WO2009110842A1 - Robot destiné à saisir des objets - Google Patents

Robot destiné à saisir des objets Download PDF

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Publication number
WO2009110842A1
WO2009110842A1 PCT/SE2009/050208 SE2009050208W WO2009110842A1 WO 2009110842 A1 WO2009110842 A1 WO 2009110842A1 SE 2009050208 W SE2009050208 W SE 2009050208W WO 2009110842 A1 WO2009110842 A1 WO 2009110842A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
sensor
robot arm
laser light
objects
Prior art date
Application number
PCT/SE2009/050208
Other languages
English (en)
Inventor
Anders Reyier
Original Assignee
Binar Aktiebolag
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 Binar Aktiebolag filed Critical Binar Aktiebolag
Priority to DE112009000506T priority Critical patent/DE112009000506T5/de
Publication of WO2009110842A1 publication Critical patent/WO2009110842A1/fr

Links

Classifications

    • 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
    • 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
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers

Definitions

  • the invention relates to a robot for seizing objects which robot comprises a movable robot arm with a gripper and a sensor arranged on the robot arm.
  • the invention also relates to a handling system for objects to be handled in an industrial process and to a method for seizing objects.
  • robots are used that are provided with gripping devices for seizing, holding and moving such objects.
  • the objects to be handled may be, for example, objects that are to be processed, e.g. machined, and/or mounted.
  • a robot may be provided with a camera. Objects to be handled are marked and the camera follows the marking that has been applied to the object in question. Data obtained by the camera are then used to control the robot. It is an object of the present invention to provide an improved robot for seizing objects, an improved system for handling objects and an improved method for seizing objects.
  • the invention relates to a robot for seizing objects which robot comprises a movable robot arm with a gripper. On the movable arm, a sensor is arranged. The sensor is connected to a control unit which is arranged to control the robot arm. The sensor comprises a line laser and an optical receiver arranged to receive reflected laser light.
  • the sensor may be arranged to be fixed in relation to the gripper.
  • the line laser and the optical receiver may be arranged in an angle relative to one another which is between 10° and 65°.
  • the invention also relates to a handling system for handling objects in an industrial process.
  • the inventive handling system comprises a conveyor on which the objects may be carried forwards.
  • a robot is located in connection to the conveyor and arranged to seize/grip the objects.
  • the robot comprises a movable robot arm with a gripper and a sensor is arranged on the movable robot arm.
  • the sensor is connected to a control unit for controlling the robot arm and the sensor comprises a line laser and an optical receiver is arranged to receive reflected laser light.
  • the invention further also relates to a method for seizing objects that are being handled in an industrial process.
  • the method comprises the use of a robot which robot has a movable robot arm with a gripper and on which movable robot arm a sensor is arranged.
  • the sensor is connected to a control unit for controlling the movable robot arm.
  • the sensor comprises a line laser and an optical receiver arranged to receive reflected laser light.
  • the method comprises illumination of the object to be seized with laser light from the line laser of the sensor and reception in the optical receiver of the laser light that has been reflected from the object to be seized.
  • the method further comprises comparison of the reflected laser light with a reflection defined in advance (a previously defined reflection) and displacement of the robot arm until the reflected laser light matches (coincides with) the reflection that has been defined in advance.
  • the method comprises seizing of the object when the reflected laser light matches (coincides with) the reflection that has been defined in advance.
  • the object or objects to be seized may be in a state of movement.
  • Figure 1 shows, schematically, a robot and a handling system.
  • Figure 2 shows, from another perspective, a sensor mounted on a robot arm 3.
  • Figure 3 shows a sensor which is intended for use in the present invention.
  • Figure 4 shows, schematically, how an industrial robot seizes/grips an object.
  • Figure 5 shows, schematically, how a sensor mounted on a movable robot arm detects an object to be seized.
  • Figure 6 is an enlargement of the area VI in Figure 5.
  • Figure 7 shows, schematically and in principle, a part of a control sequence when an object is seized by the inventive robot.
  • the invention comprises a robot 1 for seizing objects 2.
  • the robot 1 may suitably be an industrial robot with at least two degrees of freedom.
  • the robot 1 may be an industrial robot with 6 axes.
  • the robot arm 3 and/or its gripper 4 can turn about these axes or be linearly displaced along one or several of these axes in a way known per se.
  • the objects 2 may be objects that are transported by a conveyor 11.
  • the robot 1 comprises a movable robot arm 3 that has a gripper 4.
  • a sensor 5 is arranged on the movable robot arm 3.
  • the sensor 5 is connected to a control unit 6 for controlling the robot arm.
  • the sensor 5 comprises a line laser 8 and an optical receiver 9 arranged to receive reflected laser light.
  • the line laser 8 and the optical receiver 9 may be arranged inside an exterior shell 7 that protects the line laser 8 and the optical receiver 9.
  • An example of a line laser 8 suitable in this context may be a Las irisTM SNF laser having a wave length of 635 to 1550 nm but other components may also be used.
  • Figure 2 shows a possible embodiment where the sensor 5 is arranged at the end of the robot arm 3.
  • the gripper 4 may also be arranged at the end of the robot arm 3 such that the gripper 4 is fixed in relation to the gripper 4.
  • the gripper 4 will then move together with the sensor 5 such that the sensor 5 will always be in exactly the same position in relation to the gripper 4.
  • the gripper 4 may be, for example, a gripper with mechanical fingers but there are also other ways of realizing the gripper 4.
  • the gripper 4 may be provided with suction cups or magnets.
  • the robot arm 3 is showed without its gripper 4 but it should be understood that a gripper may be arranged on the mounting flange 13 in Figure 2.
  • the line laser 8 and the optical receiver 9 can be arranged/directed in different ways in relation to each other.
  • the line laser 8 and the optical receiver may be arranged in an angle relative to one another which is between 10° and 65°.
  • the invention can also be understood in terms of a handling system for objects 2 to be handled in an industrial process.
  • the handling system comprises the above described robot and a conveyor 11.
  • the conveyor may take other forms.
  • the conveyor 11 may be a conveyor belt.
  • a conveyor 11 is showed in which suspended objects 2 are carried forwards in the direction of the arrow.
  • the robot 1 is placed in connection with the conveyor 11 and arranged to seize the objects 2 that are carried forwards by the conveyor 11.
  • the function of the inventive robot 1 is as follows. As indicated in Figure 1, objects 2 are carried forwards by the conveyor 11.
  • the objects 2 that are transported forwards on the conveyor 2 may be, for example, cam shafts that are to be mounted in an engine.
  • the invention can, of course, be applied to in principle any objects.
  • the object 2 to be seized passes the robot 1, the object 2 is illuminated by the line laser 8 of the sensor 5 as showed in for example Figure 5 and Figure 6.
  • the line laser 8 illuminates the object 2
  • the laser light will form a curve B on the object 2 as can be seen in Figure 6.
  • the laser light is reflected and received by the optical receiver 9 of the sensor 5.
  • the optical receiver will then read a signal that corresponds to the curve B.
  • the optical receiver is connected to a control unit that comprises software defining a virtual "sight" 12.
  • a reference curve C is programmed into the control unit 6 that may comprise a computer.
  • the reference curve C corresponds to an expected shape of the curve B.
  • a pre-defined point on the reference curve C is located at the centre of the sight 12 (in the middle of the cross-hairs in Figure 1).
  • a pre-defined point of the read/detected curve B should also be at the centre of the sight 12.
  • the curve B and the reference curve C shall coincide.
  • the predefined point may be, for example, a maximum or a minimum on the curve B or the middle point of a curve that is constituted by a straight line.
  • the position of the object 2 is transformed into a signal that is compared to the set value/nominal value according to the reference curve C.
  • the position of the read curve B shall coincide with the position for reference curve C.
  • the lateral deviation in a two-dimensional coordinate system is showed as ⁇ x. Since a laser is used, it is also possible to measure the distance between the object 2 and the object 2 and the sensor 5. A deviation from the correct distance is registered as ⁇ y in Figure 1.
  • the control unit 6 converts the deviations ⁇ x, ⁇ y from the set value into a signal to the robot 1 to change the position of the robot arm 3 in such a way that the deviations are eliminated or reduced to a value that is below a threshold value.
  • the reflected laser light is thus compared to a pre-defined reflection and the robot arm 3 is moved/displaced until the reflected laser light matches (coincides with) the pre-defined reflection.
  • a predefined reflection in the form of a reference curve C is thus programmed into the control unit 6 and the control unit 6 is adapted/programmed/arranged to compare laser light that has been reflected from the object to be seized to the predefined reflection.
  • the robot arm 3 is then controlled to move until the reflected laser light matches (coincides with) the predefined reflection.
  • the control unit 6 may comprise an amplifier 14 for amplifying the signal that goes to the robot 1 for controlling the robot 1.
  • control unit 6 is programmed to determine a deviation (a distance) in depth and a lateral deviation from the object 2 to be seized and to correct the position of the robot arm 3 such that the deviations are eliminated or reduced below a threshold value. Thereafter, the object is seized.
  • the objects 2 that are to be seized may be in a state of movement.
  • the objects 2 may be suspended from a moving conveyor 11.
  • the conveyor 11 can halt its movement in front of the robot 1 and allow the robot 1 to seize an object while the object is swinging which is also schematically indicated in Figure 1.
  • the control unit 6 that directs the robot arm 3 to simply follow the object which is to be seized.
  • the inventive robot can also be used for other purposes than seizing different objects.
  • the robot 1 When the robot 1 has seized an object, it may be suitable to let the robot place the object 2 that has been seized in a box or on a predetermined support (not showed in the figures) where objects 2 are to be packaged or placed in intermediate storage.
  • the sensor 5 When the robot has put down an object 2 on such a place, the sensor 5 may be used to make a reading of the position of the object 2. If one it is then established that an object 2 has been incorrectly placed, this can be taken into consideration when the next object is to be placed beside the incorrectly placed object.
  • the inventive robot can thus be used to place a plurality of objects next to each other and, by using the sensor 5, check the position of every object that has been so placed. Based on the position of previously laid down objects 2, it can then be determined where the next object to be laid down shall be placed.
  • a 2-D camera can achieve detection in a plane (laterally and vertically) while, according to the present invention, it is possible to detect both a vertical deviation and a deviation in depth from a correct position for seizing/gripping. Thereby, it is possible to effectively direct the gripper 4 of the robot arm to a correct position for seizing the object which is to be seized. Seizure is possible also when the object to be seized is in a state of movement.
  • the control can be substantially simplified.
  • the control unit does not need to know the exact position for either the robot arm 3 or the object 2. It is sufficient that the position of the robot arm 3 in relation to the object 2 can be established, i.e. their relative position vis-a-vis each other.
  • the industrial robot is thus arranged/programmed to be controlled such that the robot arm 3 and its gripper 4 reaches a predetermined position in relation to the position of the object to be seized, also when the object 2 is moving. This results in a fast and reliable control which is especially important when moving objects are to be seized.
  • the predetermined (relative) position of the robot arm 3 may be a zone where the deviation from an ideal position lies below a threshold value.
  • the robot and the handling system are adapted to perform the inventive method and the handling system comprises a robot according to the invention.

Landscapes

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

Abstract

L’invention concerne un robot (1) destiné à saisir des objets (2). Le robot (1) comprend un bras de robot mobile avec une pince (4) et un capteur (5) disposé sur le bras de robot mobile (3). Ce capteur est relié à une unité de commande (6) pour commander le bras du robot. Le capteur (5) comprend une ligne de laser (8) et un récepteur optique (9) conçu pour recevoir une lumière laser réfléchie. L’invention concerne également un système de manutention qui comprend ledit robot et un procédé pour saisir des objets.
PCT/SE2009/050208 2008-03-04 2009-02-26 Robot destiné à saisir des objets WO2009110842A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112009000506T DE112009000506T5 (de) 2008-03-04 2009-02-26 Roboter zum Greifen von Gegenständen

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0800509A SE532222C2 (sv) 2008-03-04 2008-03-04 En robot för gripande av föremål
SE0800509-2 2008-03-04

Publications (1)

Publication Number Publication Date
WO2009110842A1 true WO2009110842A1 (fr) 2009-09-11

Family

ID=41056253

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2009/050208 WO2009110842A1 (fr) 2008-03-04 2009-02-26 Robot destiné à saisir des objets

Country Status (4)

Country Link
DE (1) DE112009000506T5 (fr)
SE (1) SE532222C2 (fr)
TW (1) TW200938345A (fr)
WO (1) WO2009110842A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012072657A1 (fr) * 2010-12-01 2012-06-07 Universite Pierre Et Marie Curie (Paris 6) Effecteur equipe d'un dispositif pour la localisation d'une partie utile d'un outil
US20130200915A1 (en) * 2012-02-06 2013-08-08 Peter G. Panagas Test System with Test Trays and Automated Test Tray Handling
EP2940422A1 (fr) * 2014-05-01 2015-11-04 Kikai Sekkei Nakahata Kabushiki Kaisha Appareil et procédé de détection et manipulateur
CN108290283A (zh) * 2015-11-19 2018-07-17 库卡德国有限公司 联接装置和联接方法
US20200263396A1 (en) * 2018-12-10 2020-08-20 Esco Group Llc System and process for conducting in-field operations

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202013104392U1 (de) 2013-09-26 2015-01-12 Daimler Ag Arbeitsvorrichtung
CN107516641A (zh) * 2016-06-16 2017-12-26 上海新昇半导体科技有限公司 机械手臂的监控系统及监控方法
CN111571887B (zh) * 2020-06-23 2022-04-29 三角轮胎股份有限公司 用于轮胎硫化机防止双胞胎产生的方法
CN112891697A (zh) * 2021-02-01 2021-06-04 宁波市第九医院 一种适用于胃镜治疗用自带口垫的气管导管

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4453085A (en) * 1981-05-11 1984-06-05 Diffracto Ltd. Electro-optical systems for control of robots, manipulator arms and co-ordinate measuring machines
EP0339560A1 (fr) * 1988-04-26 1989-11-02 Fuji Jukogyo Kabushiki Kaisha Dispositif et procédé de l'ajustage d'une position pour un robot industriel
US5668628A (en) * 1994-07-13 1997-09-16 Fanuc Ltd. Detection angle control method for laser sensor
WO2006073303A1 (fr) * 2005-01-07 2006-07-13 World Wide Automation Projects B. V. Systeme de positionnement de robot et son procede d'utilisation
WO2007046763A1 (fr) * 2005-10-18 2007-04-26 Morphic Technologies Aktiebolag (Publ.) Procédé et dispositif permettant de détecter et de ramasser les objets placés sur un support

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Publication number Priority date Publication date Assignee Title
JP3242108B2 (ja) 1992-01-30 2001-12-25 富士通株式会社 ターゲットマークの認識・追跡システム及び方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4453085A (en) * 1981-05-11 1984-06-05 Diffracto Ltd. Electro-optical systems for control of robots, manipulator arms and co-ordinate measuring machines
EP0339560A1 (fr) * 1988-04-26 1989-11-02 Fuji Jukogyo Kabushiki Kaisha Dispositif et procédé de l'ajustage d'une position pour un robot industriel
US5668628A (en) * 1994-07-13 1997-09-16 Fanuc Ltd. Detection angle control method for laser sensor
WO2006073303A1 (fr) * 2005-01-07 2006-07-13 World Wide Automation Projects B. V. Systeme de positionnement de robot et son procede d'utilisation
WO2007046763A1 (fr) * 2005-10-18 2007-04-26 Morphic Technologies Aktiebolag (Publ.) Procédé et dispositif permettant de détecter et de ramasser les objets placés sur un support

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
D.C. CARMER ET AL: "Laser Radar in Robotics", PROCEEDINGS OF THE IEEE, vol. 84, no. 2, February 1996 (1996-02-01), pages 299 - 320, XP011043664 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012072657A1 (fr) * 2010-12-01 2012-06-07 Universite Pierre Et Marie Curie (Paris 6) Effecteur equipe d'un dispositif pour la localisation d'une partie utile d'un outil
FR2968191A1 (fr) * 2010-12-01 2012-06-08 Univ Paris Curie Effecteur equipe d'un dispositif pour la localisation d'une partie utile d'un outil
US20130200915A1 (en) * 2012-02-06 2013-08-08 Peter G. Panagas Test System with Test Trays and Automated Test Tray Handling
EP2940422A1 (fr) * 2014-05-01 2015-11-04 Kikai Sekkei Nakahata Kabushiki Kaisha Appareil et procédé de détection et manipulateur
CN108290283A (zh) * 2015-11-19 2018-07-17 库卡德国有限公司 联接装置和联接方法
CN108290283B (zh) * 2015-11-19 2022-02-25 库卡德国有限公司 联接装置和联接方法
US20200263396A1 (en) * 2018-12-10 2020-08-20 Esco Group Llc System and process for conducting in-field operations

Also Published As

Publication number Publication date
SE532222C2 (sv) 2009-11-17
DE112009000506T5 (de) 2011-02-03
SE0800509L (sv) 2009-09-05
TW200938345A (en) 2009-09-16

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