WO2022028828A1 - Dispositif et procédé permettant de capturer des vitesses de segments de bras d'un robot - Google Patents

Dispositif et procédé permettant de capturer des vitesses de segments de bras d'un robot Download PDF

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Publication number
WO2022028828A1
WO2022028828A1 PCT/EP2021/069568 EP2021069568W WO2022028828A1 WO 2022028828 A1 WO2022028828 A1 WO 2022028828A1 EP 2021069568 W EP2021069568 W EP 2021069568W WO 2022028828 A1 WO2022028828 A1 WO 2022028828A1
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WO
WIPO (PCT)
Prior art keywords
robot
sensors
rotation
axis
carrier
Prior art date
Application number
PCT/EP2021/069568
Other languages
German (de)
English (en)
Inventor
Thomas Hrach
Original Assignee
Thomas Hrach
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 Thomas Hrach filed Critical Thomas Hrach
Publication of WO2022028828A1 publication Critical patent/WO2022028828A1/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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J19/027—Electromagnetic sensing devices

Definitions

  • the invention relates to a device having the features of the preamble of claim 1 .
  • the invention further relates to a method for operating the device having the features of the preamble of claim 9 .
  • the invention relates to a system having the features of the preamble of claim 11 .
  • SCARA robots are industrial robots with arm segments that can be swiveled around axes of rotation. Due to its fast and repeatable movement, this type of robot is used in particular for "pick-and-place applications" to move an element from a starting position to a target position.
  • the invention is therefore based on the object of providing a device which enables a robot with pivotable arm segments, in particular a SCARA robot, to be operated particularly safely.
  • the invention is based on the object of creating a possibility with which existing robots of the type mentioned can be retrofitted in order to be able to implement such safe operation.
  • This object is achieved according to the invention by a device having the features of claim 1 and by a method having the features of claim 8 .
  • this object is achieved according to the invention by a system having the features of claim 10 .
  • the device has a multi-part carrier system with at least two carriers, that the carriers can be rotated about defined axes, that in the installed state a first axis of rotation is fixed and a first carrier is arranged so that it can rotate about the first axis of rotation, that the first carrier has a first longitudinal axis which is normal to the first axis of rotation, that a further axis of rotation is arranged on the first longitudinal axis, around which a further carrier with a further longitudinal axis is arranged to rotate, the further axis of rotation being normal to the further longitudinal axis and parallel to the first Axis of rotation is that the device further comprises at least two sensors for acquiring data on the movement of the carrier, a first sensor having a fixed position relative to the first carrier and at least one further sensor having a fixed position relative to the further carrier and that the sensors have a means for transmitting data.
  • Each sensor collects data about the movement of the carrier to which it has a fixed position.
  • the device according to the invention makes it possible to know at any time and for each section of the carrier the speed at which the carriers are moving. From this, conclusions can be drawn as to the speed with which the segments of the robot's arm are moving. Consequently, it can also be determined whether areas of the arm segments are moving faster or slower than a predetermined speed. This makes it possible to operate a robot that is equipped with a device according to the invention in a particularly safe manner.
  • each carrier has a sensor that can preferably measure acceleration and angular velocity by means of acceleration sensors and/or gyroscopes. This data is recorded independently of the SCARA robot system and forwarded to a computing unit. The computing unit can then evaluate the data.
  • each carrier and consequently each segment has its own sensor, not only the speed of the tool on the robot arm can be determined, but also the speed of the carrier and consequently the arm segments to each other and a joint between the segments.
  • the sensors have gyroscopes.
  • gyroscopes With gyroscopes, rotational movements in particular can be recorded particularly precisely. Angular velocities can be determined from this. If the distance between the sensors and the axes of rotation is known, these provide information about how fast all areas of the carrier and consequently the robot arm are moving.
  • the sensors have acceleration sensors. From the known values, namely the distance to the axes of rotation and the fact that it must be a rotational movement, the acceleration or Velocity an angular velocity can be determined, from which in turn - with known geometry of the segments - the speed of the segments at each individual point of the segments or. Sections can be calculated .
  • the device has a means for regulating the operation of the robot, in particular for interrupting the operation. If areas of the arm are found to be moving faster than specified, the robot can be stopped in this way.
  • the means for regulating the operation of the robot is preferably independent of the robot itself. A very simple implementation of such a means is, for example, a device that interrupts the power supply to the robot outside of the robot.
  • Fig. 1 is a view of an exemplary device associated with a SCARA robot and 2 shows an exemplary method shown as a flow chart.
  • FIG. 1 shows a SCARA robot with a base 1 which is connected to a first arm segment 2 which is rotatably driven about a first axis of rotation 3 .
  • a further arm segment 5 is arranged on the first arm segment 2 about a further axis of rotation 4, also driven in a rotatable manner.
  • a working area 6 is arranged on the further arm segment 5 and has a tool drive 7 , a tool arm 8 and a tool 9 .
  • the tool arm 8 can be moved vertically in the example shown.
  • the tool 9 can be designed according to the respective work requirements; suction cups or grippers are common.
  • a two-part carrier system 10 of the device with two sensors 11, 12 is arranged on the arm segments 2, 5.
  • the carrier system 10 consists of two carriers 16, 17 that are not connected to one another, ie the carriers are loose from one another. It is largely unimportant where the carrier 16, 17 the sensors 11, 12 are arranged. However, it is necessary that the points at which the sensors 11, 12 are arranged on the carriers 16, 17 are known, in particular that the respective distance of the sensors 11, 12 from the axes of rotation 3, 4 is known. Thus, from the speed or acceleration at one point of the carrier 16, 17, the acceleration or speed for all areas of the corresponding arm segment 2, 5 can be determined. For this determination, the data recorded by the sensors 11, 12 are transmitted to a computing unit 13.
  • the transmission is carried out by the signals 14, 15 shown symbolically.
  • cable or wireless means are selected for transmission when implementing the invention can be decided by the person skilled in the art on the basis of the respective circumstances to be decided.
  • Wireless transmission methods have the advantage that they are easier to install, whereas signals transmitted via cable are less susceptible to interference.
  • the determination itself is carried out using simple trigonometry, knowing that the distance of the sensors 11, 12 from the respective axes of rotation 3, 4 always remains the same. Once the angular velocity has been recorded by the sensors 11, 12, the velocity of the arm segments 2, 5 can also be measured at each point ie, be determined at any distance from the axis of rotation 3, 4.
  • FIG. 1 also shows an additional sensor 18 which detects a vertical movement (indicated by the arrow 19) of the tool arm 8.
  • This sensor 18 can be a linear encoder, for example. Measurement data generated by the sensor 18 can also be transmitted as a signal 21 to a computing unit. If all signals 14, 15, 21 are transmitted to the same arithmetic unit 13, an absolute movement performed by the tool can be determined from the information about the arm movement, which is supplied by the device according to the invention, and the information about the vertical movement.
  • One or more sensors 18 of the same or different type, which detect the vertical movements of the tool arm 8, can be used directly on the tool arm 8 or indirectly on supports, as a preferred further development of the invention. In this case they can be part of a system according to the invention. However, it is also possible to advantageously use sensors 18 for detecting the vertical movements of the tool arm 8, or consequently of the tool 9, independently of the invention.
  • Fig. 2 shows an example of a method for operating device according to the invention.
  • the sensors 11, 12 measure data about the movement of the carrier, for example speed, acceleration and/or angular velocity; this is done in steps 101 and 102 .
  • further sensors can also be provided, for example if the device is to be used in connection with a robot with more arm segments than those previously mentioned as examples.
  • step 103 Data 104 , 105 (and optionally 106 ) generated in the course of this are then forwarded to the computing unit 13 and processed there in a step 107 .
  • the result from step 107 is checked. It is determined whether an area of the arm is moving faster than a predefined speed.
  • step 109 If it is determined in step 108 that an area of the arm is moving too quickly, an escalation is triggered in step 109. In the simplest case, the operation of the robot is simply stopped, for example by interrupting the power supply. If the checking reveals that no area of the robot moves outside of the specified parameters, operation can continue (step 110) and the method begins again.

Landscapes

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

Abstract

L'invention se rapporte à un dispositif permettant de capturer des vitesses et des accélérations de segments de bras mobiles (2, 5) d'un robot, plus particulièrement d'un robot SCARA, comprenant un système de support en plusieurs parties (10) ayant au moins deux supports (16, 17). Les supports (16, 17) peuvent être mis en rotation autour d'axes définis (3, 4). Dans l'état installé, un premier axe de rotation (3) est fixé et un premier support (16) peut être mis en rotation autour du premier axe de rotation (3). Le premier support (16) présente un premier axe longitudinal qui est perpendiculaire au premier axe de rotation (3). Un axe de rotation supplémentaire (4) est situé sur le premier axe longitudinal, axe de rotation supplémentaire autour duquel peut tourner un support supplémentaire (17) présentant un axe longitudinal supplémentaire. L'axe de rotation supplémentaire (4) est perpendiculaire à l'axe longitudinal supplémentaire et parallèle au premier axe de rotation (3). Le dispositif comporte également au moins deux capteurs (11, 12) permettant de capturer des données sur le mouvement des supports (16, 17). Un premier capteur (11) a une position fixe par rapport au premier support (16) et au moins un capteur supplémentaire (12) a une position fixe par rapport au support supplémentaire (17). Les capteurs (11, 12) présentent des moyens permettant de transmettre des données.
PCT/EP2021/069568 2020-08-06 2021-07-14 Dispositif et procédé permettant de capturer des vitesses de segments de bras d'un robot WO2022028828A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50663/2020A AT524080B1 (de) 2020-08-06 2020-08-06 Vorrichtung und Verfahren zum Erfassen von Geschwindigkeiten von Armsegmenten eines Roboters
ATA50663/2020 2020-08-06

Publications (1)

Publication Number Publication Date
WO2022028828A1 true WO2022028828A1 (fr) 2022-02-10

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Application Number Title Priority Date Filing Date
PCT/EP2021/069568 WO2022028828A1 (fr) 2020-08-06 2021-07-14 Dispositif et procédé permettant de capturer des vitesses de segments de bras d'un robot

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Country Link
AT (1) AT524080B1 (fr)
TW (1) TW202206244A (fr)
WO (1) WO2022028828A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114905494B (zh) * 2022-07-15 2022-12-30 广东隆崎机器人有限公司 一种末端轴、末端运动组件及scara机械手

Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2012020343A (ja) * 2010-07-12 2012-02-02 Seiko Epson Corp ロボット装置およびロボット装置の制御方法
JP2013078843A (ja) * 2013-02-06 2013-05-02 Seiko Epson Corp 多関節マニピュレータ
US9975240B2 (en) * 2013-11-01 2018-05-22 Seiko Epson Corporation Robot, controller, and robot system
US20190358825A1 (en) * 2018-05-28 2019-11-28 Seiko Epson Corporation Control device, robot, and robot system

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JP3883544B2 (ja) * 2004-02-27 2007-02-21 株式会社東芝 ロボット制御装置およびロボットの制御方法
JP4957753B2 (ja) * 2009-06-15 2012-06-20 セイコーエプソン株式会社 ロボット、搬送装置、及び慣性センサーを用いた制御方法
JP5444875B2 (ja) * 2009-06-24 2014-03-19 セイコーエプソン株式会社 ロボット制御装置
JP5962340B2 (ja) * 2012-08-31 2016-08-03 セイコーエプソン株式会社 ロボット
PL3017920T3 (pl) * 2014-11-07 2018-02-28 Comau S.P.A. Robot przemysłowy i sposób sterowania robotem przemysłowym
US10903107B2 (en) * 2017-07-11 2021-01-26 Brooks Automation, Inc. Semiconductor process transport apparatus comprising an adapter pendant

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012020343A (ja) * 2010-07-12 2012-02-02 Seiko Epson Corp ロボット装置およびロボット装置の制御方法
JP2013078843A (ja) * 2013-02-06 2013-05-02 Seiko Epson Corp 多関節マニピュレータ
US9975240B2 (en) * 2013-11-01 2018-05-22 Seiko Epson Corporation Robot, controller, and robot system
US20190358825A1 (en) * 2018-05-28 2019-11-28 Seiko Epson Corporation Control device, robot, and robot system

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TW202206244A (zh) 2022-02-16
AT524080B1 (de) 2024-06-15
AT524080A1 (de) 2022-02-15

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