TW202005761A - Method for inserting objects in a common receiving device - Google Patents

Abstract

This invention concerns a method for inserting different objects (12; 13; 14; 16; 18; 21) into a common receiving device (7) by means of a robot manipulator (1) and a robot manipulator (1) for carrying out such a method.

Description

Method for inserting objects into common storage device

The invention relates to a method for inserting at least two objects into a common storage device by means of a robot manipulator. In addition, the present invention relates to a robot manipulator for performing this method.

Before delivery and provision, various products such as mobile phones are packaged together with their accessories (such as charging cables, adapters, headphones, operation guides, SIM card connectors, etc.) in a common package.

The parts to be packaged usually have different sizes and shapes, different weights and different material properties. Although the packaging and corresponding inserts (which have compartments, compartments or other receptacle geometries for individual components) are individually and in their respective interactions predefined or matched with each other, however, the packaging and corresponding As far as the disposal of the insert is concerned, the size and weight of the packaging and the corresponding insert can vary greatly, so that until now the packaging of the entire unit is almost completely performed manually.

These manual procedures have the disadvantage that the speed of filling or placement related to packaging is usually limited and depends on the skills of the packaging personnel.

Against this background, an object of the present invention is to provide a simple, robust and more cost-effective method for inserting several objects into a storage device common to these objects by means of a robotic manipulator. In addition, an object of the present invention is to provide a robot manipulator suitable for performing this method.

This goal is achieved by the method of inserting objects into a common storage device by means of a robot manipulator as in technical solution 1 and the robot manipulator as of technical solution 16.

Therefore, in a first aspect, the present invention relates to a robot manipulator driven by an actuator of a robot to insert objects with different shapes, sizes, material properties and/or weights into a common storage device and A method of controlling the robot manipulator, the robot manipulator having an actuator (effector) at its distal end, the actuator is designed to store and/or grasp the objects, with respect to the storage device and each object An insertion trajectory is defined, and a desired orientation of one of the objects to be inserted along the insertion trajectory is defined for the position of the insertion trajectory, wherein the insertion trajectories for inserting each object are different from each other or at least partially continue in unison .

In another configuration of the method of the present invention, the target orientations of the insertion trajectories used to insert each object should be different from each other.

The objects to be inserted may not only differ in shape, size and weight, but also in material properties. These objects can be made of a hard, inflexible material (having a high weight if necessary) or an extremely light (if necessary) elastic and flexible material, which itself creates a difference for the handling of a robotic manipulator condition.

The method according to the invention may also include the following method steps: a) The actuator picks up the object from a storage device associated with a first object, b) The robot manipulator transfers the object to a starting position of the insertion trajectory for the object, c) The object is inserted into a receptacle associated with the object in the storage device along the insertion trajectory by the robot manipulator until the object is completely contained in the receptacle associated with the object, wherein Identification of the progress status of the insertion of the object and/or identification of whether the insertion of the object has been successfully completed is defined as: reaching or exceeding a torque acting on the actuator and/or acting on the actuator At least one predetermined limit value condition of a force, and/or meets or exceeds a force/torque indicator and/or a position/speed indicator provided by one of the actuators.

The definition or determination of these individual insertion trajectories depends on the one hand on the type and conditions of the objects, and on the other hand on the design and position of the receptacles for these objects in the storage device.

This equal receptacle can be constructed in different ways. Such receptacles may be simple compartments with a predefined depth in which predetermined tolerances are taken into account, in which the objects can be easily stored. The edges of these trays can be corrugated, tapered or chamfered to match the objects to be inserted, thereby making insertion easier. It is also conceivable to form an exclusive but detachable plug connection. Such utensils or receptacles may also have peripheral edges in the receptacles on which objects can be placed.

The storage device (for example, for packaging of one of several objects) forms a limited space, the limited space is preferably positioned fixed relative to the robot, and the robot manipulator is provided in an order and configuration for this purpose Place the individual objects in the limited space sequentially.

In addition, the individual receptacles provided for the individual objects in the storage device each define a three-dimensional position in the space itself.

This limited space (also called packaging envelope) can also be used in such a way that the inner boundary (wall) and/or the outer boundary (wall) of the storage device at least partly serves as a guide surface for inserting objects, etc. The insertion trajectories of the objects match the orientation of the outer and/or inner boundaries of the storage device.

This procedure also includes other steps: d) After completing the insertion of the object, release the object by the actuator, e) The robot manipulator transfers the actuator to another object along a predetermined transfer trajectory, g) picking up the object from a storage device associated with another object by the actuator; and h) Perform steps b) and c) on the object.

An essential feature of the invention is that step c) is performed by means of translational movement of the robot manipulator along the force control and/or impedance control of the desired orientation of the respective insertion trajectory of an object.

In one advantageous variant of the method according to the invention, additionally or alternatively, the robot manipulator can be rotated/tilted with force control and/or impedance control at a desired orientation of the insertion trajectory for an object Perform step c) under moving and/or panning and lateral movement.

Both lateral translation and rotation/tilt movement are used to offset the tolerance deviation between the object and the insertion opening of the receptacle defined for the object, so as to ensure that the object can be inserted more easily. On the other hand, during the insertion procedure, the movements can be used to overcome the frictional resistance created by a strictly linear guide between the two surfaces.

The method can also be designed so that if an error occurs when inserting the objects into the receptacles provided for the objects in the storage device along the respective insertion trajectories by the robot manipulator, then The robot manipulator is repeated by means of a modified insertion trajectory and/or by means of modified parameters for the translation and/or rotation/tilt movement of the force control and/or impedance control of the object relative to the respective nominal orientation Insert the object into the receptacle provided for the object.

In order to automatically carry out the above individual method steps during the process of equipping a package with objects or individual parts of different configurations, it is advantageous to perform these steps using a robot designed to be compliant and/or sensitive of.

Robots with position-controlled axes are generally not suitable for these steps in the method because the force acting on the robot from the outside must be measured for position control. These forces form the basis of the desired dynamic behavior, which are then transmitted to the robot via inverse kinematics (also called admittance control).

In this case, this is due to the fact that many operations will have to be performed at many different locations and are essentially different, for example: -Accurate and non-destructive removal of these objects from the storage devices assigned to them, which are positioned differently with respect to the robot, -Transfer the picked objects to an accurate starting position of an insertion track related to a receptacle, which is personalized for each object considering the design and location of the storage device; and -Insert objects into these individual receptacles accurately and without damage; The stylized workload will be too high for a strictly position-controlled robot.

The required position control will have to be extremely precise so that the individual steps described above can be fully implemented. It is economically impossible to program in the context of position control, not to mention the sensitivity to errors.

Due to the control principle used, these position control robots will also be unable to detect errors or deviations (for example, when the actuator picks up the object to be inserted from a storage device for whatever reason, the to-be-inserted In case the actual position of the object deviates slightly from the set position provided for this purpose) in order to react accordingly. It is only possible to correctly insert objects into the holder of the storage device only if the objects are accurately stored in the storage device fixedly arranged in the robot's work area at a position specified by programming .

In order to perform this method, one of the cores of the present invention is that the robot used (at least one robot) has this integrated compliance control, or is equipped with an inherent compliance or a combination of active and passive compliance, also by lightweighting These programmable robotic manipulators of the designed robot preferably perform this method.

In this context, it should be mentioned that the compliance control is based on, for example, the so-called impedance control, which is based on the torque control at the joint level in contrast to the admittance control already mentioned. Depends on a desired dynamic behavior and considers the deviation of an actual position from a defined target position, and/or the deviation of an actual speed from a target speed, and/or the deviation of an actual acceleration from a target acceleration, to determine the force or The torque, the forces or torques are then mapped to the corresponding joint torque set via the torque control via the known kinematics of the robot (which is generated by the number and configuration of the joints and axes of the manipulator and thus the degrees of freedom). The torque sensor element integrated into the joints records the dominant one-dimensional torque at the output of the gear of the drive unit located in the joint, which can consider the elasticity of the joint in the control range as a measured variable In. In particular, as in admittance control, using only one torque sensor on the actuator, using a corresponding torque sensor device also allows measurement of the connection that is not applied to the actuator but applied to the robot The force exerted on the rod and on an object held by the robot or to be processed by the robot when an object is inserted into an object holder. These torques can also be measured through the structure of the robot system and/or force sensors in the base. In particular, joint mechanisms between individual axes of the manipulator that allow multi-axis torque detection can also be used. A translational joint equipped with a stress sensor can also be envisaged.

It proves that the compliance control and sensitivity achieved in this way are advantageous to the present invention in many aspects.

In principle, this compliance control allows the robot used for the intended method or the individual method steps of the intended method to be able to perform controlled internal movements, whereby these internal movements correspond to the individual steps of the method. In this context, this robot will also be able to independently "search" and non-destructively "feel" the different positions of the objects and the storage devices and the holders in the storage device (if necessary) without causing The damage proves to be beneficial for an assembly with different configuration and size.

Another advantage of this compliance control is that it allows more inaccurate placement or inaccurate positioning of the objects to be inserted, which means that the storage device and the receptacle assigned to these objects can be manufactured in the storage device with a higher tolerance Both. With a corresponding compliance control, by reducing the associated contact force when picking up and inserting these objects, the resulting inaccuracy can be compensated in a corresponding manner. It is also possible that the receptacle itself is made of a flexible material.

The robotic manipulator is advantageously designed and arranged to move one of the determined points of the actuator (for example, the so-called "tool center point" (TCP)) or one of the determined points of the object along a predetermined insertion trajectory ( For example, its center of gravity or geometric center), whereby the center of gravity is determined individually by the individual objects.

Therefore, the insertion trajectory is advantageously determined in advance depending on the relative starting position of the object arranged at the actuator relative to its storage area in the storage device, the geometric structure of the object and the geometric structure of the storage area, Such as the depth of the storage area and whether there is an edge, or the opening width of the storage area.

When inserting an object, the insertion trajectory is preferably directed toward a straight line of the receptacle and its insertion opening. However, three-dimensional, single or multiple inclined curves are also conceivable until the object contacts the receptacle. Then, a linear insertion trajectory or strictly linear movement through the curve can be performed to further insert into the receptacle.

The actuator can move at a relatively high speed along the respective insertion trajectories until it is about to reach the receptacle. Then, the actuator moves towards the insertion opening of the receptacle at a much slower speed until the object contacts the insertion opening or the edge of the insertion opening or a cone. One of the inwardly tapered insertion openings of the receptacle can also be used as a type of guide for objects, and a flexibly controlled robot interacts with the guide during insertion.

In principle, the robot manipulator must recognize the actual state of the inserted program. According to the invention, this is achieved by the aforementioned limit value conditions and/or individual labels. In principle, these signs are the specific characteristics of the force and/or torque and/or position and/or speed detected on the robot manipulator that exceed a simple threshold. For example, such characteristic properties may include a specific time behavior of the measured force, torque, position, and/or speed and characteristic properties that depend on these parameters. The aforementioned measures can significantly increase the success rate of the insertion procedure. Therefore, the object to be inserted does not have to be accurately positioned inside the storage device, and the actuator does not have to pick up the object accurately. Compliance-controlled robotic manipulators can apply the above compensation measures during the insertion process.

In another embodiment of the present invention, an object to be inserted may have a storage area for subsequent objects to be inserted. In addition, the last object to be added can be designed to be close to the storage device. For example, the last item may be a cover that is placed on top of or above the storage device, thereby inserting the storage device into the cover, although in a fixed configuration.

Another aspect of the present invention relates to a computer system having a data processing device, wherein the data processing device is designed such that a method as described above is executed on the data processing device.

Another aspect of the invention relates to a digital storage medium having electronically readable control signals, whereby the control signals can interact with a programmable computer system, in this way, a method as described above is carried out.

In addition, the present invention relates to: a computer program product having a program code stored on a machine-readable medium, which is used to execute the method as explained above when the program code is executed on a data processing device; and A computer program that is used to execute this method when the program is executed on a data processing device.

Another aspect of the invention relates to a robot having a robot manipulator driven by an actuator, the robot manipulator having an actuator at its distal end, the actuator is designed to grab an object, the robot manipulator It includes a control unit that is designed and configured so that it can perform a method as set forth above.

According to the invention, the robot is preferably a lightweight articulated arm robot having a robot manipulator of at least 6 degrees, preferably 7 degrees of freedom.

Since the actuator of the robot manipulator must be able to grasp objects of different configurations and sizes, a vacuum lifter is preferably used according to the present invention. The vacuum lifter is connected to the robot controller in such a way that the control unit detects when the vacuum lifter touches an object to pick up or lift the object, or when an object is completely placed in a compartment to activate or deactivate The vacuum lifter forms an adsorption contact between the vacuum lifter and the object. Both states can be detected and evaluated by the reaction force and reaction torque acting on the actuator through the vacuum lifter and therefore on the robot manipulator. For example, the reaction force and reaction torque can be sensed by the joint Detector detection.

According to the invention, the robot will be used in conjunction with the filling of one of the products with one of several components of any design. A preferred application relates to the use of this robot to equip packaging for a mobile phone and one of several accessories.

FIG. 1 shows a schematic structure of a robotic station for performing the method of the present invention using an example of packaging a mobile radio device together with its accessories in a single package.

The proposed method for inserting several objects into a common storage device is implemented by means of a robot manipulator 1 driven by a robot's actuator, the robot manipulator 1 at its distal end is designed for storage and/or Or grab one of the actuators 2. For this purpose, a vacuum generator 3 is provided, which is directly mounted on the actuator 2 and has a vacuum lifter 4 having a suction button 5 opposite thereto.

Several storage devices are arranged in defined fixed positions in front of the fixed robot.

Configure the first storage or storage device 6 which will be one of the loading and storage devices above, in this example, a lower half of a package 7 with an insert 8 that already has a receptacle or compartment for other objects 9.1 and 9.2. In addition, a peripheral protruding edge 10 is provided in the package 7, as shown in the enlarged illustration of Figure 2c.

In addition, there is a second storage device 11 in the form of a chute in which several objects are stored: the earphone kit 12, the adapter or plug 13 and the mobile radio device 14.

On the other side of the holder 6, there is a third holder 15, which holds an operation manual and an envelope 16 for a SIM card pin; a fourth holder 17, which holds an intermediate receptacle 18, the middle The seat 18 has a compartment 19 for the mobile phone 14; and a fifth holder 20, which holds the cover 21 for the storage device or package 7.

Figures 2a to 2d show the handling of a first object 12 by means of the robot manipulator 1.

The robot manipulator 1 moves to the storage device 11 and uses its vacuum lifter 4 to pick up the earphone kit 12, lift the earphone kit 12 and transfer the earphone kit 12 to a starting point in the insertion trajectory T ₁₂ provided for this object (Figure 2b, Figure 2c).

This is shown schematically in Figure 2c. In a most simple and therefore also the preferred version, the insertion trajectory T ₁₂ be selected such that it has a T-track ₁₂ for insertion of the individual one common set oriented position R _T O _set, whereby insertion trajectory T performed in the compartment ₁₂ with 9.1 Extend between the actuators 2 in such a way that one side of the insertion trajectory T ₁₂ accurately continues vertically above the compartment 9.1 and is centered relative to the compartment 9.1, and the other side is accurately connected to the tool of the actuator 2 The central point is TCP. Therefore, the insertion trajectory T ₁₂ and therefore the set orientation O _set (R _T ) for the individual position R _T is always oriented on the compartment 9.1 and the object 12 to be inserted.

This allows the robotic manipulator 1 to feed and insert the object 12 strictly linearly into the compartment 9.1 via a downward translation movement in a subsequent step (FIG. 2d). Then, the vacuum generator 3 is deactivated. The vacuum lifter 4 releases the object 12 and the robot manipulator 1 moves along an output trajectory A ₁₂ (which coincides with the input trajectory T ₁₂ ) via an upward translation movement (see the arrow in FIG. 2 e ).

Figures 3a to 3c show the handling of a second object 13 using the robotic manipulator 1.

After the robot manipulator 1 has placed the object 12 in the compartment 9.1 provided for this purpose, the robot manipulator 1 moves back to the storage device 11 along a defined transfer trajectory (not shown) to store the second in a similar manner The object (ie, a plug 13) (FIG. 3a) and transfers the second object to a starting point in the insertion trajectory T ₁₃ assigned to this object 13 (FIG. 3b).

Here, ₁₃ insertion trajectory T also selected such that it has a T-track ₁₃ for insertion of the respective common one of the positions set oriented R _T O _set, the track T ₁₃ extends between the compartment 2 and 9.2 actuator thereby inserted, so that One side of the insertion trajectory T ₁₃ accurately continues vertically above the compartment 9.2 and is centered relative to the compartment 9.2, and the other side is accurately connected to the tool center point TCP of the actuator 2. Therefore, the insertion trajectory T ₁₃ and therefore the set orientation O _set (R _T ) for the individual position R _T is always oriented on the compartment 9.2 and the object 13 to be inserted. Therefore, the insertion locus T ₁₃ continues parallel to the insertion locus T ₁₂ .

Then, the actuator 2 releases the object 13 in a similar manner and moves upward along a corresponding output trajectory A ₁₃ (FIG. 3c) to move to the storage device 15 along another (not shown) transfer trajectory by means of the robot manipulator 1.

4a to 4d show the handling of a third object 16 using the robotic manipulator 1.

This is one of soft and flexible paper envelopes 16. When the envelope 16 is removed, the robotic manipulator 1 and its actuator 2 perform force and/or impedance controlled rotation/tilt movement so that the envelope 16 does not tilt at the edge of the storage device 15 due to its material properties, such as It is indicated by arrows in Figure 4b. This program has its unique inventive meaning. Then, the robotic manipulator 1 considers the corresponding set orientation O _set and transfers the object 16 to a starting point in the insertion trajectory T ₁₆ assigned to the object (FIG. 4 c ), and if necessary, moves it in other slight rotation/tilt movements Under the effect, the object is inserted through a translational movement downward (Figure 4d).

5a to 5e show the handling of a fourth object 18 using the robotic manipulator 1.

This is an intermediate insert 18 having a compartment 19 for holding the mobile phone 14. The intermediate insert 18 is composed of a flexible but slightly stronger material than the envelope 16.

The vacuum lifter 4 removes the insert 18 from the storage device 17 (FIG. 5a) and transfers the insert 18 to a starting point of the insertion trajectory T _18.1 assigned to this object 18 (FIG. 5b). Here, one end face of the object 18 is slightly placed on the edge 10 of the storage device 7, and then inserted by the robot manipulator 1 by a translational movement toward the lateral direction (in the illustration of the backward pointing in FIG. 5b) The trajectory T _18.1 moves until the insert 18 has reached the end face of the package 7 (Figure 5c). In addition to the edge 10, the robot manipulator 1 can also use the inner wall of the package 7 as a guide insert 18 as a guide.

Then, the robot manipulator 1 tilts the object 18 downward along another insertion trajectory T _18.2 (FIG. 5d) until the insertion member 18 is completely stored on the edge 10 (FIG. 5e).

In this case, the insertion procedure of the object 18 consists of a combination of one of the following: movement along differently aligned insertion trajectories, a two-dimensional translation movement along the insertion trajectory T _18.1 , and along the insertion trajectory T _18.2 One of the three-dimensional tilt movement.

6a to 6d show the handling of a fifth object 14 by means of the robot manipulator 1.

In a known manner, the robotic manipulator 1 moves back to the storage device 11 and picks up a mobile radio device 14 (FIG. 6a) by means of the vacuum lifter 4, the known mobile radio device 14 is rigid and has a higher height than the previous components The corresponding weight. The advantage of designing the storage device 11 as a sliding mechanism is that after the object 14 is removed, the next object 14 simply slides to the correct removal position for the robotic manipulator 1 to perform a subsequent pick-up process (FIG. 6b), such as for the object The situation is the same for 12 and 13.

Then, the robot manipulator 1 transfers the object 14 to a starting point in one of the insertion trajectories T ₁₄ assigned to the object 14 according to the corresponding set orientation in a similarly explained manner. Before the vacuum lifter 4 releases the object 14 and the robotic manipulator 1 retracts along another output trajectory A _{1 4} (FIG. 6d), insert the mobile radio device 14 by a simple translational movement downward (FIG. 6c) Up to the compartment 19 of the insert 18 provided for this purpose.

Figures 7a to 7e show the handling of a final object 21 using the robotic manipulator 1.

After the robot manipulator 1 has been moved to another storage device 20, the robot manipulator 1 uses the vacuum lifter 4 to grab one of the lid 21 for the package 7 (FIG. 7a), the lift lid 21 (FIG. 7b), and the lid 21 transferred to the starting point of one of the insertion trajectory T _21, and T ₂₁ along an insertion trajectory of this downward movement of the lid 21, whereby the robot manipulator 1 further slight rotation / tilting movement, as indicated by the corresponding arrows (Fig. 7c to FIG. 7e). This makes it easier for the lid 21 to slide onto the package 7 by reducing friction and allowing air to escape from the inside. This is also the case if the lid 21 is pushed by hand. When placing the lid 21, the robot manipulator 1 can use the outer wall of the package 7 as a guide, whereby the translation and/or rotation/tilting movement controlled by impedance or force allows the lid 21 to be displaced along the outer wall, both of which are Face each other. When pushing a cover or an object having at least two intersecting surfaces, the procedure of performing rotation and/or tilt movement by means of a robotic manipulator additionally or alternatively has a unique inventive meaning.

It can be seen that the insertion trajectories T ₂₁ , T ₁₄ and T _{16 can} essentially have the same orientation O _set , while the insertion trajectories T ₁₂ and T ₁₃ are offset in parallel, and the orientation of the insertion trajectories T _18.1 and T _18.2 is different from all other Insert the track.

All the above insertion movements have the following in common: the robot manipulator 1 and its control unit are designed to be based on at least one predetermined ideal limit value condition G _i (for example, a reaction force generated by an object fully inserted into the receptacle) or S _i based on a label over the force / torque Flag and / or position / velocity to identify the progress of, or insertion procedure is fully inserted into the respective object receptacle provided for this purpose in.

It may not be easy for a robot sensor (for example, by virtue of torque, and if necessary, a force sensor arranged in the joint of the robot manipulator 1) to insert individual objects into its receptacle (this is During translation or other insertion movements along various insertion trajectories, objects cannot be accurately engaged into the receptacle, which can also be defined by corresponding predetermined limit conditions G _i and/or marking Si), when the robotic manipulator 1 Together with its actuator 2 can perform force and/or impedance controlled rotation/tilt movement and/or lateral translation movement (not shown in the figure) until the object is accurately engaged with the receptacle, and then the robotic manipulator 1 performs the final translation Or other insert moves.

Therefore, the robot manipulator 1 is designed in such a way that the robot manipulator 1 "feels" or "senses" the insertion opening of the individual receptacle or even the edge 10 itself during the insertion procedure. Rotational / tilting movement may comprise nominal orientation O _set to be a few degrees to less than 1 degree, and the lateral movement of a few millimeters difference of the nominal orientation O _set only one or a few millimeters score.

All movements of the above method steps can be repeated repeatedly as needed, so that the packaging of this object can be performed automatically and reliably. The assembly cycle time can be reduced, thereby making the automation process more economical.

The movement of the robotic manipulator 1 in all the method steps explained above is controlled by force and/or impedance and can be controlled by a user, preferably by mapping individual method steps throughout the method related to the invention One of the pre-defined App control systems to teach or program to the robot.

1‧‧‧robot manipulator/actuator-driven robot manipulator 2‧‧‧actuator 3‧‧‧vacuum generator 4‧‧‧vacuum lifter 5‧‧‧suction button 6‧‧‧first storage Or storage device/holder 7‧‧‧ packaging/common storage device/storage device/receptacle 8‧‧‧insert 9.1‧‧‧reservoir/compartment/object 9.2‧‧‧reservoir/compartment/object 10 ‧‧‧Peripheral protruding edge/edge 11‧‧‧Second storage device/storage device/storage device 12‧‧‧Earphone kit/first object/object/object to be inserted/component/accessory 13‧‧‧Adapter or Plug/second object/object/object to be inserted/component/accessory 14‧‧‧mobile radio device/mobile phone/fifth object/object/receptacle/product 15‧‧‧third holder/storage device/storage device 16‧‧‧Envelope/Third Object/Object/Paper Envelope/Container/Component/Accessories 17‧‧‧ Fourth Holder/Storage Device/Storage Device 18‧‧‧Intermediate Holder/Fourth Object/Intermediate Insert /Object/insert/receptacle/component/accessories 19‧‧‧compartment/object/receptacle 20‧‧‧Fifth holder/storage device/storage device 21‧‧‧cover/last object/object/receptacle /Components/Accessories A12‧‧‧ Output trajectory A13‧‧‧ Corresponding output trajectory A14‧‧‧Output trajectory O _set ‧‧‧Common setting orientation/setting orientation/corresponding setting orientation/orientation/nominal orientation/desired orientation/each Do not set orientation RT‧‧‧Individual position/position TCP‧‧‧Tool center point T12‧‧‧Insert trajectory/input trajectory T13‧‧‧Insert trajectory T14‧‧‧Insert trajectory T16‧‧‧Insert trajectory T18.1‧‧ ‧Insert track T18.2‧‧‧Insert track T21‧‧‧Insert track

Other advantages and features of the invention result from the description of the embodiments shown in the drawings. FIG. 1 schematically shows a configuration of a robot station for performing one of the methods of the present invention; 2a to 2e exemplarily show the treatment of a first object according to the method related to the present invention; 3a to 3c exemplarily show the treatment of a second object according to the method related to the present invention; 4a to 4d exemplarily show the disposal of a third object according to the method related to the present invention; 5a to 5e exemplarily show the treatment of a fourth object according to the method related to the present invention; 6a to 6d exemplarily show the treatment of a fifth object according to the method related to the present invention; and 7a to 7e exemplarily show the treatment of a sixth object according to the method related to the present invention.

1‧‧‧robot manipulator/actuator-driven robot manipulator

2‧‧‧Actuator

3‧‧‧Vacuum generator

4‧‧‧Vacuum lifter

5‧‧‧Suction button

6‧‧‧First storage or storage device/holder

7‧‧‧Packing/Storage device

8‧‧‧Insert

11‧‧‧Second storage device

12‧‧‧Headphone Kit

13‧‧‧Adapter or plug

14‧‧‧Mobile radio device/mobile phone

15‧‧‧The third holder

16‧‧‧Envelope

17‧‧‧ Fourth holder

18‧‧‧ middle seat

19‧‧‧ compartment

20‧‧‧Fifth holder

21‧‧‧ Cover

Claims (18)

A robot manipulator (1) driven by an actuator of a robot to insert objects (12; 13; 14; 16; 18; 21) with different shapes, sizes, material properties and/or weights into a common storage device (7) Neutralize the method of controlling the robot manipulator (1), the robot manipulator (1) has an actuator (2) at its distal end, the actuator (2) is designed for storage and/or Grab the objects (12; 13; 14; 16; 18; 21), where in each case, relative to the storage device (7) and each object (12; 13; 14; 16; 18; 21 ) Define an insertion trajectory (T _i ), and define the object (12; 13; 14; 16; 18; 21) along the insertion trajectory (T _i ) for the position (RT _i ) of the insertion trajectory (T _i ) ) One of the desired orientations (O _set (RT _i )), the insertion trajectories (T _i ) for inserting each object are different from each other or at least partially continue in unison. The method of claim 1, wherein the set orientations (O _set (RT _i )) of the insertion trajectories (T _i ) used to insert each object (12; 13; 14; 16; 18; 21) different. The method of claim 1 or 2 includes the following procedural steps: a) The actuator (2) picks up the object (12) from a storage device (11) associated with a first object (12) , B) transfer the object (12) to one of the starting positions of the insertion trajectory (T ₁₂ ) for the object (12) by means of the robot manipulator (1), c) move along with the robot manipulator (1) The insertion track (T ₁₂ ) inserts the object (12) into a receptacle (9.1) associated with the object (12) in the storage device (7) until the object (12) is completely contained in In the associated receptacle (9.1), the identification of the progress status of the insertion of the object (12) and/or the identification of whether the insertion of the object (12) has been successfully completed is defined as: reaching or At least one predetermined limit value condition (G _i ) exceeding a torque acting on the actuator (2), and/or reaching or exceeding a force/torque indication (S _i ) provided on the actuator (2) and /Or a position/speed indicator (S _i ). The method of claim 3 further includes: d) After completing the insertion of the object (12), release the object (12) by the actuator (2), e) The robot manipulator (1) transfers the actuator (2) to another object (13; 14; 16; 18; 21) along a predetermined transfer trajectory, g) The actuator (2) grabs the object (13; 14) from a storage device (11; 15; 17; 20) associated with the other object (13; 14; 16; 18; 21) ; 16; 18; 21); and h) Perform steps b) and c) on the object (13; 14; 16; 18; 21). The method of claim 3, wherein the set orientation (O _set (RT) is followed at the robot manipulator (1) along the respective insertion trajectory (T _i ) for an object (13; 14; 16; 18; 21) _i )) Perform step c) under the translational movement of force control and/or impedance control. The method according to claim 3, wherein the set orientation (O _set (O _set (O _set () of the robot manipulator (1) with respect to the insertion trajectories (T _i ) for an object (13; 14; 16; 18; 21) RT _i )) Perform step c) under rotation/tilt movement and/or translational lateral movement with force control and/or impedance control. The method according to claim 6, wherein if the objects (13; 14; 16; 18; 21) are inserted into the storage device along the respective insertion trajectories (T _i ) by the robot manipulator (1) 7) When an error occurs in the receptacles (7; 14; 16; 18; 21) provided for the objects (13; 9.1; 9.2; 19), the inserted track (T*) and /Or translation and/or rotation/tilt with the force control and/or impedance control for the object (13; 14; 16; 18; 21) relative to the respective set orientation (O _set (RT _i )) Move the modified parameters and repeat inserting the object (13; 14; 16; 18; 21) into the receptacle (7; 9.1; 9.2; 19). As in the method of claim 3, one of the objects (18) has a receptacle (19) for subsequent objects (14). The method of claim 3, wherein the last object (21) used for the storage device (7) is designed to be close to the storage device (7). The method of claim 1 or 2, wherein the inner boundary of the storage device (7) is at least partially used as a guide surface for inserting objects (12; 13; 14; 16; 18; 21), regarding these objects ( 12; 13; 14; 16; 18; 21) The insertion trajectories (T _i ) match the orientation of the inner boundaries of the storage device (7). The method according to claim 1 or 2, wherein the outer boundary of the storage device (7) is at least partially used as a guide surface for inserting objects (12; 13; 14; 16; 18; 21), the insertion trajectories ( T _i ) matches the orientation of the outer boundaries of the storage device (7). A computer system having a data processing device configured to execute the method according to any one of the foregoing request items 1 to 11 on the data processing device. A digital storage medium having electronically readable control signals that can interact with a programmable computer system so that the method according to any one of the aforementioned request items 1 to 11 is executed. A computer program product having a program code stored on a machine-readable carrier, the computer program product being used to execute any one of the foregoing request items 1 to 11 when the program code is executed on a data processing device method. A computer program with a program code for executing the method according to any one of the foregoing request items 1 to 11 when the program is running on a data processing device. A robot comprising a robot manipulator (1) driven by an actuator, the robot manipulator (1) having one of its distal ends suitable for storing an object (12; 13; 14; 16; 18; 21) for execution The robot manipulator (1) includes a control unit that is designed and configured such that it can perform one of the methods of any one of request items 1 to 11. A use as the robot of claim 16, which is used to fill a package (7) of a product (14) having a plurality of components (12; 13; 16; 18; 21). A use as the robot of claim 16, which is used to equip a package (7) of a mobile radio device (14) with a plurality of accessories (12; 13; 16; 18; 21).

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