WO2023175030A1 - Robot à codeur absolu - Google Patents

Robot à codeur absolu Download PDF

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Publication number
WO2023175030A1
WO2023175030A1 PCT/EP2023/056657 EP2023056657W WO2023175030A1 WO 2023175030 A1 WO2023175030 A1 WO 2023175030A1 EP 2023056657 W EP2023056657 W EP 2023056657W WO 2023175030 A1 WO2023175030 A1 WO 2023175030A1
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WO
WIPO (PCT)
Prior art keywords
robot
resistance
output
track
absolute
Prior art date
Application number
PCT/EP2023/056657
Other languages
German (de)
English (en)
Inventor
Alexander MÜHLENS
Original Assignee
Igus 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 Igus Gmbh filed Critical Igus Gmbh
Publication of WO2023175030A1 publication Critical patent/WO2023175030A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/16—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying resistance
    • G01D5/165—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying resistance by relative movement of a point of contact or actuation and a resistive track
    • G01D5/1655—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying resistance by relative movement of a point of contact or actuation and a resistive track more than one point of contact or actuation on one or more tracks
    • 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

Definitions

  • the invention relates to a robot comprising
  • Robot joint a robot joint for such a robot and uses of such a robot and such
  • Robot joint that has a motor and a gearbox.
  • the motor is typically designed as an electric motor.
  • the transmission has a drive that is connected to the engine and is driven as intended by the engine.
  • the transmission also has an output, which is typically connected to another component
  • Robot is connected, for example a robot arm or a manipulator.
  • Suitable tools for using the robot can be provided as a manipulator, for example a gripper, a suction cup, a camera, etc.
  • Robots usually have a variety of such
  • Robot joints each with a gear and a gear
  • Robot joint is connected. By stringing together pairs of robot joints and robot arms, so that each has a robot arm that works together with one
  • Robot joint forms a pair
  • a robot joint forms one Another pair is connected, such robots can carry out complex movements.
  • the gearbox translates a rotation of the motor, usually in a gear ratio of at least 1:20, in particular at least 1:40, in particular at least 1:50, so that the output rotates around its output axis at a rotational speed correspondingly reduced by the ratio Drive around its drive axle when driven by the engine.
  • the respective robot joint In order to be able to precisely specify the movement sequences of all components of the robot, precise control of the motors of the robot joints is required. In order to be able to specify the movements of the robot with sufficient precision, feedback from the robot joints to the control unit of the robot is often provided, through which a position of the respective robot joint can be fed back to the control unit as information. In various respects, it is advantageous for the respective robot joint to output an absolute position of its output and in particular of its drive as a position, for example when implementing collaborative robots in which the absolute position of the components of the robot should be known as precisely as possible, or for example an unforeseen event, for example a power failure, after which the robot should move from its current position to a predetermined position.
  • absolute value encoders based on an optical or magnetic functional principle are known as such absolute value encoders, which enable precise feedback, ie the feedback of a precise position information of the output or drive to the control unit of the robot.
  • the realization of such absolute value encoders which preferably require the smallest possible installation space and can output a precise value for the rotational position of the output or drive relative to its axis of rotation, which can be processed directly by a control unit of the robot, is associated with considerable costs Contribution to the total cost of a robot.
  • the present invention is based on the object of providing a robot with a robot joint with an absolute value encoder and/or a robot joint and/or a use of a robot or robot joint with which at least one disadvantage of generic robots can be at least partially eliminated.
  • the robot according to the invention comprises a robot joint that has a gear and a motor, in particular an electric motor.
  • the Transmission has a drive which is rotatably mounted about a drive axis to a housing of the robot joint and an output which is rotatably mounted about an output axis to the housing.
  • the motor is connected to the drive of the gearbox.
  • the motor of the robot joint is controlled by a controller of the robot, also referred to here as the control unit of the robot, to drive the drive.
  • a robot arm or a manipulator is connected to the output of the robot joint and is or is intended to be moved by the motor of the joint.
  • a robot arm can, for example, include a connecting gear, in particular an angular gear, or be designed as such.
  • the robot according to the invention can also have features that are explained above in connection with generic robots.
  • the robot joint includes an absolute value encoder for detecting an absolute rotational position of the output relative to the output axis.
  • the absolute encoder has a first and a second component. The first component is connected to the housing of the robot joint in a fixed position, for example with a housing section of the housing designed to hold the first component, and the second component is connected to the output in a fixed position.
  • the housing of the robot joint is preferably fixed to a robot arm or other reference point of the robot, for example a base of the robot, so that the output moves relative to this reference point when the drive of the transmission is driven by the motor of the robot joint.
  • one of the components, in particular the first component, of the absolute value encoder has a circuit board on which at least a first and a second resistance track are arranged.
  • the Both resistance tracks are designed as a circular ring, with the circular rings running circumferentially around a common ring center through which the output axis runs.
  • the circular rings are spaced radially from one another, that is, one of the circular rings has a larger radius, measured from the ring center, than the other circular ring and the circular rings do not lie directly against one another but are designed as two separate circular rings spaced apart from one another.
  • Each of the circular rings ie each of the resistance tracks, has at least one electrical connection contact.
  • each of the circular rings ie each of the resistance tracks, has at least one interruption, at which an electrical connection contact is provided.
  • the circular rings are therefore preferably not designed as closed circular rings but rather each have the interruption explained. A voltage can be applied to the circular rings via the connection contact provided in particular at the interruption.
  • the circuit board is designed as a carrier for the resistance tracks and the connection contacts connected to the resistance tracks, and a voltage can be applied to the connection contacts of the resistance tracks via the circuit board.
  • the circular rings i.e. resistance tracks, can also have several electrical connection contacts or several interruptions, on which at least one connection contact is provided, so that they run as circular ring sections between their connection contacts or interruptions. If multiple interruptions are provided, an electrical connection contact is provided at each interruption, so that each circular ring section can be subjected to a voltage at at least one end. In general, it should be noted that, of course, such a Interruption is provided between two ends of the resistance tracks or the circular ring section, which are spaced apart from one another by the interruption.
  • an electrical connection contact is provided at only one of these ends; in another embodiment, an electrical connection contact is provided at each of the two ends spaced apart from the interruption.
  • the at least one electrical connection contact of the first resistance track is spaced from the at least one electrical connection contact of the second resistance track at a distance angle around the ring center and / or is the at least one interruption of the first resistance track from the at least one interruption of the second resistance track at a distance angle around Ring center spaced.
  • the interruptions or connection contacts of the two resistance tracks are therefore not arranged within the same rotation angle range around the ring center.
  • the interruption or the connection contact is particularly preferred of the first resistance track is spaced from the interruption or the connection contact of the second resistance track by at least 20%, in particular at least 30%, in particular at least 40% of the angle of rotation over which the circular ring section delimited by the interruption or the circular ring section of the resistance tracks contacted by the connection contact extends continuously closed and extending around the center of the ring.
  • the same preferably applies to the distance of the interruption or the connection contact of the second resistance track from the interruption or the connection contact of the first resistance track.
  • the other of the two components of the absolute value encoder comprises two tap contacts, each of which is electrically conductive in a sliding contact on one of the resistance tracks.
  • the tap contacts are preferably designed as sliding brush contacts.
  • the tap contacts rest on the resistance tracks with a contact force predetermined by a spring device.
  • the spring device can be integrated in the tap contacts.
  • Each of the tap contacts is therefore assigned exactly one of the resistance paths.
  • the tap contact is not in electrically conductive contact with the resistance track assigned to it when the output is in such a rotational position in which the tap contact is within the radial extent of the path assigned to it
  • Resistance track is arranged exclusively within the interruption of the resistance track assigned to it.
  • the distance angle that is provided between the interruptions of the two resistance tracks ensures that the other tap contact is in electrically conductive contact with the resistance track assigned to it.
  • the electrical resistance depends on the absolute rotational position of the output relative to the housing, based on its output axis running through the ring center of the resistance tracks.
  • the robot joint can have a further absolute value encoder, which is assigned to the drive for detecting an absolute rotational position of the drive, this absolute value encoder can be designed as explained here, but with one of its components fixed in position on the drive and with the other of its components fixed in position can be attached to the housing, with the drive axis running through the ring center explained.
  • an absolute value encoder which can detect a sufficiently precise absolute rotational position of the output, can be produced particularly cost-effectively and easily with the properties according to the invention and can be integrated into a robot joint in a space-saving manner.
  • the Providing and integrating such an absolute encoder is a departure from usual approaches that involve the provision of high-precision absolute encoders that are the basis for controlling the robot.
  • a resistance value of at least one of the resistance tracks can be recorded in a surprisingly simple manner in every possible rotational position, which characterizes the rotational position with sufficient precision.
  • the resistance tracks are each made from a conductive plastic.
  • a resistance track can be applied to a circuit board particularly easily, for example by applying a paste, for example using a thick-film process or simple printing.
  • the conductive plastic is a sliding material that comprises a polymer matrix in which electrically conductive particles and sliding materials are embedded.
  • electrically conductive particles and, on the other hand, lubricants are embedded in the polymer matrix.
  • the polymer matrix particles can be embedded, which simultaneously have electrically conductive properties and sliding properties.
  • the sliding material particularly preferably comprises carbon, silver and/or graphite particles.
  • the resistance track is made from a conductor plastic designed as a sliding material, a sliding resistance of the tap contacts on a resistance track can be particularly reduced. This can prevent wear and tear, which can lead to a malfunction, as far as possible.
  • the inventors are planning to provide such resistance paths have taken a new path to realize the absolute value encoder. Because with the absolute value encoder, which is used in a robot according to the invention, it can be assumed that the tap contacts slide several million times over the resistance tracks in electrically conductive contact against them. The area of application of the resistance track in the absolute value encoder is therefore not comparable to the use of resistance tracks in conventional potentiometers. The inventors surprisingly found that for the realization of an absolute value encoder, the realization of the resistance tracks made of a conductive plastic ensures a sufficiently precise determination of the rotational position of the output over a sufficiently long service life of the absolute value encoder.
  • an evaluation circuit with electronic components for processing measurement signals tapped through the tap contacts on the resistance tracks is arranged on the circuit board.
  • Electronic components can include, for example, at least one microcontroller and/or at least one AD converter.
  • the absolute value encoder can be integrated in the robot joint together with the evaluation circuit in a particularly cost-effective and compact manner.
  • at least some of the electronic components are particularly preferably arranged on a first side of the circuit board, with the resistance tracks being arranged on a second side of the circuit board facing away from the first side of the circuit board.
  • the board sides are the two flat sides of the board.
  • the circuit board has a connection device for outputting measured values generated by the evaluation circuit by processing the measurement signals.
  • the measured values characterize the absolute rotational position of the output around the output axis relative to the housing of the robot joint.
  • the connection device can therefore be used to read out measured values which are generated by the evaluation circuit on the basis of the measurement signals read out from the tap contacts, so that measured values for identifying an absolute rotational position can be read out by the connection device via conventional connection interfaces by a control unit or a controller of the robot can.
  • the evaluation circuit is particularly preferably designed to use the measured values to determine the absolute rotational position of the output with an accuracy of less than 1° and an inaccuracy of at least 0.01°, in particular with an accuracy of less than 0.5° and an inaccuracy of at least 0. 05° to characterize.
  • the specification of the rotational position refers to the specification of an exact rotational position in the sense of an exact rotation angle, with a rotation angle of 0° being standardized.
  • the inventors have surprisingly found that sufficient accuracy while avoiding excessive inaccuracy is sufficient for the needs of a robot in a wide variety of applications.
  • the connection device is arranged on the same side of the board and can be contacted from this side of the board by a corresponding connection device on which the resistance tracks are arranged.
  • connection device can be a conventional connection device that forms a conventional interface for a corresponding connection establishment, for example a UART or SPI interface.
  • the evaluation circuit is designed to determine a respective measured value, which it outputs to the connection device, for a specific absolute rotational position of the output, which thus defines this specific rotational position, by interpolation between measurement signals that occur during a rotational movement of the output around the ring center were determined over an angular range, the angular range in particular having an angular length of at least 0.01°, in particular at least 0.05°.
  • a certain inaccuracy of the measured value, with which it characterizes the rotational position is specifically accepted by outputting the measured value using measurement signals that are determined across the angular range, which, however, results in a particularly reliably reproducible characterization of the absolute rotational position of the output can be guaranteed.
  • At least one conductor track arrangement with at least one annular conductor track is arranged on the circuit board, which runs around the ring center, in particular runs continuously in a closed manner.
  • the tap contacts are designed as bridge contacts, so that an electrically conductive contact between the conductor track arrangement and at least one of the resistance tracks is ensured by the tap contacts in every rotational position of the output.
  • the conductor track arrangement can ensure a direct transmission of the potential tapped from the tap contacts to the respective resistance tracks to an evaluation circuit that is arranged on the circuit board in a particularly efficient manner.
  • Each conductor track of the conductor track arrangement has a resistance over its entire length compared to the resistance of the resistance track negligible resistance, in particular a resistance that is less than 1/100, in particular less than 1/1000, in particular less than 1/10,000 of the resistance that the resistance track has over its entire length.
  • the conductor track arrangement has exactly one circular conductor track, with both tap contacts each being designed as bridge contacts between the one circular conductor track and the resistance track assigned to them.
  • an average potential is detected by one conductor track, which averages over the potentials that the two tap contacts tap on their respective resistance track.
  • the conductor track arrangement has two conductor tracks, each of which is assigned to exactly one of the resistance tracks.
  • Each of the termination contacts is assigned to exactly one of the conductor tracks and exactly one resistance track and is designed to provide an electrically conductive connection between this conductor track and this resistance track.
  • the electrically conductive connection between the conductor track and the resistance track, which are assigned to the tap contact, is only interrupted if the respective tap contact is arranged within the radial extension of the resistance track assigned to it exclusively within the at least one interruption of the resistance track assigned to it.
  • the two conductor tracks are circular rings that run concentrically around the ring center, but are spaced apart radially, as explained above for the two resistance tracks. A potential can thus be detected separately via each of the conductor tracks, which the respective tap contact transfers from the assigned resistance track to the assigned conductor track.
  • each conductor track of the conductor track arrangement is provided with only one conductor track, thus one conductor track and, if two conductor tracks are provided, both conductor tracks, in electrically conductive contact with at least one of the electronic components of the evaluation circuit.
  • the electrically conductive contact between the conductor track and the electronic component can be realized by a conductor provided on the circuit board. This ensures a particularly cost-effective integration of the evaluation circuit and the resistance tracks as well as a particularly precise transmission of the potential tapped from the resistance tracks via the tap contacts to the electronic component of the evaluation circuit.
  • an assignment is stored in the evaluation circuit, which assigns a measurement signal tapped from the tap contacts on the resistance tracks to several different rotational positions.
  • the evaluation circuit is therefore preferably adjusted by the assignment in such a way that the rotational position of the output can be defined particularly precisely and reliably by the measured value that the evaluation circuit outputs.
  • the assignment is preferably generated by setting different angles of rotation between the components of the absolute value encoder around the ring center, that is, setting different absolute rotational positions of the output relative to the housing, measuring signals being tapped via the tap contacts and the set one being given to these measuring signals Rotation angle and thus the set rotation position is assigned.
  • the assignment means that a reference is stored in the evaluation circuit itself, so that the absolute value encoder with its evaluation circuit and thus the entire robot joint can be particularly easily integrated into a robot and a control unit or a
  • the robot controller can read a measured value directly from the absolute value encoder of the robot joint, which precisely indicates the absolute rotational position of the output. This means that a robot does not need to be adjusted to the different rotational positions of the different outputs of the different robot joints after installing the robot joints, but rather the adjustment is integrated into the robot joint by the assignment stored in the evaluation circuit.
  • the first resistance track runs uninterrupted starting from its at least one interruption and/or at least one electrical connection contact around the ring center over an extension angle running between two angle boundaries, the at least one interruption or the at least one electrical connection contact of the second resistance track being within this extension angle is arranged.
  • the at least one interruption or the at least one electrical connection contact of the second resistance track is spaced from the angular limits of the extension angle, in particular at least 20%, in particular at least 30%, in particular at least 40% of the extension angle from each of the two angular limits. This can ensure particularly reliably that at least one of the tap contacts is always in electrically conductive contact with the resistance track assigned to it.
  • the interruptions each extend over an extension angle of less than 10°, in particular less than 5°.
  • both resistance paths run uninterrupted, starting from each of their respective interruptions, over an extension angle of at least 60°, in particular at least 120° two angular boundaries, at each of which an interruption or an electrical connection contact is arranged.
  • the resistance tracks each have exactly one interruption, with the interruptions of the two resistance tracks being spaced apart from one another by 180° around the ring center. The interruptions are therefore arranged on two opposite sides of the output axis.
  • the circuit board is designed in the manner of a round disk. This can particularly promote space-saving integration of the circuit board in the robot joint.
  • the circuit board is preferably arranged within a housing section of the housing which has a round cross section.
  • the housing is designed in the manner of a cylinder with a round cross section.
  • the ring center coincides with a recess provided in the circuit board.
  • the recess is preferably round.
  • the term “round” always means “circular” in preferred embodiments.
  • the board preferably extends circumferentially around the recess with its board surface, with which it runs perpendicular to the output axis and over which it forms its board sides.
  • the clear cross section of the recess is preferably at least 1/10, in particular at least 1/8, in particular at least 1/6 of the board area.
  • the recess is preferably designed in the manner of a circle, the center of which coincides with the ring center, the circuit board being designed in the manner of a circular disk, the center of which coincides with the ring center, the recess being provided in the middle of the disk.
  • the recess preferably has a radius starting from the ring center which is at least 1/3, in particular at least 2/5, of the radius of the circular disk is designed as the circuit board.
  • the provision of the round recess in the middle of the board is particularly advantageous for the passage of components of the robot joint, in particular those components that are parts of the transmission of the robot joint.
  • a housing and/or a gear component extends through the recess.
  • the housing or gear component is preferably cylindrical and extends with its cylinder axis along the output axis.
  • a plain bearing in particular a lubricant-free plastic plain bearing, preferably extends through the recess.
  • the first component is fixed in position on the output and the second component on the housing. In another embodiment, the first component is fixed in position on the housing and the second component on the output.
  • the invention further relates to a robot joint for a robot according to the invention.
  • the robot joint includes a gearbox and a motor.
  • the transmission has a drive which is rotatably mounted about a drive axis to a housing of the robot joint and an output which is rotatably mounted about an output axis to the housing.
  • the motor is connected to a drive of the gearbox.
  • the robot joint has an absolute value encoder for detecting an absolute rotational position of the output relative to the output axis. The rotational position is therefore a rotational position with reference to a rotation about the output axis.
  • the absolute value encoder has a first component that is connected in a fixed position to the housing and a second component that is connected in a fixed position to the output.
  • One of the components has a circuit board on which at least a first and a second resistance track are arranged, which are designed as circular rings around a common ring center that the Abtriesachse runs, run circumferentially and radially spaced from one another and each have at least one interruption, at which an electrical connection contact is provided, and / or at least one electrical connection contact.
  • the at least one interruption or the at least one electrical connection contact of the first resistance track is spaced from the at least one interruption or the at least one electrical connection contact of the second resistance track at a distance angle around the ring center.
  • the other of the components has two tap contacts, each of which makes electrically conductive contact with one of the resistance tracks in a sliding contact.
  • the tap contacts are preferably designed as sliding brush contacts.
  • the robot joint can have further features that are explained in connection with a robot according to the invention. Accordingly, the robot according to the invention can have features that are described in connection with a robot joint according to the invention.
  • the output axis and drive axis run parallel, in particular the output axis and drive axis coincide and form an axis of rotation of the transmission.
  • the invention further relates to a robot with a robot joint according to the invention.
  • the robot has a controller for determining a predetermined absolute position of a manipulator of the robot.
  • the absolute position of the manipulator depends on the rotational position of the output of the robot joint.
  • the controller is designed to determine the absolute position depending on a measured value received from the absolute value encoder of the robot joint.
  • the controller is therefore designed to read or record the measured value output by the absolute value received and to determine the absolute position of the manipulator in functional dependence on this measured value.
  • the functional dependency can be contained in a function into which further parameters are incorporated, in particular measured values that the controller receives or reads from absolute value encoders of other robot joints of the robot.
  • the robot has a plurality of robot joints according to the invention, the absolute value encoder of which is each designed to output a measured value for characterizing the rotational position of its respective output, the absolute position of the manipulator being clearly characterized by the measured values output by the absolute value encoders of all robot joints of the robot, and the controller is designed to determine the absolute position of the manipulator from the measured values received from all absolute value encoders.
  • the controller is therefore designed to use the measured values that it receives or leaves out from all of the robot joints of the robot, each measured value that is read by the respective absolute value encoder being the absolute rotational position of the output of the respective robot joint, which is the respective absolute value encoder includes, defined, to clearly determine the absolute position in the space of the manipulator of the robot.
  • the invention further relates to the use of a robot joint according to the invention for adjusting an output of measured values that the absolute value encoder outputs to characterize the absolute rotational position of the drive of the robot joint.
  • a predetermined angle of rotation based on a rotation about the ring center, is set between the components.
  • a given rotation angle corresponds to a specified absolute rotational position of the output relative to the output axis.
  • several different predetermined angles of rotation in particular at least 10, in particular at least 20, in particular at least 30, in particular at least 36, angles of rotation evenly distributed around the ring center are set over a rotation of 360°.
  • a measurement signal is tapped together via both tap contacts. While the measurement signal is being applied, the components are thus arranged at the predetermined rotation angle to one another.
  • the components are arranged at different angles of rotation relative to one another, of course, while the output and the housing are fixed in their position relative to one another in addition to rotational mobility around the ring center.
  • the measurement signal which is tapped via both tap contacts as explained, is stored together with the predetermined angle of rotation as a pair of values in an electronic component that is arranged on the circuit board. The pair of values thus assigns a predetermined angle of rotation to an assigned measurement signal.
  • a measured value is then produced by the absolute value encoder to characterize the absolute rotational position of the output, taking this pair of values into account, or when provided different predetermined rotation angles of the respective value pairs.
  • the measured values are used to characterize the rotational position of the
  • the output of the robot joint is always output by the absolute value encoder taking into account this pair of values or these pairs of values and thus the assignment explained.
  • the pairs of values thus represent reference values, with the consideration of the reference values ensuring a sufficiently precise characterization of the rotational position by the measured values output by the absolute value encoder.
  • the invention further relates to the use of a robot according to the invention, wherein the absolute position of the manipulator is determined by the controller of the robot and is set as the reference position in the controller.
  • the robot then controls all motors of all robot joints of the robot, taking into account the reference position, to move the manipulator on a fixed trajectory defined by absolute coordinates in space.
  • the use according to the invention thus makes it possible to detect the absolute position of the manipulator without manual reference value setting, for example even after a power failure, so that the robot starts from the absolute position, which it determines on the basis of the absolute rotational positions, which it derives from the measured values of the absolute value encoders of the robot joints of the robot determined, the manipulator can be moved specifically to a starting position by controlling the motors of the robot joints to move the manipulator from the determined absolute position along the defined movement path to the starting position.
  • FIG. 1 In a schematic representation of the principle of an embodiment of a robot according to the invention
  • FIG. 2 In a schematic representation of the principle, the components of the absolute value encoder of an embodiment of a robot joint according to the invention
  • FIG. 3 In a schematic representation of the principle, the components of the absolute value encoder of a further embodiment of a robot joint according to the invention.
  • FIG. 1 comprising the FIG. 1A, 1B and IC shows a robot 1 according to the invention with several robot joints 3, 6 according to the invention and, in an enlarged view and detailed view, a single robot joint 6 according to the invention of the robot 1 in different schematic representations.
  • FIG. 1A shows the basic principle of an embodiment of a robot 1 according to the invention.
  • the robot 1 includes a base 2 on which a robot joint 3 is fixed in position.
  • This robot joint 3 has an output on which a robot arm 4 is arranged, which in the present case is designed as an angular gear or joint connector with an angle of 90 °.
  • a further robot joint 3 is arranged on this robot arm 4, on which a robot arm comprising two joint connectors is arranged, to which in turn a further robot joint 3 and a further robot arm 4 are connected, this further robot arm 4 comprising an adapter 5 which is used to reduce the Diameter of the robot is formed.
  • Another robot joint 6 is arranged on the adapter 5, which is smaller than the aforementioned robot joints 3 and thus reduces the weight of the robot 1 away from its base 2. Additional pairs of robot arms 4 and robot joint 6 are connected to this robot joint 6.
  • Robot arm 4 is arranged, a robot 1 is provided that can carry out complex movements.
  • FIGS. 1B and IC is the basic principle of an embodiment of a robot joint 6 according to the invention, as is the case in FIG. 1A shown robot 1 is used, can be seen.
  • the robot joint 6 has a housing 62 in which the transmission and the motor are arranged.
  • the housing 62 is fixed in position at a reference point, for example at the point shown in FIG. 1 shown base 2 or on an upstream robot arm 4.
  • the motor drives the drive of the gearbox with its rotor 63.
  • a mounting flange 610 is provided on the output 61 of the transmission, to which, for example, a robot arm 4 or a manipulator, not shown, can be attached, which can therefore be driven by the motor of the robot joint 6 when used as intended by the transmission.
  • the output 61 is mounted on the housing 62 by a bearing 7.
  • the gear is generally preferred to be designed as a wave gear, as is also exemplified in FIG. IC is shown.
  • Such a wave gear has a wave generator, which forms the drive of the gear, as well as a wave ring, which forms the output of the gear, and an outer ring.
  • the corrugated ring has external teeth and the outer ring has internal teeth.
  • the wave generator When used as intended, the wave generator can roll, roll or slide radially on the inside of the outer ring, with the wave ring rotating in accordance with the translation determined by the ratio of the number of teeth of the external teeth of the wave ring to the number of Teeth of the internal teeth of the outer ring are fixed.
  • the functionality of a wave gear is well known from the prior art.
  • the wave generator is designed asymmetrically around the axis of rotation of the transmission, which corresponds to the drive axle and the output axle, which are thus arranged in alignment and thus coincident, so that it only rests on the corrugated ring via pressing sections and not completely, and this with its external teeth fits into the internal teeth of the outer ring presses.
  • the corrugated ring is each with different sections, which according to the rotation of the wave generator, brought into engagement with the outer ring, whereby the corrugated ring rotates relative to the outer ring, since it has a different number of teeth on its external teeth than the outer ring on its internal teeth.
  • the translation made possible by the wave gear depends on the ratio of the number of teeth on the external teeth of the wave ring to the number of teeth on the internal teeth of the outer ring.
  • the ratio is usually ⁇ 1, preferably the external teeth of the corrugated ring have 2-6 fewer teeth than the internal teeth of the outer ring.
  • a wave gear can be integrated into the robot joint in a particularly space-saving manner.
  • the motor is arranged at least in sections both axially and radially within the wave gear.
  • the wave generator can, as shown in the present exemplary embodiment, include the rotor of the electric motor. Based on FIG. IC it can be seen that the absolute value encoder, as used in the robot joint 6 according to the invention, is particularly space-saving can be integrated in the robot joint, especially if the robot joint has a wave gear.
  • the circuit board is particularly space-saving can be integrated in the robot joint, especially if the robot joint has a wave gear.
  • the corrugated ring 8 of the absolute value encoder is fixed in position on the housing 62, the corrugated ring with a cylindrical section, which forms the output 61, extending through a recess 10 provided in the circuit board 8.
  • Two tap contacts 9 are provided on the corrugated ring and thus fixed in position with the output 61.
  • FIG. 2 The principle of an embodiment of an absolute value encoder, which is used in a robot joint 3, 6 according to the invention, is shown in an exemplary embodiment in FIG. 2 shown. From FIG. 2 it can be seen that the absolute value encoder has a circuit board 8 and two of the tap contacts
  • the tap contacts 9 are each designed as bridge contacts, which are each assigned to exactly one resistance track 11, 12 and exactly one conductor track 81, 82, which are each applied to the circuit board 8.
  • the resistance tracks 11, 12 and the conductor tracks 81, 82 are each designed as a circular ring that runs in a circle around a ring center that coincides with the output axis.
  • the resistance tracks 11, 12 each have an interruption 110, 120.
  • the interruptions 110, 120 of the resistance tracks 11, 12 are offset from one another by 180 °, based on a rotation of the ring center.
  • the conductor tracks 81, 82 are designed to run continuously around the ring center.
  • the interruptions 110, 120 are arranged between two ends of a circular ring segment of the respective resistance track 11, 12.
  • the resistance tracks 10, 12 each have only a single interruption 110, 120, so that the resistance tracks 11, 12 each only have one
  • the resistance tracks 11, 12 can be specifically applied with a predetermined potential, which can be tapped via the tap contacts 9.
  • This electrically conductive connection provided by the tap contacts 9 is only interrupted when the tap contacts 9 are within the radial area of the The resistance tracks 11, 12 assigned to them extend exclusively within the respective interruption 110, 120.
  • the conductor tracks 81, 82 each also have a connection contact 811, 821 assigned to them.
  • connection contact 811, 821 is electrically conductively connected to conductors 83 provided on the circuit board 8, through which the connection contacts 811, 821 of the conductor tracks 81, 82 are electrically conductively connected to electronic components of the circuit board 8.
  • the electronic components are essentially arranged on the board side that faces away from the board side on which the conductor tracks 81, 82 and resistance tracks 11, 12 are arranged. Thus, the electronic components in FIG. 2 not shown but on the one in FIG. 2 board side, not shown, is provided.
  • the absolute value encoder can be integrated in a robot joint 6 in a particularly space-saving manner and can be produced particularly cost-effectively, wherein by offsetting the interruptions 110, 120 or by offsetting the tapping contacts 121, 122 to the tapping contacts 111, 112 by 180° and the targeted application of potentials to the resistance tracks 11, 12 and by providing an electrically conductive connection between the respective ones Resistance track 11, 12 and the associated conductor tracks 81, 82 through the tap contacts 9 ensure a reliable determination of an absolute rotational position of the board 8 relative to the tap contacts 9 and thus of the output to the output axis.
  • the resistance tracks 11, 12 can be subjected to a potential in a particularly targeted manner in such a way that one of the resistance tracks 11 , 12 tapped potential clearly correlates with an absolute rotational position of the components of the absolute encoder relative to one another around the output axis.
  • FIG. 3 comprising the FIG. 3A and 3B, the basic principle of an absolute value encoder of a further embodiment of the robot joint 3, 6 according to the invention is shown in schematic representations.
  • the principle of the absolute value encoder corresponds to that in FIG. 2 explained principle.
  • electrical connection devices 85, 86 are provided, which can be designed as conventional connection interfaces, onto which a corresponding connection device of the robot 1 can be plugged, which is connected to the controller of the Robot 1 is connected.
  • the electronic components 84 comprising at least one microcontroller and at least one AD converter are arranged on the board side, which faces away from the board side, and the resistance and conductor tracks 11, 12, 81, 82 are arranged.
  • the tap contacts 9 are designed as a bridge or bridge contact and thus each have a first and a second grinding brush contact 91, 92. With one of these abrasive brush contacts 91, 92, the tap contacts 9 rest on the resistance track 11, 12 assigned to them, with the other of the abrasive brush contacts 91, 92, the tap contacts 8 rest on the conductor track 81, 82 assigned to them in an electrically conductive manner. From FIG. 3B it can be seen that the
  • Tap contacts 9 are held on a rigid housing body 90, which is fixed in a fixed position as intended on the output 61 or the housing 62, preferably in a fixed position on the output 61.
  • the grinding brush contacts 91, 92 of the tap contacts 9 are designed to be spring-elastic, so that in the robot joint 3, 6, ie with the absolute value encoder installed, they rest electrically conductively with a spring force on the resistance or conductor tracks 11, 12, 81, 82 assigned to them, which provides a permanently reliable sliding contact.

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

Abstract

L'invention concerne un robot (1) comprenant une articulation de robot (3, 6) qui a une transmission et un moteur, la transmission ayant un entraînement d'entrée (61) monté de manière rotative autour d'un axe d'entraînement d'entrée par rapport à un boîtier (62) de l'articulation de robot et ayant un entraînement de sortie monté de manière rotative autour d'un axe d'entraînement de sortie par rapport au boîtier ; le moteur étant fixé à l'entraînement d'entrée de la transmission ; l'articulation de robot ayant un codeur absolu pour détecter une position de rotation absolue de l'entraînement de sortie par rapport à l'axe d'entraînement de sortie, lequel codeur ayant un premier élément relié au boîtier dans une position fixe et un second élément relié à l'entraînement de sortie dans une position fixe. L'un des éléments a une carte de circuits imprimés (8) sur laquelle sont disposées au moins des première et seconde bandes de résistance (11, 12) qui sont réalisées sous la forme d'anneaux circulaires qui s'étendent radialement à distance les uns des autres par révolution autour d'un centre d'anneau commun à travers lequel l'axe d'entraînement de sortie s'étend et qui ont chacun au moins un contact de raccordement électrique (111, 112, 121, 122).
PCT/EP2023/056657 2022-03-16 2023-03-15 Robot à codeur absolu WO2023175030A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202022101400.0U DE202022101400U1 (de) 2022-03-16 2022-03-16 Roboter mit Absolutwertencoder
DE202022101400.0 2022-03-16

Publications (1)

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WO2023175030A1 true WO2023175030A1 (fr) 2023-09-21

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WO (1) WO2023175030A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220111537A1 (en) * 2020-10-14 2022-04-14 Techman Robot Inc. Encoder module adapted for a robotic arm
CN117260798A (zh) * 2023-11-21 2023-12-22 西湖大学 一种用于机器人自动作业的对接装置

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Publication number Priority date Publication date Assignee Title
US6246232B1 (en) * 1999-01-08 2001-06-12 Alps Electric Co., Ltd. Rotation sensor for generating electric signals corresponding to turning angle and turning direction of detection target
DE102010010717A1 (de) * 2010-03-09 2011-09-15 Kuka Laboratories Gmbh Winkelmessvorrichtung und Roboter

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DE69029153T2 (de) 1989-01-18 1997-06-19 Nippon Denso Co Vorrichtung zur magnetischen Detektion und Vorrichtung zur Detektion einer physikalischen Grösse, die sie verwendet
GB2315526B (en) 1996-07-25 2001-02-14 Luk Getriebe Systeme Gmbh Method for the function monitoring of a motor vehicle gearbox and motor vehicle for use with the method

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Publication number Priority date Publication date Assignee Title
US6246232B1 (en) * 1999-01-08 2001-06-12 Alps Electric Co., Ltd. Rotation sensor for generating electric signals corresponding to turning angle and turning direction of detection target
DE102010010717A1 (de) * 2010-03-09 2011-09-15 Kuka Laboratories Gmbh Winkelmessvorrichtung und Roboter

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220111537A1 (en) * 2020-10-14 2022-04-14 Techman Robot Inc. Encoder module adapted for a robotic arm
US11897119B2 (en) * 2020-10-14 2024-02-13 Techman Robot Inc. Encoder module adapted for a robotic arm
CN117260798A (zh) * 2023-11-21 2023-12-22 西湖大学 一种用于机器人自动作业的对接装置

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