WO2016074710A1 - Système de robot compact - Google Patents

Système de robot compact Download PDF

Info

Publication number
WO2016074710A1
WO2016074710A1 PCT/EP2014/074337 EP2014074337W WO2016074710A1 WO 2016074710 A1 WO2016074710 A1 WO 2016074710A1 EP 2014074337 W EP2014074337 W EP 2014074337W WO 2016074710 A1 WO2016074710 A1 WO 2016074710A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
pick
limb
pick area
area
Prior art date
Application number
PCT/EP2014/074337
Other languages
English (en)
Inventor
Daniel Sirkett
Original Assignee
Abb Technology Ltd
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 Abb Technology Ltd filed Critical Abb Technology Ltd
Priority to PCT/EP2014/074337 priority Critical patent/WO2016074710A1/fr
Publication of WO2016074710A1 publication Critical patent/WO2016074710A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table

Definitions

  • the present invention relates to a robot system comprising a robot, a component feeder and a machine vision system that interact with each other.
  • interacting elements such as a robot, a component feeder and a machine vision system. It is furthermore known e.g. from US6056108 to integrate such elements into a compact stand ⁇ alone system that enables a rapid installation and setup.
  • a drawback of the installation of US6056108 is that there are certain limitations as to where the robot can be positioned. All the stationary parts of the robot need to lie outside of, and all the movable robot arms need to be able to move away from, the field of view of the camera, in order not to occlude part of the support surface which functions as the robot's pick area and is to be viewed with the camera.
  • One object of the invention is to provide an improved robot system which is more compact than existing ones.
  • the invention is based on the realization that omitting an overhead camera enables positioning of a robot such that some of its structure constantly lies in a vertical
  • a robot system comprising a robot with a robot base and at least one arm. Each arm comprises a first limb constituting a kinematic pair with the robot base, and a second limb constituting a kinematic pair with the first limb.
  • the robot system further comprises at least one component feeder, each component feeder comprising a pick area from which the robot is configured to pick components, the pick area being immobile in relation to the robot base, and a machine vision system for detecting positions of components within the pick area.
  • the first limb is
  • the resulting robot system can be made more compact than
  • corresponding robot systems comprising an overhead camera.
  • the first limb is positioned such that its projection in downward direction overlaps a centre of the pick area.
  • the first limb is positioned such that its projection in downward direction overlaps a certain share of the pick area, the share being at least 5 % of the pick area, such as at least 10 %, at least 20 %, at least 30 %, at least 50 % or at least 75 % of the pick area.
  • the first limb is positioned such that its projection in downward direction overlaps a certain share of the pick area, the share being at least 5 % of the pick area, such as at least 10 %, at least 20 %, at least 30 %, at least 50 % or at least 75 % of the pick area.
  • the first limb is positioned such that its projection in downward direction overlaps the pick area, the centre of the pick area, or the certain share of the pick area, respectively, in all
  • the robot base is positioned such that its projection in downward direction overlaps the pick area. According to one embodiment of the invention the robot base is positioned such that its projection in downward direction overlaps a centre of the pick area.
  • the robot base is positioned such that its projection in downward direction overlaps a certain share of the pick area, the share being at least 5 % of the pick area, such as at least 10 %, at least 20 %, at least 30 %, at least 50 % or at least 75 % of the pick area.
  • the robot and the component feeder are mounted on a common fundament such that the robot, the component feeder and the fundament constitute a stand-alone system which is configured to be transportable by muscle power of a single person.
  • the fundament is arranged on wheels.
  • the robot comprises two arms, each pick area being within the work area of both arms.
  • the robot system comprises a plurality of component feeders.
  • the robot system comprises at least one light source to illuminate each pick surface at need.
  • figure 1 shows a robot system according to one embodiment of the invention
  • figure 2a shows a side view of the robot system of figure 1
  • figure 2b shows a front view of the robot system of figure
  • figure 2c shows a top view of the robot system of figure 1
  • figure 2d shows the top view figure 2c with the robot
  • figure 3 illustrates an application of the robot system of figure 1
  • figure 4 shows a robot system according to one embodiment of the invention.
  • a robot system 10 according to one embodiment of the present invention comprises a two-armed robot 20 and four component feeders 30.
  • the robot 20
  • Each arm consists of four limbs 50, 60, 70, 80.
  • a first limb 50 is said to be journalled to the second element.
  • (shoulder) is the one that is at one end journalled to the robot base 40 and thereby constitutes a revolute pair with the same.
  • first limb 50 is journalled to one end of a second limb 60 (upper arm) and thereby constitutes a revolute pair with the same.
  • second limb 60 is journalled to one end of a third limb 70 (lower arm) and thereby constitutes a revolute pair with the same.
  • the third limb 70 is journalled to one end of a fourth limb 80 (wrist) and thereby constitutes a revolute pair with the same.
  • Each component feeder 30 comprises a pick area 90, the pick areas 90 being immobile in relation to the robot base 40.
  • Each component feeder 30 further comprises a machine vision system in the form of a scanner positioned under the pick area 90 for detecting positions of components within the pick area 90.
  • a machine vision system in the form of a scanner positioned under the pick area 90 for detecting positions of components within the pick area 90.
  • Such machine vision system is known e.g. from a PCT-application with an application number
  • Each component feeder 30 further comprises a movable pick surface 100 which can be extracted to receive components 110 on it, and retracted to return any components 110 lying on it back to an underlying hopper 120 containing a bulk storage of components 110. That is, the pick area 90 is not a tangible element of the component feeder 30 but merely an arbitrarily definable area from within which the robot 20 is programmed to pick components 110.
  • the function of the pick surface 100 is to support the components 110 such that they remain within the pick area 90 until they are picked or returned to the hopper 120.
  • the pick area 90 substantially coincides with the area of the pick surface
  • the robot base 40 and the component feeders 30 are mounted on a common fundament 130 comprising a substantially
  • the fundament 130 is arranged on wheels 150.
  • the total weight of the robot 20, the component feeders 30 and the fundament 130 is about 200 kg, and they thereby
  • both first limbs 50 are positioned in vertical direction above and in horizontal directions within the pick areas 90 of two respective outermost component feeders 30. Consequently, their projections in downward direction overlap the
  • the robot base 40 is positioned in vertical direction above and in horizontal directions within the pick areas 90 of the two middlemost component feeders 30 such that its projection in downward direction overlaps the two middlemost pick areas 90.
  • the first limbs 50 can be positioned such that their projections in downward direction overlap a centre of a pick area 90, or a certain share of a pick area 90, the share being for example at least 5 % of a pick area 90, such as at least 10 %, at least 20 %, at least 30 %, at least 50 % or at least 75 % of a pick area 90, in at least one available position of each first limb 50.
  • a centre of a pick area 90 in this context means a centre of gravity of the same assuming a mass, a uniform thickness and a uniform density for the respective geometrical area.
  • the first limbs 50 may furthermore be positioned such that their projections in downward direction overlap a pick area 90, the centre of a pick area 90, or the certain share of a pick area 90, respectively, in all available positions of the first limbs 50.
  • the robot base 40 can be positioned such that its projection in downward direction overlaps a centre of a pick area 90.
  • the robot base 40 can furthermore be positioned such that its projection in downward direction overlaps a certain share of a pick area 90, the share being for example at least 5 % of a pick area 90, such as at least 10 %, at least 20 %, at least 30 %, at least 50 % or at least 75 % of a pick area 90.
  • the robot 20 may be provided with light sources 160 to illuminate the pick surfaces 100 at need. Although ambient light normally suffices to provide a background to the images the scanner obtains, in certain situations it may be desirable to exert more control on the lighting environment on the pick surface 100. For example, arms at a short distance above the pick areas 90 may
  • the light sources 160 may remove the necessity to temporarily move the arms further away from the pick areas 90 while the images are obtained.
  • the light sources 160 can emit several colours such that the background colour can be adapted to provide a good contrast with the colour of the components 110.

Landscapes

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

Abstract

L'invention porte sur un système de robot (10), lequel système comprend un robot (20) avec une base de robot (40) et au moins un bras. Chaque bras comprend un premier membre (50) constituant une paire cinématique avec la base de robot (40), et un second membre constituant une paire cinématique avec le premier membre (50). Le système de robot (10) comprend de plus au moins un dispositif d'alimentation en composants (30), chaque dispositif d'alimentation en composants (30) comprenant une zone de saisie (90) à partir de laquelle le robot (20) est configuré de façon à saisir des composants (110), la zone de saisie (90) étant immobile par rapport à la base de robot (40). Le système de robot (10) comprend de plus un système de vision de machine pour détecter des positions de composants (110) à l'intérieur de la zone de saisie (90). Le premier élément (50) est positionné de telle sorte que sa saillie dans une direction vers le bas chevauche la zone de saisie (90) dans au moins une position disponible du premier membre (50). Le positionnement du robot (20) de telle sorte qu'une partie de sa structure se trouve constamment dans une direction verticale au-dessus de la zone de saisie (90) et dans des directions horizontales à l'intérieur de celle-ci est permis par l'omission d'une caméra supérieure.
PCT/EP2014/074337 2014-11-12 2014-11-12 Système de robot compact WO2016074710A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/074337 WO2016074710A1 (fr) 2014-11-12 2014-11-12 Système de robot compact

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/074337 WO2016074710A1 (fr) 2014-11-12 2014-11-12 Système de robot compact

Publications (1)

Publication Number Publication Date
WO2016074710A1 true WO2016074710A1 (fr) 2016-05-19

Family

ID=51871074

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/074337 WO2016074710A1 (fr) 2014-11-12 2014-11-12 Système de robot compact

Country Status (1)

Country Link
WO (1) WO2016074710A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106041910A (zh) * 2016-07-29 2016-10-26 苏州高通机械科技有限公司 一种智能玩具收纳装置
WO2018164091A1 (fr) * 2017-03-06 2018-09-13 川崎重工業株式会社 Robot
CN113276082A (zh) * 2021-05-31 2021-08-20 广东若铂智能机器人有限公司 冗余7轴双臂协作采摘机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07308877A (ja) * 1994-05-18 1995-11-28 Matsushita Electric Works Ltd ロボット装置
US6056108A (en) 1997-11-17 2000-05-02 Adept Technology, Inc. Impulse-based, flexible parts feeder
JP2003266252A (ja) * 2002-03-19 2003-09-24 Ricoh Co Ltd 自動組立分解装置
US20120065779A1 (en) * 2010-09-15 2012-03-15 Seiko Epson Corporation Robot
EP2497613A1 (fr) * 2011-03-10 2012-09-12 Kabushiki Kaisha Yaskawa Denki Robot entouré de parois extérieures
US20140310955A1 (en) * 2007-03-07 2014-10-23 Seiko Epson Corporation Production system gerneral-purpose cell

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07308877A (ja) * 1994-05-18 1995-11-28 Matsushita Electric Works Ltd ロボット装置
US6056108A (en) 1997-11-17 2000-05-02 Adept Technology, Inc. Impulse-based, flexible parts feeder
JP2003266252A (ja) * 2002-03-19 2003-09-24 Ricoh Co Ltd 自動組立分解装置
US20140310955A1 (en) * 2007-03-07 2014-10-23 Seiko Epson Corporation Production system gerneral-purpose cell
US20120065779A1 (en) * 2010-09-15 2012-03-15 Seiko Epson Corporation Robot
EP2497613A1 (fr) * 2011-03-10 2012-09-12 Kabushiki Kaisha Yaskawa Denki Robot entouré de parois extérieures

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106041910A (zh) * 2016-07-29 2016-10-26 苏州高通机械科技有限公司 一种智能玩具收纳装置
WO2018164091A1 (fr) * 2017-03-06 2018-09-13 川崎重工業株式会社 Robot
JP2018144174A (ja) * 2017-03-06 2018-09-20 川崎重工業株式会社 ロボット
CN113276082A (zh) * 2021-05-31 2021-08-20 广东若铂智能机器人有限公司 冗余7轴双臂协作采摘机器人

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