WO2016091678A1 - Procédé permettant de surveiller au moins un robot industriel, robot industriel et système muni de plusieurs robots industriels - Google Patents

Procédé permettant de surveiller au moins un robot industriel, robot industriel et système muni de plusieurs robots industriels Download PDF

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Publication number
WO2016091678A1
WO2016091678A1 PCT/EP2015/078350 EP2015078350W WO2016091678A1 WO 2016091678 A1 WO2016091678 A1 WO 2016091678A1 EP 2015078350 W EP2015078350 W EP 2015078350W WO 2016091678 A1 WO2016091678 A1 WO 2016091678A1
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WO
WIPO (PCT)
Prior art keywords
energy consumption
industrial robot
robot
work task
industrial
Prior art date
Application number
PCT/EP2015/078350
Other languages
German (de)
English (en)
Inventor
Johann Haertl
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
Priority to EP15805435.3A priority Critical patent/EP3230015A1/fr
Publication of WO2016091678A1 publication Critical patent/WO2016091678A1/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39361—Minimize time-energy cost

Definitions

  • the invention relates to a method for monitoring at least one industrial robot, an industrial robot and a system, in particular a production plant, which comprises a plurality of industrial robots.
  • Industrial robots in general are handling machines that are equipped for the automatic handling of objects with appropriate tools, so-called end effectors and programmable in several axes of motion, in particular with regard to orientation, position and workflow for an automatic execution of a task.
  • Industrial robots typically have a robotic arm with a plurality of links arranged one behind the other and programmable controllers (control devices) which control or regulate motors of the industrial robot for the movements of the robot arm during an automatic operation of the industrial robot.
  • corresponding computer programs, so-called user programs run on the control devices.
  • the motors are preferably electric motors. It is desirable for the industrial robot to be operated as much as possible in such a way that it consumes as little electrical energy as possible for the current work task. For this purpose, the industrial robots for automatic operation can be programmed accordingly.
  • such energy-optimized programming of industrial robots ⁇ is based on an optimization of the path planning, which occurs for example during an offline programming of industrial robot for meadow using a special additional software.
  • path planning which occurs for example during an offline programming of industrial robot for meadow using a special additional software.
  • these pre-programmed opti ⁇ tracks are for example due to adjustments changed on the system, so that the one or more industrial robots in operation no longer be operated in an energy optimized.
  • EP 2 485 875 B1 discloses a method for reducing the power consumption of an industrial robot which is intended to perform a task during a work cycle. For the process, a model for the energy consumption of the industrial robot in dependence on the movement of the robot arm is created.
  • WO 2012/069129 A1 discloses a method and control means for controlling a robot arrangement comprising at least two robots.
  • a process section point is determined, a process section time for the process section point is determined, and a section time for one of the robots is assigned based on the process section time.
  • a workflow of the robot is optimized on the basis of the assigned section time, wherein a quality criterion of the optimization is determined on the basis of an energy quantity of the robot.
  • the object of the present invention is to provide a way to monitor the electrical energy consumption of an industrial robot in operation improved.
  • the object of the invention is achieved by a method for monitoring an industrial robot which has a robot arm and a control device, comprising the following method steps: - during the normal operation of the industrial robot ⁇ and controlled by the control device automatically moving the robot arm such that a mounted on the robot arm end effector moves during carried out by means of the end effector working object along a predetermined path,
  • a display device displaying an indication of the measured current energy consumption and an indication of the comparative energy consumption value, and / or determining a deviation between the measured current energy consumption and the retrieved
  • the method according to the invention can be carried out by means of the industrial robot or its control device.
  • the robotic arm comprises a plurality of links and motors arranged one behind the other for moving the links relative to each other, and the control device is in particular arranged to at least indirectly actuate the motors for moving the robot arm.
  • One aspect of the invention thus relates to an industrial robot comprising a control device and a robot arm comprising a plurality of links and motors arranged one behind the other for moving the links relative to one another, wherein the control device is adapted to drive the motors at least indirectly such that the robot arm is so automatically moves that an end effector attached to the robot arm moves along a predetermined path during a work task to be performed by the end effector, and the industrial robot, in particular its control device, is set up to carry out the method according to the invention.
  • Another aspect of the invention relates to a system comprising a plurality of industrial robots each having a control device and a robot arm comprising a plurality of links and motors arranged one behind the other for moving the links relative to one another, the control devices each being arranged to drive the respective motors of the at least indirectly so that this robotic arm moves so automatically that an end effector attached to this robotic arm moves along a predetermined path during a work task to be performed by the corresponding end effector, at least one of the industrial robots, in particular its control device, being arranged perform inventive method, and / or wherein the system has a central computer connected to the control devices and the system, in particular its central computer is set up for at least one of the industrial ⁇ robot perform the inventive method.
  • the system is in particular a production plant.
  • the invention it is thus provided, during the normal operation of the industrial robot controlled by its control device, to automatically move the robot arm such that the end effector attached to the robot arm moves along the predetermined path during the work task to be performed by the end effector.
  • Industrial robots accordingly at least one work task within a work cycle or a work cycle.
  • the industrial robot or its control device is suitably programmed for this purpose.
  • the electrical energy required for the current work task ie the current electrical energy consumption for carrying out the current work task, is measured.
  • This can e.g. the industrial robot perform itself.
  • it is also possible to measure the energy consumption at an electrical feed for the industrial robot.
  • a stored comparison energy consumption value associated with the work task is retrieved.
  • This can e.g. be stored in the control device, in the central computer of the manufacturing plant or the system or in a central memory.
  • the comparison of energy consumption value was established, for example based on measured energy consumption values, required that at least one further industrial properties under Betreib ⁇ robot associated with the same type of robot, such as the industrial robot for the current work task work task.
  • the comparative energy consumption value is, for example, an average value of a plurality of such measured energy consumption values.
  • the comparative energy consumption value represents in particular an empirically based reference value. Additionally or alternatively, the comparative energy consumption value may also have been determined on the basis of a simulated, in particular energy-optimized, path planning for the industrial robot and the current work task. Subsequently, an indication of the measured electrical energy consumption and an indication of the retrieved comparative energy consumption value by means of the display device is displayed.
  • the deviation between the measured current energy consumption value and the retrieved comparison energy consumption value is determined and an indication of this deviation is displayed by means of the display device.
  • an operator of the industrial robot or the manufacturing plant in a relatively simple manner to check whether the energy consumption of the industrial robot for the current task is within the ordinary, possibly umzuprogrammieren the industrial robot, so that in the future performs the task energy-saving.
  • an energy consumption value can be displayed which is assigned to a simulated, energy-optimized path planning for the work task. This allows the operator to decide relatively quickly whether reprogramming the industrial robot for the task will result in significant energy savings.
  • the display device may, for example, be part of a programming device connected or connectable to the control device.
  • the programmer is in particular a handheld programmer. This can then optionally be used for reprogramming the industrial robot.
  • There may be a database may be provided, in which a plurality of stored by comparison energy consumption values respectively different work functions and / or different types of robots are assigned, wherein one of these comparison energy consumption values of the working ⁇ task associated comparison power consumption value and the assigned the task comparison ⁇ energy consumption value of the database is retrieved.
  • the database thus stores, in particular, experience-based reference values for different robot types and different work tasks.
  • the database can be stored for example in the control device of the industrial robot.
  • the deviation between the measured current energy consumption value and the retrieved comparison energy consumption value exceeds a predetermined level, it may be provided to change the path associated with the current work task, preferably to optimize the electrical energy consumption of the industrial robot for the
  • Work task is reduced.
  • it may be provided to reprogram the industrial robot for the work task in an energy-optimized manner, in particular, should the energy consumption be too large in comparison with the comparative energy consumption value.
  • This reprogramming i. the changing or optimizing can e.g. manually preferably by means of the programmer or the handheld programmer.
  • This reprogramming, i. Changing or optimizing can also be done automatically.
  • the reprogramming ie changing or optimizing
  • the control device can perform a self-optimization, in particular based on operator inputs to the current movement cycle, ie the current work task. Inputs to this example, the maximum cycle time for the station and / or the maximum allowed From ⁇ deviation from a teach-trajectory.
  • the energy consumption value assigned to energy-optimized path planning can be added to the database.
  • an operator at the installation site of the industrial robot can be assisted in a possibly energy-efficient programming of the industrial robot.
  • These may halt values depending on the embodiment of the industrial robot of the invention or of the method or fiction, ⁇ according to the inventive system, for example, in the control device preferably based on experience arrival, ie comparison energy consumption values for be ⁇ agreed work objects are stored, so that the Bedi ⁇ enperson the energy efficiency compared
  • the average of preferably all previous versions of the current work task can be visualized.
  • the result of the optimal path planning determined by the simulation can be displayed as a benchmark.
  • a database of metrics can be created or provided that contains the average power consumption of an industrial robot for various tasks.
  • This example includes information about a category of the industrial robot, that is, the robot type, and the type of Ar ⁇ beitsaufgabe, including handling, welding, arc welding, etc., and measured power consumption values.
  • It may also be an offline programming provided with energy opti ⁇ -optimized path planning.
  • the values may be transferred to the controller (e.g., task specific transfer or access of the controller to the database).
  • the energy consumption per cycle, i. Work task is determined or measured e.g. by the control device itself or by measuring the energy consumption at an electrical feed for the industrial robot.
  • the current energy consumption is preferably compared with the comparative energy consumption value obtained from the database and / or from the simulation.
  • the predetermined path can be optimized to be e.g. if the deviation is too large, the average value / simulation value, i. to approach the comparative energy consumption value.
  • Fig. 2 is a flowchart illustrating a
  • Fig. 3 shows a production plant with several
  • FIG. 1 shows an industrial robot 1 having a robot arm 2 and a control device 10.
  • the robot arm 2 comprises a plurality of links arranged one after the other and connected by joints.
  • the links are in particular a stationary or movable frame 3 and a carousel 4 rotatably mounted relative to the frame 3 about a vertical axis AI.
  • Further links of the robot arm 2 are in the case of the present embodiment a rocker 5, a boom 6 and a preferably multi-axis robot hand 7 with an example fastening device designed as a flange 8 for fastening an end effector 13.
  • the end effector 13 is e.g. a welding device and is provided to process the industrial robot 1 in the course of a work task, the workpiece 14 automatically during operation.
  • the workpiece 14 is e.g. a vehicle body.
  • the rocker 5 is pivotally mounted at the lower end, for example on a swing bearing head not shown on the carousel 4 about a preferably horizontal axis A2.
  • a swing bearing head not shown on the carousel 4 about a preferably horizontal axis A2.
  • At the upper end of the rocker 5 is in turn about a likewise preferably horizontal axis A3 of the boom 6 pivotally stored.
  • This end carries the robot hand 7 with its preferably three axes A4, A5, A6.
  • the industrial robot 1 or its robot arm 2 In order to move the industrial robot 1 or its robot arm 2, it comprises drives which are connected in a generally known manner to the control device 10 (robot control).
  • the drives are in particular electric drives, which include electric motors 9. At least the motors or the electric motors 9 are arranged or fastened in or on the robot arm 2. In Fig. 1, only some of the electric motors 9 are shown.
  • Power electronics of the electric drives are arranged for example within a housing of a control cabinet, not shown, in which, for example, the control device 10 is arranged.
  • the electric motors 9 are in the case of the present embodiment ⁇ example, three-phase motors, such as three-phase synchronous motors.
  • the power electronics can also be arranged in and / or on the robot arm 2.
  • the control device 10 includes, for example, a processor not shown in detail and may be embodied, for example, as a computer.
  • control device 10 On the control device 10 is running a computer program, a so-called user program, by means of which the control device 10 controls the drives in an automatic operation in the context of the task so possibly controls, so that the flange 8 of the industrial robot 1 and a Tool Center Point TCP or the End effector 13 performs a predetermined movement.
  • the drives are possibly regulated electrical drives.
  • the control device 10 controls in the normal operation of the industrial robot 1 also by means of User program attached to the flange 8 end effector 13 at.
  • the robot arm 2 is thus controlled by the control device 10 such that the end effector 13 attached to the robot arm 2 automatically moves along a predetermined path during a work task to be performed by the end effector 13.
  • the control device 10 In normal operation of the industrial robot 1 therefore performs at least one task within a work cycle or a duty cycle.
  • the work task is a welding operation by means of the end effector 13 designed as a welding device.
  • the user program running on the control device 10 has been e.g. created in advance by offline programming.
  • the user program was created in such a way that the industrial robot 1 performs its work task in such a way that the industrial robot 1 consumes as little electrical energy as possible for this work task.
  • the user program is designed to be energy-optimized.
  • FIG. 1 further shows a programming device, in particular a programming hand-held device 11, which is connected to the
  • Control device 10 can be connected.
  • the handheld programmer 11 comprises, in particular, a display device 12.
  • the user program can be modified, for example, during startup of the industrial robot 1.
  • the user program can be modified, for example, during startup of the industrial robot 1.
  • step A of the flow chart During the normal operation of the industrial ⁇ robot 1 is controlled by the control device 10 of the robot arm 2 so automatically moved such that the attached to the robot arm 2 end effector 13 moves while carried out by means of the end effector 13 working object along a predetermined path, step A of the flow chart.
  • the current electrical energy consumption of the industrial robot 1 for the current work task is measured, step B of the flowchart. It is also possible to measure the electrical power consumption of the industrial robot for the current task on an electrical power supply for the industrial robot 1.
  • the industrial robot 1 or its control device 10 is set up to retrieve a stored comparison energy consumption value associated with the work task, step C of the flowchart.
  • Comparative energy consumption value is stored in the control device 10, for example.
  • the comparative energy consumption value can also be stored externally or centrally, for example in a computer or in a memory, which the control device 10 is able to contact.
  • the stored comparison energy consumption value was determined, for example, based on measured energy consumption values, which required at least one further industrial robot comparable to the industrial robot 1, in operation, for a work task assigned to the current work task.
  • the at least one further industrial robot and the industrial robot 1 are thus industrial robots of the same robot type.
  • the comparative energy consumption value is, for example, an average value of a plurality of measured energy consumption values.
  • Comparative energy consumption value also be determined due to a simulated, especially energy-optimized path planning for the industrial robot 1 and the current task.
  • a database 15 can also be provided, in which a plurality of comparison energy consumption values are stored, which are each assigned to different work tasks and / or different robot types, one of the comparison energy consumption values being the comparison energy consumption value assigned to the work task.
  • the database 15 may be stored in the control device 10.
  • the database 15 can also be external. In this case, the control device 10 is set up to contact the database 15 to retrieve the comparison energy consumption value associated with the work task from the database 15.
  • step D of the flowchart by means of a display device, in particular by means of the display device 12 of the programming pendant 11 an indication of the measured current energy consumption and an indication of the Comparison energy consumption value displayed, step D of the flowchart.
  • control device 10 determines a deviation between the measured current energy consumption and the retrieved comparison energy consumption value and displays an indication of this deviation by means of the display device 12, step E of the flowchart.
  • the indication of the deviation may e.g. be color coded. Consumes e.g. the industrial robot 1 for the current task more electrical energy than a predetermined first measure compared to
  • the indication may e.g. be marked red. If the current energy consumption of the industrial robot 1 for the current work task corresponds approximately to the comparative energy consumption value or is even more economical, the indication may e.g. be highlighted in green. Consumes e.g. the industrial robot 1 for the current work task more electrical energy than a predetermined second measure, which is smaller than the first measure compared to the comparison energy consumption value, the indication can e.g. be highlighted in yellow. In addition, it may still be provided to display an indication of an energy consumption value by means of the display device 12, which was determined by means of energy-optimized path planning for the work task, step F of the flowchart.
  • the comparative energy consumption value or the deviation between the current electrical energy consumption and the comparative energy consumption value for example, it is made easier for a person determine or check whether the industrial robot 1 is programmed as energy-saving as possible for the current task, then optionally to change the programming of the industrial robot 1 for the current task, preferably to optimize.
  • This reprogramming of the industrial robot 1 can be done manually or automatically. The reprogramming is effected in particular by changing, in particular optimizing, the path assigned to the current work task in such a way that the electrical energy consumption of the industrial robot 1 for the work task is reduced, in particular if the deviation between the measured current
  • a simulated energy-optimized path planning for the work task can be carried out in order to change the given path due to the energy-optimized path planning.
  • the simulated energy-optimized path planning can preferably be carried out automatically, e.g. with the control device 10 of the industrial robot 1.
  • the energy consumption value assigned to the energy-optimized path planning can be added to the database 15.
  • FIG. 3 shows a system or production plant 31 having a plurality of industrial robots 1.
  • the industrial robots 1 may be of the same robot type as the industrial robot 1 shown in FIG. It is also possible for the industrial robot 1 shown in FIG. 1 to be part of the production system 31.
  • the industrial robots 1 of Production plant 31 can all be of the same robot type or different robot types.
  • the industrial robots 1 of the manufacturing facility 31 are provided to machine in an automated manner the workpiece 14 designed in particular as a vehicle body.
  • the end effectors 13 of the industrial robots 13 are e.g. Welding devices.
  • the end effectors 13 may be of the same type or may be different end effectors 13.
  • the industrial robots 1 or their control devices 10 are connected to a central computer 32.
  • the central computer 32 is e.g. a higher-level PLC control, in particular a so-called line PLC.
  • At least one of the industrial robots 1 or its control device 10 shown in FIG. 1 may be configured to carry out the method illustrated in FIG. 2 and described above. In this case it can also be provided that the information about the measured current energy consumption and the information about the comparison energy consumption value or the indication of the deviation by means of e.g. Display device 33 connected to the central computer 32 is displayed. If a plurality of the industrial robots 1 of the production facility 31 are set up to carry out the method described above in each case, then it can be provided that the corresponding details of all relevant industrial robots 1 are displayed by means of this display device 33.
  • the central computer 33 carries out the method described above for at least one of the industrial robots 1, preferably for several or even all industrial robots 1 of the production facility 31.
  • the comparative energy consumption value or the comparison energy consumption values can be stored in the central computer 32.
  • the database 15 is provided, in which the plurality of comparison energy consumption values are stored, which are each assigned to different work tasks and / or different industrial robots or robot types. Of these comparative energy consumption values, one is each for the relevant monitored

Abstract

L'invention concerne un procédé permettant de surveiller au moins un robot industriel (1), un robot industriel (1), et un système (31) muni de plusieurs robots industriels (1). Le robot industriel (1) comprend un bras de robot (2) et un dispositif de commande (10). Dans des conditions normales de fonctionnement du robot industriel (1), le bras de robot (2) commandé par l'unité de commande (10) se déplace de telle manière qu'un effecteur terminal (13) fixé au bras de robot (2) se déplace sur une trajectoire prescrite pendant une tâche effectuée au moyen de l'effecteur terminal (13). On mesure la consommation d'énergie électrique instantanée du robot industriel (1) pour la tâche en cours, et on consulte une valeur de consommation d'énergie de comparaison mémorisée associée à la tâche. Une information relative à la consommation d'énergie instantanée mesurée et une information relative à la valeur de consommation d'énergie de comparaison sont affichées au moyen d'un dispositif d'affichage (12, 33), et/ou un écart entre la consommation d'énergie instantanée mesurée et la valeur de consommation d'énergie de comparaison consultée est déterminé, et une information relative à l'écart est affichée au moyen du dispositif d'affichage (12, 33).
PCT/EP2015/078350 2014-12-09 2015-12-02 Procédé permettant de surveiller au moins un robot industriel, robot industriel et système muni de plusieurs robots industriels WO2016091678A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP15805435.3A EP3230015A1 (fr) 2014-12-09 2015-12-02 Procédé permettant de surveiller au moins un robot industriel, robot industriel et système muni de plusieurs robots industriels

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014225252.0A DE102014225252A1 (de) 2014-12-09 2014-12-09 Verfahren zum Überwachen wenigstens eines Industrieroboters, Industrieroboter und System mit mehreren Industrierobotern
DE102014225252.0 2014-12-09

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WO2016091678A1 true WO2016091678A1 (fr) 2016-06-16

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EP (1) EP3230015A1 (fr)
DE (1) DE102014225252A1 (fr)
WO (1) WO2016091678A1 (fr)

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