WO2001074547A1 - Plate-forme pour robots de manipulation - Google Patents

Plate-forme pour robots de manipulation Download PDF

Info

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
Authority
WO
WIPO (PCT)
Prior art keywords
platform
weight
attachment
base
handling
Prior art date
Application number
PCT/EP2001/003890
Other languages
German (de)
English (en)
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/fr

Links

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

L'invention concerne un dispositif servant de base, de plate-forme et/ou de fixation à des appareils de manipulation, comme, par exemple, des robots dotés de dispositifs de mesure, de mémorisation et d'analyse des charges et des changements de charges qui apparaissent lors de modifications directionnelles et pondérales lorsqu'un appareil de manipulation est en mouvement. La base, plate-forme et/ou fixation de l'appareil de manipulation est ainsi logée sur au moins trois cellules de pesage ou prises de force. Toute accélération du robot et toute déviation du bras chargé ou non chargé se traduit par un déplacement de poids sur les cellules de pesage, est convertie en signaux électriques et transmise à un calculateur.
PCT/EP2001/003890 2000-04-05 2001-04-05 Plate-forme pour robots de manipulation WO2001074547A1 (fr)

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
DE2000116697 DE10016697A1 (de) 2000-04-05 2000-04-05 Messende Plattform für Handhabungsautomaten
DE10016697.0 2000-04-05

Publications (1)

Publication Number Publication Date
WO2001074547A1 true WO2001074547A1 (fr) 2001-10-11

Family

ID=7637532

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2001/003890 WO2001074547A1 (fr) 2000-04-05 2001-04-05 Plate-forme pour robots de manipulation

Country Status (3)

Country Link
AU (1) AU2001256257A1 (fr)
DE (1) DE10016697A1 (fr)
WO (1) WO2001074547A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10223670A1 (de) 2002-05-28 2003-12-18 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bewegen eines Handhabungssystems

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0560356A2 (fr) * 1992-03-13 1993-09-15 Baltus, René Dispositif de vérification d'écritures
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 (fr) * 1998-10-19 2000-04-27 Kabushiki Kaisha Yaskawa Denki Dispositif de protection d'un robot de nettoyage

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0560356A2 (fr) * 1992-03-13 1993-09-15 Baltus, René Dispositif de vérification d'écritures
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 (fr) * 1998-10-19 2000-04-27 Kabushiki Kaisha Yaskawa Denki Dispositif de protection d'un robot de nettoyage

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 *

Also Published As

Publication number Publication date
AU2001256257A1 (en) 2001-10-15
DE10016697A1 (de) 2001-10-11

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