WO2017001044A1 - Procédé pour positionner une pièce - Google Patents

Procédé pour positionner une pièce Download PDF

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Publication number
WO2017001044A1
WO2017001044A1 PCT/EP2016/000958 EP2016000958W WO2017001044A1 WO 2017001044 A1 WO2017001044 A1 WO 2017001044A1 EP 2016000958 W EP2016000958 W EP 2016000958W WO 2017001044 A1 WO2017001044 A1 WO 2017001044A1
Authority
WO
WIPO (PCT)
Prior art keywords
workpiece
support means
support
guide
manipulator
Prior art date
Application number
PCT/EP2016/000958
Other languages
German (de)
English (en)
Inventor
Jakob BERGHOFER
Original Assignee
Kuka Roboter 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 Roboter Gmbh filed Critical Kuka Roboter Gmbh
Publication of WO2017001044A1 publication Critical patent/WO2017001044A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • 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
    • B25J19/0008—Balancing 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
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • 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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B2219/39101—Cooperation with one or more rotating workpiece holders, manipulators

Definitions

  • the present invention relates to a method as well as a system for
  • manipulators or robots for assembly is known.
  • robots are freely programmable, program-controlled
  • balancers which allow a certain gravity compensation and thus relieve the manipulator.
  • DE 10 2011 006 992 Ai a method and handling system for the automated movement of a gravity-compensated load body is known. It is proposed, inter alia, to hold a load body by means of a crane-type lifting rope, so that the load body as possible "free-floating" hangs.Such a balancer is, however, not suitable for overhead mounting, since there is no space above the
  • the invention is in particular the object of providing a method with which a simple and automated as possible assembly of workpieces can be performed. Furthermore, it is an object of the present invention to enable a sensitive assembly of workpieces, such as luggage compartments on an aircraft wall. Further, it is an object of the present invention to provide a balancer suitable for overhead mounting.
  • the present invention relates to a method for positioning a
  • a workpiece When positioning the workpiece while the workpiece can be handled, and for example, the position of the workpiece to be changed.
  • a workpiece may in turn be a component or another object or another object which can be handled and / or moved.
  • the method has provision of a support device holding the workpiece, wherein the support device has at least one means for Detecting associated forces acting on the support means is assigned.
  • the support means may preferably comprise a workpiece holder which is adapted to hold and move the workpiece.
  • the term “hold” may also include a "fix” of the workpiece, or merely include holding the workpiece at a certain height relative to the ground.
  • the workpiece is substantially of the
  • Supporting device held and has no direct contact with the ground.
  • the method comprises providing a guide device, which in turn comprises a manipulator, and by means of which the workpiece is to be guided into a specific position.
  • a guide device which in turn comprises a manipulator, and by means of which the workpiece is to be guided into a specific position.
  • Guide means provided separately from the support means, and can be moved independently of the guide means.
  • the manipulator is a device that can physically interact with its environment.
  • the manipulator is a multi-axis
  • the method comprises exerting a force on the support device and / or on the workpiece, wherein the force is exerted by means of the guide device. For example, this presses the manipulator of
  • Guide device against the support means and / or against the workpiece, which is held by the support means This can be done by actively moving the manipulator. Alternatively or additionally, for this purpose, the entire guide device can be moved. Preferably, the exertion of the force takes place in such a way, for example when the manipulator of
  • Guide means against the workpiece expresses that a force acts on the workpiece supporting support means.
  • the application of the force preferably takes place in such a way that the workpiece is guided into the specific position. Further, preferably, during this step, the workpiece is still substantially held by the support means.
  • the method comprises detecting the force acting on the support means. This acting force can be the means of
  • Guide means correspond to applied force, or may result from this.
  • the detection takes place by means of the corresponding means which are associated with the support means.
  • the method comprises moving the workpiece by means of the support means, which preferably further retains the workpiece.
  • the support means actively moves the workpiece, thereby providing at least 50%, more preferably at least 70%, more preferably at least 90%, and most preferably at least 95% of the motive force itself.
  • Guide device preferably delivers only a small proportion of at most 50%, more preferably of at most 30%, more preferably of at most 10% and most preferably of not more than 5% to this
  • a workpiece may be moved to a first position by the support device and then guided by the guide device to a second position by the guide device exerting a corresponding force on the workpiece or on the support device.
  • the support means may detect that an external force is acting on it and, in response, move the workpiece accordingly.
  • the guide device thus preferably guides the movement of the support device. During guiding, the guiding device is preferably always in direct contact with the
  • the support device can preferably be achieved a rough pre-positioning of the workpiece.
  • the guide device By means of the guide device, the
  • the support means and guide means can position the workpiece in a cooperative manner by the
  • Support device holds the workpiece and according to the leadership of the
  • the manipulator may comprise an end effector, which is a
  • the fastening may include, for example, a rivet or screws.
  • the fastening of the workpiece may also include a snap-in or a clicking in of the workpiece in fastening means provided on the environment.
  • the attachment can also be done by a worker or mechanic.
  • detecting the acting force comprises determining a direction and / or a magnitude of the acting force.
  • Workpiece is then taking into account the specific direction and / or the specific strength of the acting force. Further preferably, the movement of the workpiece is such that the force acting on the support means is reduced. This allows the support device to follow directly the leadership of the guide device.
  • the method further comprises providing data signals from the guide means to the support means.
  • Support device then takes into account the provided data signals.
  • the data signals are preferably indicative of control signals of the guide device.
  • the control of the support means and the guide means can be connected on the software side, so that the individual movements can be synchronized.
  • the support means may preferably be both the detected forces and the provided ones
  • the support means can detect that forces are being applied to it and precisely characterize the force and react accordingly by detecting the corresponding acting forces.
  • the manipulator of the guide device is operated in force-controlled mode.
  • the manipulator can preferably detect whether the support device follows the movement of the manipulator or of the force exerted by the manipulator, and can accordingly adapt the application of the force to the support device. Consequently, it is possible to precisely maneuver the workpiece into, for example, a localized position without damaging the workpiece or the environment.
  • the present invention relates to a system for positioning a workpiece.
  • the system comprises a guide device which has a manipulator.
  • the system comprises a support device comprising a movable workpiece holder for holding and moving the workpiece, and at least one means for detecting forces acting on the support device.
  • the guide means and the support means are independently movable.
  • control means set up around the
  • the manipulator of the guide device itself is controlled in such a way that ultimately the workpiece is moved by the support means to the desired location.
  • control means are provided in a control of the support means and / or in a control of the guide means.
  • the guide device preferably has sensors for detecting the forces and / or torques acting on the manipulator.
  • the guide device receives direct feedback as to whether the guided workpiece, for example, abuts the environment, and can react accordingly to guide the support device in a different direction.
  • the manipulator can be operated in force-controlled mode using these sensors.
  • the guide device can thus work sensitively and guide the workpiece into a suitable recess without damaging the workpiece or the surroundings.
  • the support means comprises a telescopic arm which is adapted to move the workpiece vertically.
  • the workpiece holder can be provided on a telescopic arm and moved up and / or down by it.
  • the support means comprises a robot arm which is adapted to move the workpiece.
  • the support means may for this purpose preferably comprise one or more actuators, which support the movement of the workpiece. By using a plurality of actuators, a higher degree of freedom of movement of the workpiece can be achieved.
  • the support means comprises transport means for horizontally moving the support means.
  • the method preferably includes horizontally moving the workpiece, preferably in response to detecting the force acting on the support means.
  • transport means may be, for example, a mobile platform or, preferably, an omnidirectional platform carrying the support means. In response to a force exerted by the guide means on the support means force can be, for example, a mobile platform or, preferably, an omnidirectional platform carrying the support means. In response to a force exerted by the guide means on the support means force can
  • the horizontal position of the workpiece to be changed by the transport moves the entire support horizontally.
  • the support means can also be moved independently of the guide means by means of the transport means, for example a workpiece to the Guide device to transport.
  • the guide means may include such means of transport.
  • an omnidirectional platform permits autonomous navigation or movement of the guide device and / or the support device even in a confined space.
  • several support devices can successively deliver workpieces for assembly and mount these workpieces in cooperation with a guide device.
  • the guide device can be moved from one assembly site to the next, while the support means, for example, can be moved completely out of the mounting area in and out to deliver the workpieces.
  • the guide device can also be moved horizontally by means of a corresponding omnidirectional platform to exert the force on the support means and / or the workpiece, ie to exert the force for guiding.
  • the transport means may further comprise, in addition to an omnidirectional platform, a mobile load rack which is coupleable to the platform.
  • the omnidirectional platform can in this case carry the load frame or pull / push, while the weight is preferably substantially on the Load rack loads.
  • On this load frame for example, a
  • Wear or support guide device or a support device can be provided with guide means and / or support means which can be moved by a smaller number of omnidirectional platforms.
  • an omnidirectional platform is coupled to the load frame of a guide device or support device to be moved, moves it and subsequently decouples it from it.
  • the support device is preferably equipped with navigation means, in particular if - as preferably described - means of transport are provided. The navigation means thereby allow a precise navigation of the support means, for example, to allow a rough pre-positioning of the workpiece, or to transport the workpiece in a workshop and in particular to the guide device out.
  • Navigation means may comprise laser scanners which allow local cards to be picked up from an environment which may be used to control the support means.
  • the support means may comprise laser scanners which allow local cards to be picked up from an environment which may be used to control the support means.
  • Guide means comprise such navigation means.
  • the navigation means of the support and guide device can work independently of each other, or support a relative alignment of the support and guide device to each other.
  • the guide means comprises a lifting device which supports the manipulator of the guide means and which is further adapted to raise or lower the manipulator vertically. This ensures that the manipulator can guide the support device or the workpiece precisely even when mounted at greater heights.
  • the means for detecting the forces acting on the support means comprise a force-moment sensor, and / or an inertial sensor, and / or means for detecting motor currents.
  • an inertia sensor can be determined, for example, whether the inclination of the Support changed, for example, because the manipulator of
  • Guide device presses against the support device.
  • the force-moment sensor can take the form of a
  • Power socket and be, for example, a 6D force sensor.
  • a communication device which enables contactless communication between the guide device and the support device.
  • the guide device can communicate corresponding data signals by means of radio or a WLAN connection of the support device.
  • the data signals can correspond to control signals of the manipulator.
  • the operating mode of the support device can be changed by the guide device by means of the contactless communication. For example, through the
  • Guide means a corresponding mode of the support means are activated, which allows guiding of the support means by the guide means.
  • the guide device and the support device each have a coupling element.
  • the method may preferably include directly coupling the support means to the guide means.
  • a direct connection and preferably a direct electrical connection between the two coupling elements In a coupling of the two coupling elements to each other, a direct connection and preferably a direct electrical connection between the
  • Supporting device to be replaced to provide precise guidance of the
  • the support device comprises a docking element, to which the manipulator of the guide device can dock in order to be able to exert tensile forces on the support device.
  • the method can preferably be a docking of the manipulator to the support device, and in particular the
  • the support means is adapted to move loads of io- ⁇ kg, more preferably from 20-500 kg, more preferably from 30-200 kg, more preferably from 40-100 kg and most preferably from 50-80 kg vertically.
  • the manipulator of the guide means has a maximum payload of 1-30 kg, more preferably 2-25 kg, more preferably 3-20 kg, more preferably 5-15 kg, and most preferably 7-14 kg.
  • the support device can therefore carry almost any high loads, while the manipulator of the guide device is provided in particular for guiding the workpiece or for guiding the support means.
  • a small proportion of the weight of the workpiece can also load on the guide device, in particular if a force is exerted on the workpiece by means of this.
  • the workpiece becomes substantially, ie at least 60% and preferably at least 80% of the weight of the
  • the above-described components of the method can be exchanged and / or combined with those of the system.
  • the system, and in particular the control means of the system may be arranged to perform one of the described methods.
  • the corresponding control of the guiding and supporting device can also centrally in a common
  • both the guide and the support means may have its own control device.
  • a plurality of supporting devices can be used, which autonomously transport workpieces serially to the guide device. There they are then guided by the guide device accordingly to precisely position the workpiece.
  • the present invention is particularly suitable for mounting luggage compartments in an aircraft production.
  • the described method and system can also be used for other industrial assembly operations.
  • FIG. 1 schematically shows a system for positioning a workpiece according to an embodiment of the present invention.
  • the system includes a guide means 10 and a support means 20. It will be understood by those skilled in the art that the system may include further support means 20 which, in cooperation with the guide means 10 as described below, allow positioning of one or more workpieces.
  • the guide device 10 comprises a transporting means 14 which is designed in the form of an omnidirectionally movable platform 14 and a
  • a telescopic arm 13 which in turn supports a manipulator 11.
  • the platform 14 can be coupled with a corresponding load frame, which for example supports or supports the telescopic arm 13.
  • the manipulator 11 is in the form of a multi-axis
  • Articulated arm robot 11 is formed, which is preferably a lightweight robot. On the axes of the manipulator 11 are force-moment sensors
  • the manipulator 11 By means of the telescopic arm 13, the manipulator 11 can be moved vertically.
  • the manipulator 11 itself has an end effector 12, which is suitable for guiding or positioning the workpiece according to the present invention.
  • the support device 20 comprises a transport means 24, which is designed in the form of an omnidirectionally movable platform 24.
  • a telescopic arm 23 is provided, by means of which a workpiece holder 21 can be moved vertically.
  • the platform 24 may be coupled with a corresponding load frame, which, for example, supports or supports the telescopic arm 23.
  • the workpiece holder 21 holds a workpiece 30.
  • the workpiece holder 21 can also fix the workpiece 30, or hold it in place by means of positive locking.
  • a sensor 22 is provided on the support means 20, which serves as a means for detecting on the
  • This sensor 22 may be a power box, and / or include one or more force-moment sensors.
  • the support device 20 is characterized by a lightweight construction, so that, for example, an aircraft floor, consisting of a
  • pressure-sensitive honeycomb structure is not damaged by transporting the workpiece 30 by means of the support means 20.
  • Both the guide device 10 and the support device 20 have corresponding controls 17, 27 which respectively control the movements of the individual components. Furthermore, with the controls 17, 27 also navigation means may be provided, which allow a navigation of the devices 10, 20, and allow, for example, a safe movement of the support means 20 by means of the platform 24 through an assembly hall.
  • the support device 20 For mounting the workpiece 30, this can be roughly prepositioned by means of the support device 20, in which the support device 20 moves the workpiece 30 horizontally by means of the platform 24 and vertically by means of the telescopic arm 23.
  • the guide means 10 moves toward the support means 20 and guides the workpiece 30 by applying a force to the desired mounting position.
  • Reaction to the force applied by the manipulator 11 are moved vertically and horizontally, as shown by the arrows 41 and 42 in FIG.
  • the platform 24 and the telescopic arm 23 are driven accordingly. Since the support means 20 can carry high loads, it can easily move the workpiece 30 in this way.
  • force-moment sensors which measure the forces and / or torques acting on the axes of the manipulator 11, are likewise provided on the manipulator 11, this manipulator 11 can be operated sensitively and react to a movement of the workpiece 30 or the support device 20 , This is especially true when the manipulator 11 is in direct contact with the support means 20 and the workpiece 30 and this leads. For example, when the workpiece 30 abuts against a wall, this is detected by the force-moment sensors provided to the manipulator 11, so that the manipulator 11 can be controlled in response to it not pushing further or otherwise against the workpiece 30 which in turn the support means 20 reacts accordingly.
  • a docking element 28 is further shown, which is mounted on the workpiece holder 21 in the embodiment shown in Figure 1.
  • the end effector 12 of the manipulator 11 can to this
  • both the guide device 10 and the support means 20 are equipped with a respective coupling element 16, 26. These are arranged so that they can couple to each other, creating a direct electrical connection between the guide means 10 and
  • Support device 20 is provided. This allows the controller 17 of the Guide device 10 communicate directly with the controller 27 of the support means 20.
  • the guide device 10 and the support device 20 are each provided with a communication element 15, 25, which enables wireless communication between the guide device 10 and the support device 20.
  • the movements of the two devices can be synchronized synchronously to allow a common assembly of the workpiece 30.

Landscapes

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

Abstract

L'invention concerne un procédé et un système pour positionner une pièce (30). Le procédé et le système servent notamment au montage de pièces telles que des compartiments à bagages lors de l'assemblage d'un avion. Le système comporte un dispositif support (20) comprenant un porte-pièce mobile (21) et au moins un moyen (22) de détection de forces agissant sur le dispositif support. Le système comporte par ailleurs des moyens de commande (17, 27) conçus pour déplacer la pièce lorsque le au moins un moyen détecte une force.
PCT/EP2016/000958 2015-06-30 2016-06-10 Procédé pour positionner une pièce WO2017001044A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015212151.8 2015-06-30
DE102015212151.8A DE102015212151B4 (de) 2015-06-30 2015-06-30 Verfahren zum Positionieren eines Werkstücks

Publications (1)

Publication Number Publication Date
WO2017001044A1 true WO2017001044A1 (fr) 2017-01-05

Family

ID=56134295

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/000958 WO2017001044A1 (fr) 2015-06-30 2016-06-10 Procédé pour positionner une pièce

Country Status (2)

Country Link
DE (1) DE102015212151B4 (fr)
WO (1) WO2017001044A1 (fr)

Cited By (4)

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CN108972623A (zh) * 2018-07-27 2018-12-11 武汉理工大学 基于力控传感器的机器人末端装夹误差自动修正方法
WO2019007448A1 (fr) * 2017-07-04 2019-01-10 Čvut V Praze, Fakulta Strojní Procédé pour une manipulation de charge lourde et dispositif pour une manipulation de charge lourde
WO2020167739A1 (fr) * 2019-02-11 2020-08-20 Hypertherm, Inc. Distribution de mouvement dans des systèmes robotiques
RU2814357C2 (ru) * 2019-02-11 2024-02-28 Хайпертерм, Инк. Распределение движений в роботизированных системах

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DE102019113464A1 (de) * 2019-05-21 2020-11-26 Homag Gmbh Mobile Führungsmaschine, Zelle und Verfahren zum Handhaben und/oder Bearbeiten von Werkstücken
DE102019129723B4 (de) * 2019-11-05 2021-09-09 Universität Bremen Mensch-Roboter-Montagesystem zur robotergestützten kollaborativen Montage eines großdimensionalen Montageobjekts
DE102020204710A1 (de) * 2020-01-30 2021-08-05 Volkswagen Aktiengesellschaft Verfahren, Ausgleichsmodul und Multi-Roboter-System
DE102022113096A1 (de) 2022-05-24 2023-11-30 ConBotics GmbH Mobile Robotervorrichtungen und Verfahren zur bahnförmigen Oberflächenbearbeitung von Gebäudestrukturen

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US20100319182A1 (en) * 2008-02-12 2010-12-23 Honda Motor Co. Ltd. Device and method for mounting vehicle instrument panel
JP2009262304A (ja) * 2008-04-28 2009-11-12 Nachi Fujikoshi Corp 荷役物搬送装置
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Publication number Priority date Publication date Assignee Title
WO2019007448A1 (fr) * 2017-07-04 2019-01-10 Čvut V Praze, Fakulta Strojní Procédé pour une manipulation de charge lourde et dispositif pour une manipulation de charge lourde
CN108972623A (zh) * 2018-07-27 2018-12-11 武汉理工大学 基于力控传感器的机器人末端装夹误差自动修正方法
WO2020167739A1 (fr) * 2019-02-11 2020-08-20 Hypertherm, Inc. Distribution de mouvement dans des systèmes robotiques
US11413751B2 (en) 2019-02-11 2022-08-16 Hypertherm, Inc. Motion distribution in robotic systems
RU2814357C2 (ru) * 2019-02-11 2024-02-28 Хайпертерм, Инк. Распределение движений в роботизированных системах

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DE102015212151B4 (de) 2017-08-24
DE102015212151A1 (de) 2017-01-05

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