WO2015110623A1 - Outil de robot, procédé de fonctionnement et dispositif de travail - Google Patents

Outil de robot, procédé de fonctionnement et dispositif de travail Download PDF

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Publication number
WO2015110623A1
WO2015110623A1 PCT/EP2015/051454 EP2015051454W WO2015110623A1 WO 2015110623 A1 WO2015110623 A1 WO 2015110623A1 EP 2015051454 W EP2015051454 W EP 2015051454W WO 2015110623 A1 WO2015110623 A1 WO 2015110623A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
tool
robot tool
torque
industrial robot
Prior art date
Application number
PCT/EP2015/051454
Other languages
German (de)
English (en)
Inventor
Thomas Sturm
Original Assignee
Kuka Systems Gmbh
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 Kuka Systems Gmbh filed Critical Kuka Systems Gmbh
Publication of WO2015110623A1 publication Critical patent/WO2015110623A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations

Definitions

  • Robot tool operating method and working device
  • the invention relates to a robot tool, a
  • Robot tools are known in practice in various embodiments. These are tools that are guided by an industrial robot and to a
  • Job are delivered.
  • These robot tools are equipped with their own drive and then autonomously carry out a work process, e.g. a joint,
  • the industrial robot is not involved in the actual work process.
  • the industrial robot partially participates in the screwing process, the rotary drive of the screwing tool providing the revolving screwing of the screws at high speed and low torque, and
  • Tightening torque is limited by the carrying capacity and maximum application torque of the industrial robot.
  • the invention therefore has the task of demonstrating improved robotics.
  • the invention solves this problem with the features in the method and device claims.
  • the claimed robotic tooling technique i. the
  • Robot tool and the method of its operation and the working device have the advantage that with the robot tool on the, powered by an industrial robot drive train, the so-called robotic
  • the claimed torque amplifier can be applied by the industrial robot maximum
  • the industrial robot can by robotic
  • Robot tool can also be executed.
  • the possibilities of robotic process participation can be significantly increased over the prior art.
  • Robot tool can also be used with low-dimensioned and lightweight industrial robots.
  • Capacity They can also have a small size and a low weight, where they are referred to as. Lightweight robots are designed. such
  • the torque amplifier can be designed in different ways. It can be fully or partially integrated in the robot tool. He can the rotating input from the industrial robot input torque into a much higher rotating output torque
  • Torque amplifier can be designed for this purpose in a suitable manner.
  • it may comprise a rotary transmission gear which is e.g. is designed as a gear, worm or belt transmission.
  • the robot tool may be formed in different ways, e.g. as adjusting tool or as
  • revolving turning tool may in particular be a screwing tool.
  • an adjusting tool can be moved by the torque gain of the industrial robot on the output side, a high load and possibly positioned, which exceeds the carrying capacity or the maximum applicable torque of the industrial robot.
  • the load may be formed in any manner, e.g. one
  • the adjusting tool can perform rotational and / or translatory positioning movements. A detachable and from the
  • Robot tool another drive train with a motor drive, in particular a rotary drive having.
  • the drive trains act as needed and preferably in parallel to an output element.
  • a freewheel is beneficial for avoiding unwanted feedback on the robotic driveline.
  • the drive trains can be different
  • motor powertrain can e.g. a high speed can be applied with a low torque, using the robotic drivetrain a high torque at low speed and possibly also
  • the powertrain can be used to quickly turn or unscrew a screw, using the robotic powertrain for tightening or loosening
  • the robot tool allows splitting and
  • the robot tool is preferably associated with a rigid or movable guide device.
  • a movable guide means of said
  • a lock can be advantageous for securing the rest and working position.
  • connection with a search function It can also track it if necessary. This is especially true with a turning tool, e.g. a screwing tool, an advantage.
  • a turning tool e.g. a screwing tool
  • the preferred tactile robot has an associated sensor which is external and e.g. between its output element and the robot tool, or preferably can be arranged inside the robot. For the utilization of its sensitive abilities has the tactile
  • Industrial robots preferably one or more
  • a resilient axle training with a compliance control in particular a pure force control or a combination of position and force control. This enables the industrial robot to tactile seeks with the output element of the
  • Robot tool such as a screw for safe location of the process, such as a screw hole or a bolt. Similar advantages also arise in other processes.
  • MRK human-robot cooperation or collaboration
  • Coupling possibility also allow an optimization of robot utilization.
  • An industrial robot can operate or operate several robot tools alternately. This allows a complex training of
  • the invention also relates to a robotic turning tool, in particular screwing, with a frame and a rotating driven part, in particular a spindle which is moved via a motor drive train with a rotary drive, wherein the rotary tool, in particular screwing, another integrated and acting on the driven part powertrain
  • Torque amplifier input side to be connected to a rotary connection and the output side to the output part, wherein the rotary connection has a coupling element, which is adapted for automatic releasable coupling with a
  • Coupling element is provided and formed on the industrial robot. Furthermore, in the robotic rotary tool of
  • the robotic drive train for turning at high speed and low torque and be designed and designed, the robotic drive train is provided for loosening and / or tightening with higher torque and low speed.
  • Figure 1 a working device with a
  • FIG. 2 shows a guide device for the robot tool in a side view
  • FIGS. 1 to 3 shows a variant of the robot tool of FIGS. 1 to 3,
  • Figure 5 a broken, cut and enlarged
  • Figure 6 a tactile industrial robot.
  • the invention relates to a robot tool (4) and a
  • the invention further relates to a working device (1) with an industrial robot (2) and a robot tool (4) together with working methods.
  • the robot tool (4) can be designed in different ways.
  • Figures 1 to 3 and Figure 4, 5 show different embodiments thereof.
  • Tool training different processes are performed, for example on a indicated in Figure 1 workpiece (3).
  • Such a process can, for example, be a joining, assembling, Coating, gripping or handling, measuring or the like.
  • the robot tool (4) is e.g. as a revolving turning tool
  • FIGS. 4 and 5 show
  • the industrial robot (2) can operate or actuate the robot tool (4), wherein a drive movement of the industrial robot (2) into an output movement of the
  • Motion conversion the industrial robot (2) actively and substantially participate in the process performed with the robot tool (4) and perform with its movement one or more process steps.
  • the industrial robot (2) can also move and guide the robot tool (4). He can do it e.g. Move from a rest position (37) to a working position (38) and position it in a given position and / or orientation.
  • the industrial robot (2) may optionally deliver the robot tool (4), in particular its output part, to the processor location and, if necessary, during the process, e.g. in a screwing process, if necessary track.
  • Industrial robot (2) can also perform a search function on delivery.
  • the robot tool (4) can be attached to a rigid or
  • the guide device (13) can be part of the
  • the industrial robot (2) has a plurality of robot axes I - VII and a plurality of movable, preferably pivotable,
  • the end member (46) has an output element (47), which is the
  • connection with the robot tool (4) is used and can be arranged rotatably about a driven output shaft (48).
  • the industrial robot (2) is preferably designed as a tactile robot that has sensitive properties. He is with a robot controller (not shown)
  • the robot tool (4) can also be connected to it.
  • a preferred embodiment of the industrial robot (2) is shown in Figure 6 and will be described below.
  • the robot tool (4) e.g. the rotary tool (14), may have one or more own additional axes with corresponding drives.
  • the robot tool (4) can
  • one or more operating media e.g. Fluids, electrical signal and / or power currents or the like. from a carried or an external
  • the industrial robot (2) can have an integrated media supply (51) and a media coupling.
  • the process tool (4) has in the various
  • the drive train (6) can be actuated by the industrial robot (2) and is subsequently described as robotic
  • the robot tool (4) can also have one or more further drive trains (39) with their own drive (40), which is realized, for example, in the rotary tool (14) and will be discussed in more detail below.
  • the one or more further drive trains (39) are referred to below as motor drive trains. You can use the aforementioned one or more additional axes form.
  • the robot tool (4), for example, the adjusting tool (15), can also do without additional axis (s) and without further drive train (39).
  • the robotic drive train (6) has a
  • the torque amplifier (7) is
  • the rotary connection (8) has a coupling element (11), which is provided and designed for automatic and detachable coupling with a coupling element (12) on the industrial robot (2).
  • the coupling elements (11, 12) form a coupling (10), which transmits the introduced torque and is preferably of a form-fitting design.
  • the coupling (10) is e.g. designed as a plug-in coupling, with others
  • the robot tool (4) can be manufactured and sold individually, with the said
  • Coupling element (11) may be equipped. It can also with the industrial robot (2) a
  • the torque amplifier (7) amplifies the from
  • the torque amplifier (7) can be designed for this purpose in any suitable manner.
  • the transmission gear (20) is formed in the embodiments shown as a gear transmission, the e.g. having parallel-axis spur gears. It can also be designed as a bevel gear or to achieve higher ratios alternatively as worm gear. Furthermore, an embodiment as
  • Belt transmission or any other transmission e.g.
  • Torque amplifier (7) in particular the
  • Transmission gear (20) is preferably 2: 1 or more.
  • the torque amplifier (7) in particular the rotary transmission gear (20), can be self-locking
  • a frame (5) which receives the one or more drive trains (6,39).
  • the frame (5) can also be connected to the guide device (13).
  • the frame (5) can be used for the different ones Functions have a suitable constructive training. It may optionally also be surrounded by a housing. In the embodiments shown, the
  • Rotary connection (8) in each case one on the frame (5) mounted (18) shaft (16).
  • the shaft bearing (18) may be a pure rotary bearing. In the shown
  • Embodiments it is designed as a combined rotary and sliding bearing.
  • the rotatable shaft (16) can be axially displaceable against a restoring force, in particular a spring (17). This training and function will be explained in more detail below.
  • the shaft (16) is further connected to an input element of the torque amplifier (7), e.g. a drive wheel (21) of the transmission gear (20) rotatably connected.
  • the torque amplifier (7) e.g. a drive wheel (21) of the transmission gear (20) rotatably connected.
  • the torque amplifier (7) has an output element (22), which is e.g. as output gear (22) of the preferred rotary transmission gear (20) is formed.
  • the transmission gear (20) may have one or more stages. In the single-stage shown
  • Embodiments meshes the smaller pinion (21) with the larger output gear (22).
  • worm gear that is
  • Input element (21) e.g. formed as a worm shaft and the output element (22) as a worm wheel or large wheel.
  • the output element (22), in particular the output gear, is rotatably connected to the output part (9) of the robot tool (4).
  • the output member (9) is movably mounted on the frame (5) (26). In the shown
  • this is a pivot bearing (26), wherein the output member (9) performs rotational movements.
  • a drive train (6, 39), in particular the robotic drive train (6), can have a freewheel (23).
  • a freewheel In the embodiment of Figure 1 to 3 is the freewheel
  • Stripping part (9) formed as an actuating arm (24).
  • Actuating arm (24) can be movably, in particular pivotably, mounted on the guide device (13) by means of the bearing (26).
  • the guide device (13) is in this embodiment as a stationary bearing block (29)
  • Output gear (22) connected and carries at the other end a load.
  • This can e.g. a work tool (28)
  • the rotary connection (8) can have a releasable fixing (19) for the shaft (16) with which the rotary position of the actuating arm (24) generated by the industrial robot (2) can be fixed and possibly supported.
  • the releasable fixation (19) is e.g. according to FIG. 5, from a disk on the end of the shaft (16) and on the frame (5) or on the guide device (13).
  • the disks each have a suitable holding structure on the contact surfaces facing one another, for example ring gear teeth or the like.
  • auf which is a preferably form-liquid disk connection in a plurality of rotational positions of the input element (21) and the
  • Stellarms (24) allows.
  • trained input element (21) can be moved with the shaft (16) against the spring (17).
  • Transmission gear (20) allows the sliding movement and is designed accordingly.
  • the e.g. circular-shaped coupling elements each other
  • the coupling elements (11,12) are in the axial direction of the shaft (16) through the
  • the coupling element (12) is on the output element (47) of the industrial robot (2) and is rotated for torque introduction in a suitable manner by the industrial robot (2), e.g. by a drive movement about the output shaft (48) or the robot axis (VII).
  • the industrial robot (2) can then uncouple and solve the plug-in coupling (10). He can then be used for other tasks, where he uses his entrained coupling element (12) or this against another tool or degl. exchanges. For this purpose, between the coupling element (12) and the driven element (46) an automatic
  • Interchangeable coupling (not shown) may be arranged.
  • Screwing tool shown. It has at least one aforementioned motor drive train (39), which is arranged on the frame (5) and has a rotating drive (40) and a gear (41) and the
  • the driven part (9) can be used in a rotary tool (14) as a revolving spindle (25), in particular as
  • the spindle (25) is mounted and supported on the frame (5) via a spindle bearing (26). She points at the free end for the
  • a holder (27). This can be designed as a screw nut for receiving a screw or a nut according to FIG.
  • the rotary actuator (40) may be connected to the robot controller or other controller. It can be controllable or adjustable. In a simplified embodiment, it can also be switched only
  • the motor drive in particular rotary or screw drive (40), preferably has an electric motor. Alternatively, any others
  • the motor drive train (39) can also have a sensor (42). This can vary depending on
  • Transducer be designed for rotary travel and / or torque. It can be e.g. in the drive (40) or in another suitable place.
  • the sensitive properties of the industrial robot (2) for detection e.g. the reaction torque when turning, especially screws used. This can be e.g. by torque increase reaching the fferend ein, a possibly occurring fault in the turning or screwing or the like. be detected.
  • the turning process may involve, in addition to screwing, other rotary processes, e.g. a closing of a bayonet connection, one
  • the freewheel (23) allows it to be turned or unscrewed without reacting on the industrial robot (2) or on the rotary connection (8).
  • the preferably tactile industrial robot (2) can have a low load capacity and a low maximum torque of, for example, about 30-40 Nm.
  • the correspondingly high reaction torque can be supported by the guide device (13).
  • Sensor (49) has sensitive capabilities. It can detect the drive torque or the reaction torque and generate a specific hard or loose torque. Alternatively or additionally, it can generate a specific path, in particular rotational angle, of the output part (9) via position detection.
  • the industrial robot (2) can also deliver the robot tool (4), in particular the driven element (9) or the spindle (25), to the processor location and, if necessary, during the process
  • a tactile industrial robot (2) with its sensitive capabilities, can also perform a seek operation, e.g. the ringernuss (26) with the recorded screw in a screw hole
  • Figures 1 to 3 also show a variant of
  • Guiding device (13) which is designed to be movable here and e.g. is designed as a slide guide (30).
  • the industrial robot may be a handlebar guide or the like. act other non-drive guide device.
  • the industrial robot may be a handlebar guide or the like. act other non-drive guide device.
  • the industrial robot may be a handlebar guide or the like. act other non-drive guide device.
  • the industrial robot may be a handlebar guide or the like. act other non-drive guide device.
  • the industrial robot may be a handlebar guide or the like. act other non-drive guide device.
  • the industrial robot may be a handlebar guide or the like. act other non-drive guide device.
  • the illustrated slide guide (30) has e.g. according to Figures 1 and 2 three translational axes of movement.
  • the carriage (33) may be attached to e.g.
  • the output member (9) is parallel to said axis of motion and the
  • the industrial robot (2) engages the robot tool (4), in particular at the rotary connection (8) and takes the robot tool (4) with it during its displacement movement.
  • Tool positioning in particular a possible pre-positioning before a subsequent search, takes place via the robot control, the
  • TCP Tool Center Point
  • Industrial robot (2) also start the aforementioned search drive using the guide device (13), wherein it detects the correct process position groping.
  • the industrial robot (2) can move and position the robot tool (4) from a rest position (37) shown in FIG. 2 to a working position (38) and the process station. He can approach different working position (38) successively.
  • the industrial robot (2) can be used throughout
  • the robot tool (4) can be temporarily fixed by means of a controllable lock (36).
  • the guide device (13) has a stationary holder (35) which cooperates with a detent (36).
  • the lock (36) is e.g. formed by a conical collar on the rotatable and against a spring (17) longitudinally displaceable shaft (16) and a corresponding conical receiving opening on the holder (35).
  • the lock (36) can be released by depressing the shaft (16) by the coupled industrial robot (2), wherein the shaft (16) with entrainment of the robot tool (4) by a constricted slot subsequent to the conical opening of the holder (35 ) can be removed.
  • Input part (21), in particular pinion, at the shaft end is formed correspondingly wide for this sliding movement and remains with the output element (22) or
  • controllable locking can fix the robot tool (4) in the working position temporarily and possibly independent of the industrial robot (2).
  • the coupling (10) is also in the embodiment of Figure 1 to 3 as a positive plug-in coupling
  • the robot-side coupling element (12) is designed as a rotary claw with a slot which is provided with a corresponding rib on the tool side
  • Coupling element (11) is positively connected.
  • the industrial robot (2) has seven driven axles or axes of movement (I-VII).
  • the robot axes (I - VII) are with the
  • Robot controller connected and can be controlled and possibly regulated.
  • the number of links and axes can be controlled and possibly regulated.
  • the number of links and axes can be controlled and possibly regulated.
  • Axis arrangement may vary, with rotational
  • the output-side end member (46) of the robot (2) is designed, for example, as a robot hand and has an output element (47) rotatable about an axis of rotation (48), for example an output flange.
  • the axis of rotation (48) forms the last robot axis (VII).
  • Signal currents, fluids, etc. may be performed starting from a terminal on the base and on the flange (47) to the outside.
  • the aforementioned media and / or change coupling can be grown.
  • the coupling (10) can be modified accordingly in order to enable a media supply of the robot tool (4), in particular the drive (40) and possibly the sensor (42).
  • the robot tool (4) from an external
  • the tactile industrial robot (2) has one or more force-controlled or force-controlled robot axes (I-VII).
  • the robot axes (I-VII) each have an axle bearing, e.g. Swivel or a joint, and a here associated and integrated controllable, possibly adjustable final drive, e.g. Rotary drive, up.
  • the robot axes (I-VII) may have a controllable or switchable brake.
  • the tactile industrial robot (2) has an associated sensor system (49) which detects externally acting loads.
  • the sensor (49) is preferably in the
  • Sensors can have the same or different functions. They can be used in particular as power or
  • the tactile robot (2) can work with humans in an open workspace without a fence or other
  • the robot (2) may e.g. according to DE 10 2007 063 099 A1, DE 10 2007 014 023 A1 or DE 10 2007 028 758 B4.
  • It can have one or more flexible axles (I - VII) or yielding final drives with one for the MRK capability and for the tactile process function
  • the resilient avoidance capability of the robot (2) can be used for manual teaching and programming.
  • a load detection with the robot sensor system (49) on the axes (I - VII) can also help finding and finding the process station and making it easier.
  • Angular errors in the relative position of the links (43-46) can also be detected and corrected if necessary.
  • One or more compliant axles are also for
  • the tactile industrial robot (2) can also apply a defined pressing or pulling force as needed.
  • the illustrated tactile industrial robot (2) can be designed as a lightweight robot and off
  • the working device (1) can be quick and easy
  • the tactile industrial robot (2) is programmable, wherein the robot controller has a computing unit, one or more memories for data or programs and input and output units.
  • the robot tool (4), in particular the drive (40) can with the
  • Robot controller or other common control and may e.g. as controlled axis in the
  • the robot controller may process relevant data, e.g. Sensor data, store and for quality control and assurance
  • the sensor (49) can be mounted externally on the tactile robot (2). It can be e.g. between the
  • Output element (47) and the coupling element (12) or located on the latter can take place via another robot member, for example an intermediate member (44, 45), and optionally via another robot axis.
  • the output element (47) can also be arranged rigidly on the end member (46).
  • the guide device (13) may have, for example, one or more own drives. For example, a
  • torque amplifier (7) shown in the embodiments can be modified.
  • Robot tool (4) is only part of the
  • the input element (21) then forms e.g. the robot-side coupling element (12) for coupling with the tool side

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un outil de robot (4), un dispositif de travail (1) équipé dudit outil et un procédé de fonctionnement. L'outil de robot (4) possède un bâti (5) à chaîne cinématique (6) intégrée et sert à déplacer une pièce menée (9). La chaîne cinématique (6) est actionnée en rotation par un robot industriel (2) et comporte un amplificateur de couple (7) ou des parties d'un amplificateur de couple (7) destiné(es) à amplifier un couple d'entraînement en rotation, côté entrée, du robot industriel (2). Côté sortie, l'amplificateur de couple (7) est relié à la pièce menée (9).
PCT/EP2015/051454 2014-01-27 2015-01-26 Outil de robot, procédé de fonctionnement et dispositif de travail WO2015110623A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202014100334.7U DE202014100334U1 (de) 2014-01-27 2014-01-27 Roboterwerkzeug
DE202014100334.7 2014-01-27

Publications (1)

Publication Number Publication Date
WO2015110623A1 true WO2015110623A1 (fr) 2015-07-30

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WO (1) WO2015110623A1 (fr)

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DE102018004898A1 (de) 2018-06-16 2019-12-19 Psa Automobiles Sa Roboteranordnung und Verfahren zur Durchführung einer Montageoperation an einem Werkstück
DE102021210922A1 (de) 2021-09-29 2023-03-30 Psa Automobiles Sa Bearbeitungsvorrichtung für eine drehende Bearbeitung

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DE102020126189A1 (de) 2020-10-07 2022-04-07 HELLA GmbH & Co. KGaA Vorrichtung zur automatisierten Herstellung von Schraubverbindungen
DE102020127488A1 (de) 2020-10-19 2022-04-21 HELLA GmbH & Co. KGaA Vorrichtung zur automatisierten Herstellung von Schraubverbindungen
DE102020131137A1 (de) 2020-11-25 2022-05-25 HELLA GmbH & Co. KGaA Vorrichtung zur automatisierten Herstellung von Schraubverbindungen
DE102021133843A1 (de) 2021-12-20 2023-06-22 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greifvorrichtung zum Greifen von Hairpins und zum Setzen von gegriffenen Hairpins in insbesondere Statoren von Elektromotoren

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WO2013007565A2 (fr) 2011-07-08 2013-01-17 Kuka Systems Gmbh Dispositif de travail et procédé
DE202011052431U1 (de) * 2011-12-22 2013-03-25 Kuka Systems Gmbh Bearbeitungswerkzeug

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DE102018004898A1 (de) 2018-06-16 2019-12-19 Psa Automobiles Sa Roboteranordnung und Verfahren zur Durchführung einer Montageoperation an einem Werkstück
WO2019238311A1 (fr) 2018-06-16 2019-12-19 Psa Automobiles Sa Agencement de robot et procédé de mise en œuvre d'une opération de montage sur une pièce
DE102021210922A1 (de) 2021-09-29 2023-03-30 Psa Automobiles Sa Bearbeitungsvorrichtung für eine drehende Bearbeitung

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