WO2001074547A1 - Platform for automatic handling machines - Google Patents

Platform for automatic handling machines Download PDF

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Publication number
WO2001074547A1
WO2001074547A1 PCT/EP2001/003890 EP0103890W WO0174547A1 WO 2001074547 A1 WO2001074547 A1 WO 2001074547A1 EP 0103890 W EP0103890 W EP 0103890W WO 0174547 A1 WO0174547 A1 WO 0174547A1
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WO
WIPO (PCT)
Prior art keywords
platform
weight
attachment
base
handling
Prior art date
Application number
PCT/EP2001/003890
Other languages
German (de)
French (fr)
Inventor
René BALTUS
Original Assignee
Baltus Rene
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 Baltus Rene filed Critical Baltus Rene
Priority to AU2001256257A priority Critical patent/AU2001256257A1/en
Publication of WO2001074547A1 publication Critical patent/WO2001074547A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/14—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing suspended loads
    • G01G19/18—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing suspended loads having electrical weight-sensitive 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping

Definitions

  • the invention relates to a device as a base, platform and / or attachment for handling devices, such as robots.
  • Handling machines also called robots
  • These robots stand on a fixed or movable platform, the forces that arise are absorbed by the platform and transferred to the supporting structure, for example in a ceiling, in a floor or in a trolley, by fastening the platform.
  • sensors To control the movement of the robots, many types of sensors are built into their design. For example, the acceleration, the deflection of individual components, the rotation and the position of the robot or individual parts thereof are measured. These sensors require a variety of connections, be they electrical, pneumatic or hydraulic, and are therefore prone to failure.
  • the sensors themselves and their connections increase the weight of the system. This has one when starting off and with positive and negative accelerations, such as those that arise when changing position performance-reducing impact.
  • the wear on drives and brakes is increased.
  • the system must be designed with sufficient electrical and mechanical security.
  • the object of the invention is to provide a device of the type mentioned at the outset, which takes over essential measuring and sensor functions of the automatic handling machine.
  • This object is inventively achieved in that, with devices for measuring, storing and evaluating the loads and load variations, which are produced in the direction and change in weight during the movement of a handling device, wherein the base platform and / or fastening of the handling device ⁇ so at least three load cells or force transducers is mounted so that every acceleration of the machine or robot and every deflection of the loaded or unloaded arm has a weight shift on the load cells, is converted into electrical signals and transmitted to a computer.
  • the invention thus relates to a platform of handling machines mounted on force transducers and their use for controlling and regulating the desired working positions and torques.
  • a device has a fixed sensor system with many evaluation options. This simplifies the construction of the handling machine and reduces the mass of the moving parts.
  • the platform of the robot is mounted on at least three force transducers or load cells.
  • the signals from the force transducers are evaluated individually and the values made available to a suitably programmed computer. Based on the shift in weight, this detects exactly where the arm or other parts of the robot are located at practically any time. It can also be determined how far the deflection of a robot arm is and what weight is there. If, for example, the robot is to fasten parts with screws, the specified torques are recorded precisely and used to control the work. Every tiny movement of the robot affects the weight of its mounting platform and is measured. Likewise, any change in weight on the gripper arms and acceleration.
  • the proposed arrangement is also used to detect the weight of a workpiece picked up by the machine. Strain gauges can be used as load cells / load cells. Furthermore, the measured values can be used to control and regulate the torques of the drilling, cutting and screwing tools used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a device used as a base, platform and/or an attachment for handling devices, for example robots comprising devices for measuring, saving and evaluating loads and load changes generated by directional and weight changes during the movement of a handling device. The base, platform and/or attachment of the handling device is mounted on at least three weighing cells or force transducers. Each acceleration of the automatic machine or robot and each deviation of the loaded or unloaded arm affects the weighing cell as a shifting of weight, is converted into electrical signals and transmitted to a computer.

Description

Plattform für HandhabungsautomatenPlatform for handling machines
Die Erfindung betrifft eine Vorrichtung als Basis, Plattform und/oder Befestigung für Handhabungsgeräte, wie zum Beispiel Roboter.The invention relates to a device as a base, platform and / or attachment for handling devices, such as robots.
Handhabungsautomaten, weiterhin Roboter genannt, sind allgemein bekannt und werden vielfach in der Industrie eingesetzt. Diese Roboter stehen auf einer festen oder beweglichen Plattform, die auftretenden Kräfte werden von dieser aufgenommen und über die Befestigung der Plattform in die Tragkonstruktion, zum Beispiel in eine Decke, in einen Fußboden oder in einen Fahrwagen, weitergeleitet.Handling machines, also called robots, are generally known and are widely used in industry. These robots stand on a fixed or movable platform, the forces that arise are absorbed by the platform and transferred to the supporting structure, for example in a ceiling, in a floor or in a trolley, by fastening the platform.
Zur Bewegungskontrolle der Roboter sind in deren Konstruktion viele Arten von Sensoren eingebaut. Es werden zum Beispiel die Beschleunigung, die Durchbiegung einzelner Bauteile, die Drehung und die Position des Roboters oder einzelner Teile davon gemessen. Diese Sensoren benötigen vielerlei Verbindungen, sei elektrischer, pneumatischer oder hydraulischer Art und sind damit störanfällig.To control the movement of the robots, many types of sensors are built into their design. For example, the acceleration, the deflection of individual components, the rotation and the position of the robot or individual parts thereof are measured. These sensors require a variety of connections, be they electrical, pneumatic or hydraulic, and are therefore prone to failure.
Die Sensoren selber und deren Verbindungen erhöhen das Gewicht des Systems. Dies hat beim Anfahren und bei positiven und negativen Beschleunigungen, wie sie bei Positionswechsel entstehen, eine leistungsmindernde Auswirkung. Der Verschleiß von Antrieben und Bremsen wird erhöht. Das System muss mit genügend elektrischen und mechanischen Sicherheiten ausgelegt werden.The sensors themselves and their connections increase the weight of the system. This has one when starting off and with positive and negative accelerations, such as those that arise when changing position performance-reducing impact. The wear on drives and brakes is increased. The system must be designed with sufficient electrical and mechanical security.
Ähnliches gilt für die Sensorik selber, sie muss von hoher Qualität sein. Ausfälle wirken sich auf die Einsatzbereitschaft und den Wartungsbedarf der Roboter negativ aus.The same applies to the sensors themselves, they must be of high quality. Failures have a negative impact on the operational readiness and maintenance requirements of the robots.
Aufgabe der Erfindung ist es, eine Vorrichtung der eingangs genannten Art zu schaffen, die wesentliche Mess- und Sensorfunktionen des Handhabungsautomaten übernimmt.The object of the invention is to provide a device of the type mentioned at the outset, which takes over essential measuring and sensor functions of the automatic handling machine.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass mit Vorrichtungen zum Messen, Speichern und Auswerten der Lasten und Laständerungen, die bei Richtungs- und Gewichtsänderungen während der Bewegung eines Handhabungsgerätes erzeugt werden, wobei die Basis, Plattform und/oder Befestigung des Handhabungsgerätes^ so auf mindestens drei Wägezellen oder Kraftaufnehmern gelagert ist, dass jede Beschleunigung des Automaten oder Roboters sowie jede Auslenkung des belasteten oder unbelasteten Armes sich als Gewichtsverlagerung auf die Wägezellen auswirkt, in elektrische Signale umgewandelt und zu einem Rechner übertragen wird.This object is inventively achieved in that, with devices for measuring, storing and evaluating the loads and load variations, which are produced in the direction and change in weight during the movement of a handling device, wherein the base platform and / or fastening of the handling device ^ so at least three load cells or force transducers is mounted so that every acceleration of the machine or robot and every deflection of the loaded or unloaded arm has a weight shift on the load cells, is converted into electrical signals and transmitted to a computer.
Die Erfindung betrifft somit eine auf Kraftaufnehmern gelagerte Plattform von Handhabungsautomaten und deren Nutzung zur Steuerung und Regelung der gewünschten Arbeitspositionen und Drehmomente. Eine solche Vorrichtung weist eine ortsfeste Sensorik mit vielerlei Auswertungsmöglichkeiten auf. Hierdurch wird die Konstruktion des Handhabungsautomaten vereinfacht und die Masse der beweglichen Teile verringert.The invention thus relates to a platform of handling machines mounted on force transducers and their use for controlling and regulating the desired working positions and torques. Such a device has a fixed sensor system with many evaluation options. This simplifies the construction of the handling machine and reduces the mass of the moving parts.
Vorteilhafte Ausgestaltungen der Erfindung sind in den Unteransprüchen aufgeführt. Eine Ausführungsbeispiel der Erfindung wird im folgenden näher beschrieben.Advantageous embodiments of the invention are listed in the subclaims. An embodiment of the invention is described in more detail below.
Um die gestellte Aufgabe zu lösen, wird die Plattform des Roboters auf mindestens drei Kraftaufnehmer oder Wägezellen gelagert. Die Signale der Kraftaufnehmer werden einzeln ausgewertet und die Werte einem entsprechend programmierten Rechner zur Verfügung gestellt. Dieser erkennt anhand der Gewichtsverlagerung praktisch zu jedem Zeitpunkt genau, wo sich der Arm oder andere Teile des Roboters befinden. Ebenso kann festgestellt werden, wie weit die Auslenkung eines Roboterarmes ist und welches Gewicht sich dort befindet. Soll der Roboter zum Beispiel Teile mittels Schrauben befestigen, werden die vorgeschriebenen Drehmomente genau erfasst und zur Kontrolle der Arbeit herangezogen. Jede kleinste Bewegung des Roboters wirkt sich als Gewichtsverlagerung auf seine Befestigungsplattform aus und wird gemessen. Ebenso jede Gewichtsänderung an den Greifarmen und die Beschleunigung.In order to solve the task, the platform of the robot is mounted on at least three force transducers or load cells. The signals from the force transducers are evaluated individually and the values made available to a suitably programmed computer. Based on the shift in weight, this detects exactly where the arm or other parts of the robot are located at practically any time. It can also be determined how far the deflection of a robot arm is and what weight is there. If, for example, the robot is to fasten parts with screws, the specified torques are recorded precisely and used to control the work. Every tiny movement of the robot affects the weight of its mounting platform and is measured. Likewise, any change in weight on the gripper arms and acceleration.
Die vorgeschlagene Anordnung wird gleichzeitig zum Erfassen des Gewichtes eines vom Automaten aufgenommenen Werkstückes genutzt. Als Kraftaufnehmer/Wägezellen können Dehnungsmessstreifen verwendet werden. Ferner können die Messwerte zur Steuerung und Regelung von Drehmomenten eingesetzter Bohr-, Schneid- und Schraubwerkzeuge genutzt werden. The proposed arrangement is also used to detect the weight of a workpiece picked up by the machine. Strain gauges can be used as load cells / load cells. Furthermore, the measured values can be used to control and regulate the torques of the drilling, cutting and screwing tools used.

Claims

Ansprüche Expectations
1. Vorrichtung als Basis, Plattform und/oder Befestigung für Handhabungsgeräte, wie zum Beispiel Roboter, gekennzeichnet mit Vorrichtungen zum Messen, Speichern und Auswerten der Lasten und Laständerungen, die bei Richtungs- und Gewichtsänderungen während der Bewegung eines Handhabungsgerätes erzeugt werden, wobei die Basis, Plattform und/oder Befestigung des Handhabungsgerätes ein, zwei oder mehreren, insbesondere drei Wägezellen oder Kraftaufnehmern gelagert ist, dass jede Beschleunigung des Automaten oder Roboters sowie jede Auslenkung des belasteten oder unbelasteten Armes sich als Gewichtsverlagerung auf die Wägezellen auswirkt, in elektrische Signale umgewandelt und zu einem Rechner übertragen wird.1. Device as a base, platform and / or attachment for handling devices, such as robots, characterized by devices for measuring, storing and evaluating the loads and load changes that are generated during changes in direction and weight during the movement of a handling device, the base , Platform and / or attachment of the handling device is mounted on one, two or more, in particular three load cells or force transducers that every acceleration of the machine or robot as well as every deflection of the loaded or unloaded arm affects the load cells as a shift in weight, converts them into electrical signals and is transferred to a computer.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die elektrischen Signale in einer geeigneten elektronischen Schaltung verstärkt, digitalisiert, mit einem geeigneten Rechnerprogramm ausgewertet und zur Steuerung oder Regelung der Bewegungen genutzt werden.2. Device according to claim 1, characterized in that the electrical signals are amplified in a suitable electronic circuit, digitized, evaluated with a suitable computer program and used to control or regulate the movements.
3. Vorrichtung nach Anspruch 1 oder 2, d a d u r c h gekennzeichnet, dass die Basis, Plattform und/oder Befestigung mit Dehnungsmessstreifen ausgestaltet ist.3. Device according to claim 1 or 2, characterized in that the base, platform and / or attachment is designed with strain gauges.
4. Vorrichtung nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass die Messwerte zum Erfassen des Gewichtes eines vom Automaten aufgenommenen Werkstückes genutzt werden. 4. Device according to one of the preceding claims, characterized in that the measured values are used to detect the weight of a workpiece picked up by the machine.
5. Vorrichtung nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass die Messwerte zur Steuerung und Regelung von Drehmomenten eingesetzter Bohr-, Schneid- und Schraubwerkzeuge genutzt werden.5. Device according to one of the preceding claims, characterized in that the measured values are used to control and regulate the torques used drilling, cutting and screwing tools.
6. Vorrichtung nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, daß die Wägezellen oder Kraftaufnehmer resistive, kapzitive, induktive oder optische Sensoren sind. 6. Device according to one of the preceding claims, characterized in that the load cells or force transducers are resistive, capacitive, inductive or optical sensors.
PCT/EP2001/003890 2000-04-05 2001-04-05 Platform for automatic handling machines WO2001074547A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2001256257A AU2001256257A1 (en) 2000-04-05 2001-04-05 Platform for automatic handling machines

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10016697.0 2000-04-05
DE2000116697 DE10016697A1 (en) 2000-04-05 2000-04-05 Measuring platform and mount for robotic device comprises three weighing cells or force sensors to detect and control the robotic movements

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DE (1) DE10016697A1 (en)
WO (1) WO2001074547A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10223670A1 (en) 2002-05-28 2003-12-18 Kuka Roboter Gmbh Method and device for moving a handling system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0560356A2 (en) * 1992-03-13 1993-09-15 Baltus, René Apparatus for checking writing
US5767648A (en) * 1996-04-19 1998-06-16 Massachusetts Institute Of Technology Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof
WO2000024053A1 (en) * 1998-10-19 2000-04-27 Kabushiki Kaisha Yaskawa Denki Protective device for clean robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0560356A2 (en) * 1992-03-13 1993-09-15 Baltus, René Apparatus for checking writing
US5767648A (en) * 1996-04-19 1998-06-16 Massachusetts Institute Of Technology Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof
WO2000024053A1 (en) * 1998-10-19 2000-04-27 Kabushiki Kaisha Yaskawa Denki Protective device for clean robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
WEST H ET AL: "A method for estimating the mass properties of a manipulator by measuring the reaction moments at its base", PROCEEDINGS. 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (CAT. NO.89CH2750-8), SCOTTSDALE, AZ, USA, 14-19 MAY 1989, 1989, Washington, DC, USA, IEEE Comput. Soc. Press, USA, pages 1510 - 1516 vol.3, XP002174212, ISBN: 0-8186-1938-4 *

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AU2001256257A1 (en) 2001-10-15
DE10016697A1 (en) 2001-10-11

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