WO2022117891A1 - Système de distribution pour domaine technique de robots industriels - Google Patents

Système de distribution pour domaine technique de robots industriels Download PDF

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Publication number
WO2022117891A1
WO2022117891A1 PCT/EP2021/084418 EP2021084418W WO2022117891A1 WO 2022117891 A1 WO2022117891 A1 WO 2022117891A1 EP 2021084418 W EP2021084418 W EP 2021084418W WO 2022117891 A1 WO2022117891 A1 WO 2022117891A1
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WO
WIPO (PCT)
Prior art keywords
motor
central rotor
plunger part
dispensing system
industrial robots
Prior art date
Application number
PCT/EP2021/084418
Other languages
English (en)
Inventor
Mie HARALDSTED HICKMOTT
Tihamer BILIBOC
Original Assignee
Aim Robotics Aps
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 Aim Robotics Aps filed Critical Aim Robotics Aps
Publication of WO2022117891A1 publication Critical patent/WO2022117891A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
    • B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B05C11/1007—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material
    • B05C11/101—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material responsive to weight of a container for liquid or other fluent material; responsive to level of liquid or other fluent material in a container

Definitions

  • a dispensing system for industrial robots comprising: an electric motor, where the electric motor comprises a central rotor having a first rotational axis and electromagnets configured to drive the central rotor around its first rotational axis using a first motor input signal.
  • Industrial robots are being used at a higher rate in the present time than at any time before in human history, where the precision and repeatability of the work done by robots can be applied in a plurality of technical fields which may reduce the cost of production, by e.g. reducing the number of failures or mistakes that may be made by humans.
  • a dispensing system for industrial robots comprising: an electric motor, where the electric motor comprises a central rotor having a first rotational axis and electromagnets configured to drive the central rotor around its first rotational axis using a first motor input signal, a plunger part having a first longitudinal axis and where the plunger part is in connection to the central rotor, where a rotational movement of the central rotor manoeuvres the plunger part in a direction parallel to the first longitudinal axis of the plunger part, a control device configured to provide a first motor input signal to control the movement of the central rotor.
  • a dispensing system having an electrical motor and a plunger part connected to the electrical motor can make it much easier to apply and dose liquids to be dispensed by the dispensing system.
  • the system provides a direct correlation with the effort being exerted by the electric motor and the movement of the plunger part, allowing a much more precise dispensing of liquids.
  • the central rotor may be powered by the electromagnets to rotate around its central axis, where the rotational movement of the central rotor may be relative to the electromagnets, base and/or other elements of the dispensing system that are not designed to rotate.
  • the rotation of the central rotor may be translated into a longitudinal movement of the plunger part, where a rotation of the central rotor in a first rotational direction may cause the plunger part to maneuver in a first longitudinal direction (e.g. in a distal direction) and where a rotation of the central rotor in a second rotational direction may cause the plunger part to maneuver in a second longitudinal direction (e.g. a proximal direction), where the first direction may be opposite to the second direction.
  • the rotation of the central rod may be translated into longitudinal movement of the plunger part.
  • the control device may be configured to have a CPU or a microprocessor present, where the control device is capable of receiving instructions from an industrial robotic controller, where the controller may define a predefined movement of the robotic arm and/or the precise timing and positioning of the dispensing of the liquids.
  • the control device may receive instructions and may respond to signals from the industrial robot and/or the controller to start and to stop at certain points in time and/or space.
  • the movement of the plunger part may be utilized to control the dispensing of the liquid from a syringe, where the liquid may be in the form of a glue, a polymer, sealant or other types of liquids that are dispensed via a syringe.
  • the rotational movement of the central rotor may be directly proportional to the longitudinal movement of the plunger part. Thus, if the central rotor rotates one revolution, the plunger part will be maneuvered a predetermined length. If the central rotor is rotated a number of times, the plunger part will be maneuvered a corresponding distance in the longitudinal direction.
  • the control unit may be adapted to provide the electric motor with an electric motor input, in the form of a first motor input signal to activate the electric motor to rotate in one direction or in the opposite direction.
  • the term “material to be dispensed” may be named liquid or fluid or simply the material and is thus still the subject to be dispensed.
  • the material may be a liquid.
  • the electric motor comprises a first motor output signal which represents the torque being delivered and/or electrical current being drawn by the electric motor, and/or where the control device is configured to receive the first motor output signal.
  • the first motor output signal is a signal that represents how much work the electric motor is performing.
  • the first motor output signal may be a low signal when the electric motor is rotating effortlessly, and where the plunger part is moving freely and without too much resistance.
  • the plunger part and/or the central rotor encounters a resistance, such as a piston of a syringe, the first motor output signal will increase in magnitude, representing that the motor needs increased power to move a predefined distance.
  • the control unit is thereby capable of monitoring the current, the torque and/or the work which the motor is using at any point in time, and where the control unit can forward this information onwards to the industrial robotic controller or to a user interface of the industrial robotic operator, which can monitor the work being done by the dispensing system.
  • Monitoring the current may be related directly to the pressure applied to a liquid or fluid in the dispensing system. If the current needed to move the piston in an empty syringe barrel /container is known, it is possible to relate the draw of current to the pressure applied to the liquid or fluid in the syringe barrel/container when dispensing. In this way, it is achieved that the pressure does not exceed the specifications from the manufacturer of the fluid/material to be dispensed. Such specification could be a requirement in order not to risk separating any media from binders within the liquid or fluid being dispensed.
  • the electric motor is a stepping motor.
  • a stepping motor also known as step motor or stepper motor, is a brushless DC electric motor that divides a full rotation into a number of equal steps. The motor's position can be commanded to move and to hold at one of these steps without any position sensor for feedback (an open-loop controller), as long as the motor is carefully sized to the application in respect of torque and speed.
  • Stepper motors effectively have multiple "toothed" electromagnets arranged as a stator around a central rotor, a gear-shaped piece of iron. The electromagnets are energized by an external driver circuit or a micro controller.
  • the stepping motor of the present disclosure may have a central rotor, that replaces the motor shaft, where the central rotor may be connected to the plunger part via threads.
  • the plunger part may have an outer surface that may comprise an outer thread, and where the central rotor may have a central opening having an inner surface that has an inner thread, where the inner thread cooperates with the outer thread.
  • the plunger part and the central rotor have a direct interaction, where the outer thread of the plunger part may have a thread having a predefined thread count pr. length unit, (threads/cm).
  • the central rotor may have a matching thread or matching protrusions so that the rotational movement of the central rotor may be translated to the plunger part.
  • the rotational movement of the central rotor may be translated into longitudinal movement of the plunger part.
  • the thread count may mean that for each rotational movement of the central rotor the plunger part will move in a longitudinal direction to a predefined distance. If the thread count is 10 threads pr. cm, then one rotation of the central rotor will move the plunger part 1 mm. Thus, the movement of the plunger part is directly proportional to the rotational movement of the central rotor.
  • the electric motor comprises a position sensing device that is configured to register the rotational position of the central rotor and to provide a second motor output signal representing the position of the central rotor.
  • the second motor output signal may be utilized to provide information on the current position of the central rotor, and to input the signal into the control device to register any movement of the central rotor and to confirm that when a first input motor signal has been introduced, representing a predefined movement of the central rotor, it may be confirmed that the central rotor has performed the predefined movement. If the central rotor has not performed the predefined movement, the control device may register this in order to correct the movement of the central rotor.
  • control device is configured to receive the second motor output signal and where the second motor output signal is used to calculate the longitudinal position of the plunger part along its longitudinal axis.
  • the control device may be configured to count and/or keep track of the second motor output signal, where the information from the second motor output signal may be stored in a memory of the control device.
  • the control device may monitor and register the movement of the central rotor, and thereby count the rotations made by the rotor over a given period of time. The rotational count over a given period of time gives an indication of the position of the plunger part, as the plunger part may be configured to be maneuvered in direct correlation to the rotations of the central part.
  • the control unit and/or industrial robot controller may provide the user with a warning, or prevent the industrial robot from performing a task until the syringe is replaced.
  • the control unit and/or industrial robot controller may provide the user with a warning, or prevent the industrial robot from performing a task until the syringe is replaced.
  • the system comprises a power (current) sensing device and/or power (current) estimating device connected to the stepping motor, that measures and/or estimates the power used by the stepping motor and provides a first motor output signal, and where the first motor output signal exceeds a first predefined threshold the control device provides a first motor input signal to the control device to alter the movement of the central rotor.
  • the dispensing device may not be provided with any sensors that indicate how much liquid there is left in e.g. a syringe, or a sensor that is capable of sensing the position of the plunger part. Thus, by using the first motor output signal it may be possible to predict some situations and alter the first motor input signal accordingly.
  • control system is configured to register a first position of the plunger part, where the plunger part is configured to be manoeuvred to a fully retracted position where the predefined part of the plunger part encounters a physical obstacle which defines the first position of the plunger part.
  • This allows the plunger part to be reset prior the replacement of e.g. a new syringe, so that when the plunger part is in its fully retracted position (where the plunger is close to the base part) it may be possible to at least know a baseline position of the plunger part prior to operating with a new and fully loaded syringe.
  • an increase in the first output motor signal above a second predefined threshold during a movement of the plunger part in an extended direction is registered by the control unit and where the control device provides a first motor input signal to alter the movement of the central rotor.
  • the control unit provides a first motor input signal to alter the movement of the central rotor.
  • the increase in current and/or torque and/or work done by the motor may indicate that there is an obstacle and the motor may be stopped. If the motor is not stopped, the pressure inside the liquid volume (between the piston and the opening) is increased to critical levels, and where the increase in pressure may result in damage to the dispensing system and/or the syringe.
  • such a signal might also indicate that the piston has reached the end of the syringe barrel, where the syringe barrel prevents the plunger part and/or the piston being moved in a proximal direction (towards the tip of the syringe).
  • a signal indicates that the syringe is empty and the dispensing system could register that this is the case, and thereby stop the industrial robot from continuing its current task until the syringe has been replaced by a new fresh syringe.
  • an increase in the first output motor signal above a third predefined threshold during a movement of the plunger part in an extended direction is registered by the control device and the control device registers the current position of the syringe piston inside the syringe.
  • the first output motor signal may be utilized to sense where the piston part is inside a syringe.
  • the plunger part may be put in a retracted position where a syringe is positioned on the dispensing device, so that the system is aware of the zero position of the plunger part.
  • the syringe may be fastened to the dispensing system, and the system may be instructed to drive the plunger part in a proximal direction towards the piston.
  • the system is aware that when the plunger part comes into contact with the piston, the magnitude of the first output motor signal increases and the syringe and the dispensing device is ready to begin dispensing of the liquid, and the industrial robot may be activated for a predetermined task.
  • a rate of increase in the first output motor signal is higher than a first predefined threshold rate, where the control device provides a first motor input signal to alter the movement of the central rotor.
  • the rate of increase of the first output motor signal can indicate that the plunger and/or the piston has been blocked from moving in a proximal direction.
  • the control device may perform an emergency stop of the plunger part, to reduce the chance that parts of the dispensing device are damaged during unintended operation of the dispensing device.
  • Fig. 1 shows a perspective view of an articulated robotic arm having a dispensing system
  • Fig. 2 shows the same, seen from the side
  • Fig. 3 shows a side view of the dispensing system in accordance with the invention
  • Fig. 4 shows a side view of the base of the dispensing system
  • Fig. 5A - 5C show a cross sectional view of a dispensing system in different positions
  • Fig. 6 shows a schematic view of a dispensing system.
  • Figs. 1 and 2 shows a perspective view of an industrial articulated robotic arm 3, where a dispensing system 1 is attached to the available/ open end 7 of the robotic arm 1.
  • the robotic arm may be a multi axis robotic arm 3 having a base 5, a first arm 9, a second arm 11 , and a plurality of articulations 13 between the base, the arms 9, 11 and the free end 7.
  • Such a robotic arm 3 is capable of maneuvering the free end 7 in three dimensions into a plurality of positions, allowing the dispensing system 1 to be applied in a plurality of positions around the robotic arm 3.
  • the tip 15 of the syringe 17 of the dispensing system 1 may be moved into a plurality of positions, upwards, downwards, sideways or otherwise in order to apply a liquid from the tip 15 of the syringe.
  • Figs. 3 and 4 show the dispensing system 1 , where the dispensing system comprises a base 19, having a first end 21 and a second end 23.
  • the first end 23 is configured to receive a syringe 17, where a distal end 25 of the syringe is in connection with the first end 21 of the base 19.
  • the syringe 17 comprises a liquid (shown in Fig. 5A-5C) which is adapted to be dispensed out of the tip 15 of the syringe 17 at the proximal end 27 of the syringe 17.
  • the distal end 25 of the syringe 17 comprises syringe flanges 29, which are gripped by two gripping parts 31 that are connected to the base 19, in order to fix the syringe 17 to the base 19.
  • the second end 23 of the base 13 is connected to a housing 33, where the housing may be in the form of a motor housing 35 and a plunger housing 37 that are connected to the base.
  • the plunger housing and the motor housing may be made in one part.
  • the dispensing device 1 further comprises a connection bracket 39, which is configured to attach the base 19 to the industrial robot 3.
  • Fig. 5A shows a cross sectional view of the dispensing device 1 , having a syringe 17 attached to the base 19, and where the syringe 17 comprises a syringe barrel 41 , defining a volume 43 to hold a liquid 45, where the distal part of the volume 43 is defined by a moveable piston 47, and the proximal part of the volume 43 is open to the environment via a dispensing tip 15, which is hollow and provides fluid communication from the environment into the volume 43, or vice versa.
  • the dispensing device 1 further comprises a plunger rod 49, having a longitudinal axis A, where the plunger rod 49 comprises a proximal end 51 and a distal end 53.
  • the proximal end 51 is attached to a plunger 55 which abuts the piston 47 and is adapted to apply force to the piston 47.
  • the plunger rod extends through an opening 57 in the base 19 so that a distal end 53 of the rod extends into the plunger housing 37, where the plunger housing is adapted to accommodate the distal end 53 of the plunger rod 49 when the plunger rod is in its fully retracted position, as is shown in Fig. 5A.
  • the dispensing device 1 further comprises an electrical motor 59, which may be a stepping motor, having a central rotor 61 and a stator 63, where the central rotor 61 has a rotational axis that is coaxial with the longitudinal axis A of the plunger rod 49.
  • the plunger rot 49 extends through a central area 65 of the central rotor 61 , where the central rotor 61 has an inner thread 62 while the plunger rod 49 may have an outer thread 64 which matches the inner thread 62 of the central rotor 61.
  • any rotational movement of the central rotor 61 results in a longitudinal displacement of the plunger rod 49 along the longitudinal axis A, in order to reduce the size of the volume 43 of the syringe 17 to dispense a liquid inside the volume 43 out of the tip 15.
  • the housing 35, 37 may be provided with a guide path 67, which extends coaxially to the longitudinal axis A, and is coaxial with the plunger rod 49 and/or the rotational axis of the central rotor 61.
  • the distal end 53 of the rod 49 may comprise a first locking member 69, where the first locking member 69 may have an outer shape that matches the inner shape of the guide path 67, so that the rod 49 is prevented from rotating while the first locking member 69 is in contact with the guide path 67, so that the guide path operates as a second locking member.
  • the plunger rod 49 remains static (rotationally) while being maneuvered in a longitudinal direction along the longitudinal axis A, and when moved in a proximal direction, the plunger 55 applies a force to the piston 47, where the force is transferred from the central rotor from a rotational movement via the threads into a longitudinal movement of the plunger rod 49.
  • Fig. 5B shows the dispensing device in a second position, where the plunger rod 49 has been maneuvered a distance in the proximal direction, where the plunger 55 has pushed the piston in a proximal direction and causes the reduction of the volume 43 allowing the liquid to be forced out of the tip 15.
  • Fig. 5C shows the dispensing device 1 in a third position, where the plunger rod 49 has been maneuvered fully into an extreme proximal position, where the piston has reached the proximal end 71 of the syringe barrel, and where the piston 55 cannot move any further in the proximal direction.
  • Fig. 6 shows a schematic figure of an embodiment of the invention, where a dispensing system 101 is shown, where the dispensing system is adapted to be attached to an articulated robot.
  • the system comprises an electrical motor 103, where the electrical motor is capable of driving a plunger part 105 in a longitudinal direction B in a distal and a proximal direction.
  • the plunger part 105 is provided inside a syringe 107, and where the plunger part 105 is in contact with a piston 109, the piston 109 is configured to press liquids out of the syringe end 111.
  • the system 101 further comprises a control system 113, where the control system is capable of controlling the movement of the motor 103, and thereby the movement of the plunger part 105 in the direction B.
  • the control system 113 comprises a controller 115 that is configured to send a first input signal 117 to the motor, to control the movement of the central rotor (not shown) of the motor 103.
  • the electrical motor 113 may further comprise a current sensing device, or a current estimation device that is capable of estimating or calculating the current being used by the motor (not shown).
  • the system 101 may comprise a current sensor 115.
  • the current sensor 115 or the current estimating device of the motor may send a first output signal 117 towards the control system 113, where the first output signal 119 represents the work being done by the electric motor 103.
  • the first output signal 119 may be input into a processor 121 of the control system 113, where the processor may use the first output signal received to provide computations and/or calculations.
  • Monitoring the current by the current sensing device may be directly related to the pressure applied to the fluid in the dispensing system.
  • the system 101 may further comprise a rotational sensing device 123, which may be mounted in the motor, or may be included in the control system 113.
  • the rotational sensing device may be configured to sense the position of the rotor of the electric motor, where the position of the motor may be seen in the form of a second motor output signal 125.
  • the processor 121 may utilize the position of the rotor, in order to calculate and/or compute the total rotation and/or position of the rotor during the use of the dispensing system 101 .
  • the parts of the dispensing system shown in Fig. 6 are all electrically connected either via wired or wireless communication standards.

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  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

Système de distribution (1) pour robots industriels (3) comprenant : un moteur électrique (59), le moteur électrique comprenant un rotor central ayant un premier axe de rotation et des électroaimants configurés pour entraîner le rotor central autour de son premier axe de rotation à l'aide d'un premier signal d'entrée de moteur, une partie piston (49) ayant un premier axe longitudinal et la partie piston étant en liaison avec le rotor central, un mouvement de rotation du rotor central commandant la partie piston dans une direction parallèle au premier axe longitudinal de la partie piston, un dispositif de commande configuré pour fournir un premier signal d'entrée de moteur pour commander le mouvement du rotor central.
PCT/EP2021/084418 2020-12-04 2021-12-06 Système de distribution pour domaine technique de robots industriels WO2022117891A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP20211913.7 2020-12-04
EP20211913 2020-12-04

Publications (1)

Publication Number Publication Date
WO2022117891A1 true WO2022117891A1 (fr) 2022-06-09

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PCT/EP2021/084418 WO2022117891A1 (fr) 2020-12-04 2021-12-06 Système de distribution pour domaine technique de robots industriels

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11235546A (ja) * 1998-02-23 1999-08-31 Seiko Precision Inc ハンドヘルド式小型ディスペンサー
DE10335146A1 (de) * 2003-07-31 2005-03-03 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zum dosierten Ausbringen eines viskosen Mediums
US20120252242A1 (en) * 2011-03-28 2012-10-04 Fishman Corporation System and Method for Releasably Coupling a Fluid Dispenser to a Dispensing System
US20180009000A1 (en) * 2016-07-08 2018-01-11 Macdonald, Dettwiler And Associates Inc. System and Method for Automated Artificial Vision Guided Dispensing Viscous Fluids for Caulking and Sealing Operations

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11235546A (ja) * 1998-02-23 1999-08-31 Seiko Precision Inc ハンドヘルド式小型ディスペンサー
DE10335146A1 (de) * 2003-07-31 2005-03-03 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zum dosierten Ausbringen eines viskosen Mediums
US20120252242A1 (en) * 2011-03-28 2012-10-04 Fishman Corporation System and Method for Releasably Coupling a Fluid Dispenser to a Dispensing System
US20180009000A1 (en) * 2016-07-08 2018-01-11 Macdonald, Dettwiler And Associates Inc. System and Method for Automated Artificial Vision Guided Dispensing Viscous Fluids for Caulking and Sealing Operations

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