (ja) * | 2011-03-30 | 2012-10-25 | Seiko Epson Corp | ロボット制御装置及びロボットシステム |
US9221172B2 (en) | 2012-09-17 | 2015-12-29 | Rethink Robotics, Inc. | Constraining robotic manipulators with redundant degrees of freedom |
EP2805976A1 (de) | 2013-05-24 | 2014-11-26 | Huntsman International Llc | Aldehyd enthaltende Zusammensetzungen, die zur Herstellung von härtbaren Polyisocyanatzusammensetzungen geeignet sind |
JP5892132B2 (ja) * | 2013-09-13 | 2016-03-23 | 株式会社安川電機 | 制御装置及びロボットシステム |
JP6140114B2 (ja) | 2014-07-31 | 2017-05-31 | ファナック株式会社 | 移動式人協調型ロボット |
US9492923B2 (en) * | 2014-12-16 | 2016-11-15 | Amazon Technologies, Inc. | Generating robotic grasping instructions for inventory items |
JP6549545B2 (ja) * | 2016-10-11 | 2019-07-24 | ファナック株式会社 | 人の行動を学習してロボットを制御する制御装置およびロボットシステム |
-
2017
- 2017-05-29 DE DE102017111651.6A patent/DE102017111651A1/de active Pending
-
2018
- 2018-05-23 WO PCT/EP2018/063541 patent/WO2018219744A1/de active Application Filing
- 2018-05-23 EP EP18726801.6A patent/EP3630419A1/de active Pending
- 2018-05-23 US US16/617,596 patent/US11413749B2/en active Active
- 2018-05-23 JP JP2019565818A patent/JP6970216B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
DE102017111651A1 (de) | 2018-11-29 |
US11413749B2 (en) | 2022-08-16 |
JP2020521643A (ja) | 2020-07-27 |
US20200180152A1 (en) | 2020-06-11 |
JP6970216B2 (ja) | 2021-11-24 |
WO2018219744A1 (de) | 2018-12-06 |
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Owner name: SCHUNK SE & CO. KG SPANNTECHNIK GREIFTECHNIK AUTOMATISIERUNGSTECHNIK |