WO2021221514A1 - A robot for drilling with a tool positioned using a control panel with a screen and controlled using data from a load cell between a robotic arm and the tool - Google Patents

A robot for drilling with a tool positioned using a control panel with a screen and controlled using data from a load cell between a robotic arm and the tool Download PDF

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Publication number
WO2021221514A1
WO2021221514A1 PCT/NO2021/050105 NO2021050105W WO2021221514A1 WO 2021221514 A1 WO2021221514 A1 WO 2021221514A1 NO 2021050105 W NO2021050105 W NO 2021050105W WO 2021221514 A1 WO2021221514 A1 WO 2021221514A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
tool
data
drilling
room
Prior art date
Application number
PCT/NO2021/050105
Other languages
French (fr)
Inventor
Per Olav Haughom
Original Assignee
Conrobotix As
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 Conrobotix As filed Critical Conrobotix As
Publication of WO2021221514A1 publication Critical patent/WO2021221514A1/en

Links

Classifications

    • 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
    • B25J19/04—Viewing devices
    • 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
    • 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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • 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
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile

Definitions

  • the invention relates to an electronic control system of the kind used to control and monitor movements in a robot with several movable axes. More exactly, a control system which, using a scanning technique, enables the operator to position and choose tools and carry out robotised work operations from an operator panel where work operations are visualised.
  • robots are used in a range of industrial processes where the robot mainly stands in a production line and performs repeatable movements.
  • the robotised movements are generated in most robots by rotational movements in joints controlled by electric axes controllers.
  • the movements of the axes controllers are regulated and controlled by a specially developed software programmed to perform one or several preferred movements.
  • Robots may be used to handle different types of tools to perform work operations, e.g., in the building and construction industry.
  • Robots for operation of different tools in the building and construction industry require functionality which is different from robots standing in production lines and which are performing repeatable operations.
  • W02020080954 describes a robot for use in the building and construction industries, wherein the robot comprises a wagon for transport of the robot.
  • a rotatable adapter connected to the wagon, and an arm with several joints with rotatable toggle joints con nected to the adapter.
  • the arm being arranged to hold a tool.
  • US2018264640 describes a spray robot capable of scanning the environment and building up a three-dimensional map, and wherein the estimated point of impact may be visual ised via a cross hair on the operator's screen, so that the operator via this is able to cor rectly position the spray nozzle.
  • US2019118209 describes a robot for treatment of a surface, wherein the robot comprises a system enabling an operator via a screen to indicate a part of the surface to be treated.
  • CN110625593 describes a robot for drilling, wherein the robot comprises a camera for positioning of the drill bit.
  • US2019299350 describes a robot equipped with a tool and a power sensor, where the information from the power sensor may be used in another robot.
  • the tool is connected to the robot with a load cell providing force and movement signals between the robotic arm and the tool.
  • the signals are processed in the control system so that the robot takes into account that the tool receives optimal forces adapted to the specific work operation.
  • Fig. 1 shows a robot with a number of axes and mounted on a belt driven wagon
  • Fig. 2 shows robot with scanning equipment and tool placed in a room
  • Fig. 3 shows robot placed in a room
  • Fig. 4 shows drilling machine and drill bit as well as load cell; and Fig. 5 shows control panel with screen for visualisation.
  • reference number 1 indicates a room where, e.g., a hole 3 is to be drilled into the wall.
  • the robot 25 is placed inside the room 1 and stabilised with a stabiliser 22 which may be extended around the axis 28 so that the robot is stabilised between the ceiling 2 and floor 46.
  • the room 1 is scanned using a scanner unit 6 placed on the robot 25, or on a designated rack in the room.
  • the data from the scanner unit 6 are sent via transmission 4 to a central processor 12 arranged on the robot 25.
  • the processor 12 processes the data and sends signals 14 to the operator panel 17, where the room 1 is visualised on a screen 21.
  • the operator may now move the cursor 40, and with this mark where the tool 7 is to perform work, for example drilling a hole 3.
  • the tool 7, shown here as a drilling machine with a drill bit 23, is connected to the robot with a load cell 41 which provides signals for a torque 9 around an axis 47 and forces 8 which act on the tool 7.
  • Torque 9 and forces 8 are transmitted by signal transmission 13 to the processor 12 where the data are processed and forwarded to the axes controllers which control the axes 26, 27, 28, 29, and 30.
  • the data from the processor regulate the axes controllers so that a torque 11 and a feed force 10 are kept within given limits optimal for the relevant tool.

Landscapes

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

Abstract

A robot (25) placed in a room (1) allocated to a scanner (6) scanning the room (1) and transmitting data via transmission (4) to a central processor (12) where the data are processed and forwarded via transmission (14) to a portable control panel (17) where the room (1) is visualised on a screen (21) so that an operator (19) using a cursor (40) may position a tool (7) in position for drilling of the hole (3). The tool (7) is connected to an arm (50) on the robot (25) with a load cell (41) registering a torque (9) and forces (8) and transmits data via transmission (13) to the processor (12). The processor (12) processes the data transmitted to axes controllers for the axes (26, 27, 28, 29, and 30) so that the robot (25) maintains optimal force (10) and torque (11) on the drill bit (23).

Description

A ROBOT FOR DRILLING WITH A TOOL POSITIONED USING A CONTROL PANEL WITH A SCREEN AND CONTROLLED USING DATA FROM A LOAD CELL BETWEEN A ROBOTIC ARM AND THE TOOL
The invention relates to an electronic control system of the kind used to control and monitor movements in a robot with several movable axes. More exactly, a control system which, using a scanning technique, enables the operator to position and choose tools and carry out robotised work operations from an operator panel where work operations are visualised.
Today, robots are used in a range of industrial processes where the robot mainly stands in a production line and performs repeatable movements. The robotised movements are generated in most robots by rotational movements in joints controlled by electric axes controllers. The movements of the axes controllers are regulated and controlled by a specially developed software programmed to perform one or several preferred movements.
Robots may be used to handle different types of tools to perform work operations, e.g., in the building and construction industry.
Robots for operation of different tools in the building and construction industry require functionality which is different from robots standing in production lines and which are performing repeatable operations.
W02020080954 describes a robot for use in the building and construction industries, wherein the robot comprises a wagon for transport of the robot. A rotatable adapter connected to the wagon, and an arm with several joints with rotatable toggle joints con nected to the adapter. The arm being arranged to hold a tool.
US2018264640 describes a spray robot capable of scanning the environment and building up a three-dimensional map, and wherein the estimated point of impact may be visual ised via a cross hair on the operator's screen, so that the operator via this is able to cor rectly position the spray nozzle.
US2019118209 describes a robot for treatment of a surface, wherein the robot comprises a system enabling an operator via a screen to indicate a part of the surface to be treated.
CN110625593 describes a robot for drilling, wherein the robot comprises a camera for positioning of the drill bit.
US2019299350 describes a robot equipped with a tool and a power sensor, where the information from the power sensor may be used in another robot.
It must be possible to quickly carry out an adjustment from a work operation, and by per sons who are not computer literate but who in the best of cases have operated a mobile phone or simple computer (iPad).
To solve this challenge, it has been concluded that a control system, which by scanning the environment enables visualisation of a tool and work operation for the tool so that the operator may easily determine position for the work task via a portable operator's panel with screen image.
The tool is connected to the robot with a load cell providing force and movement signals between the robotic arm and the tool. The signals are processed in the control system so that the robot takes into account that the tool receives optimal forces adapted to the specific work operation.
The invention will now be explained in more detail with reference to a preferred embod iment and with reference to figures. Fig. 1 shows a robot with a number of axes and mounted on a belt driven wagon;
Fig. 2 shows robot with scanning equipment and tool placed in a room;
Fig. 3 shows robot placed in a room;
Fig. 4 shows drilling machine and drill bit as well as load cell; and Fig. 5 shows control panel with screen for visualisation.
In the figures, reference number 1 indicates a room where, e.g., a hole 3 is to be drilled into the wall. The robot 25 is placed inside the room 1 and stabilised with a stabiliser 22 which may be extended around the axis 28 so that the robot is stabilised between the ceiling 2 and floor 46. The room 1 is scanned using a scanner unit 6 placed on the robot 25, or on a designated rack in the room. The data from the scanner unit 6 are sent via transmission 4 to a central processor 12 arranged on the robot 25. The processor 12 processes the data and sends signals 14 to the operator panel 17, where the room 1 is visualised on a screen 21. The operator may now move the cursor 40, and with this mark where the tool 7 is to perform work, for example drilling a hole 3.
The tool 7, shown here as a drilling machine with a drill bit 23, is connected to the robot with a load cell 41 which provides signals for a torque 9 around an axis 47 and forces 8 which act on the tool 7. Torque 9 and forces 8 are transmitted by signal transmission 13 to the processor 12 where the data are processed and forwarded to the axes controllers which control the axes 26, 27, 28, 29, and 30.
The data from the processor regulate the axes controllers so that a torque 11 and a feed force 10 are kept within given limits optimal for the relevant tool.

Claims

C l a i m s
Robot (25) mounted on a frame (32) and allocated a belt chassis (31) as well as an extendable stabiliser (22) where the robot (25) is modulated with a number of rotational axes (26, 27, 28, 29), and (30), where for the robot (25) a scanner (6) is arranged which scans the room (1) and transmits the data via transmission (4) to processor (12) where the data are processed and forwarded via transmission (14) to the control panel (17) with screen (21) visualising the room (1) so that the operator (19) using a cursor (40) may posi tion the tool (7) for drilling of the hole (3), c h a r a c t e r i z e d b y that between the robotic arm (50) and a tool (7) there is arranged a load cell (41) with transmission (13) to the processor (12) where the data are processed and transmitted via the transmission (5) to the axes controllers regulating the axes (26, 27, 28, 29, and 30) in order to maintain optimal force (10) and torque (11) on the drill bit (20) during the drilling process.
PCT/NO2021/050105 2020-04-29 2021-04-22 A robot for drilling with a tool positioned using a control panel with a screen and controlled using data from a load cell between a robotic arm and the tool WO2021221514A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20200510A NO346361B1 (en) 2020-04-29 2020-04-29 CONTROL SYSTEM FOR OPERATING WORKING OPERATIONS WITH TOOLS IN A ROBOT ADAPTED FOR TOOL HANDLING
NO20200510 2020-04-29

Publications (1)

Publication Number Publication Date
WO2021221514A1 true WO2021221514A1 (en) 2021-11-04

Family

ID=78373720

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NO2021/050105 WO2021221514A1 (en) 2020-04-29 2021-04-22 A robot for drilling with a tool positioned using a control panel with a screen and controlled using data from a load cell between a robotic arm and the tool

Country Status (2)

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NO (1) NO346361B1 (en)
WO (1) WO2021221514A1 (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202016004810U1 (en) * 2016-08-05 2017-11-07 Kuka Roboter Gmbh Robot system with mobile robot
US20170355080A1 (en) * 2016-06-10 2017-12-14 The Boeing Company Remotely controlling robotic platforms based on multi-modal sensory data
US20180257230A1 (en) * 2015-09-18 2018-09-13 Kawasaki Jukogyo Kabushiki Kaisha Positioning device and positioning method of processing tool
US20180264640A1 (en) * 2014-10-22 2018-09-20 Q-Bot Limited Robotic Device
US20180283015A1 (en) * 2017-03-31 2018-10-04 Canvas Construction, Inc. Automated drywall mudding system and method
US20180326507A1 (en) * 2014-10-28 2018-11-15 Nlink As Mobile robotic drilling apparatus and method for drilling ceilings and walls
CN110587632A (en) * 2019-10-22 2019-12-20 东莞美崎智能科技有限公司 Full-automatic locating, drilling and explosion screw mounting all-in-one machine

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3050672B1 (en) * 2016-04-29 2018-11-23 Les Companions AUTOMATE FOR TREATING A SURFACE
JP6773712B2 (en) * 2018-03-27 2020-10-21 ファナック株式会社 Robot processing system
NO344795B1 (en) * 2018-10-17 2020-04-27 Conrobotix As DEVICE BY ROBOT, SPECIALLY FITTED FOR CONSTRUCTION AND CONSTRUCTION
CN110625593B (en) * 2019-10-18 2024-04-26 北京石油化工学院 End effector of intelligent hole making robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180264640A1 (en) * 2014-10-22 2018-09-20 Q-Bot Limited Robotic Device
US20180326507A1 (en) * 2014-10-28 2018-11-15 Nlink As Mobile robotic drilling apparatus and method for drilling ceilings and walls
US20180257230A1 (en) * 2015-09-18 2018-09-13 Kawasaki Jukogyo Kabushiki Kaisha Positioning device and positioning method of processing tool
US20170355080A1 (en) * 2016-06-10 2017-12-14 The Boeing Company Remotely controlling robotic platforms based on multi-modal sensory data
DE202016004810U1 (en) * 2016-08-05 2017-11-07 Kuka Roboter Gmbh Robot system with mobile robot
US20180283015A1 (en) * 2017-03-31 2018-10-04 Canvas Construction, Inc. Automated drywall mudding system and method
CN110587632A (en) * 2019-10-22 2019-12-20 东莞美崎智能科技有限公司 Full-automatic locating, drilling and explosion screw mounting all-in-one machine

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NO346361B1 (en) 2022-06-27
NO20200510A1 (en) 2021-11-01

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