WO2024061602A3 - Verfahren zum ermitteln eines von einem roboter auszuführenden arbeitsvorgangs, verfahren zum ermitteln und prüfen eines von einer anlage auszuführenden arbeitsvorgangs, vorrichtung zur datenverarbeitung, computerprogramm und computerlesbares medium - Google Patents

Verfahren zum ermitteln eines von einem roboter auszuführenden arbeitsvorgangs, verfahren zum ermitteln und prüfen eines von einer anlage auszuführenden arbeitsvorgangs, vorrichtung zur datenverarbeitung, computerprogramm und computerlesbares medium Download PDF

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Publication number
WO2024061602A3
WO2024061602A3 PCT/EP2023/074160 EP2023074160W WO2024061602A3 WO 2024061602 A3 WO2024061602 A3 WO 2024061602A3 EP 2023074160 W EP2023074160 W EP 2023074160W WO 2024061602 A3 WO2024061602 A3 WO 2024061602A3
Authority
WO
WIPO (PCT)
Prior art keywords
determining
computing device
electronic computing
robot
computer
Prior art date
Application number
PCT/EP2023/074160
Other languages
English (en)
French (fr)
Other versions
WO2024061602A2 (de
Inventor
Johannes Klepsch
Yannick van Dijk
Philipp ROSS
Andre Luckow
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
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 Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Publication of WO2024061602A2 publication Critical patent/WO2024061602A2/de
Publication of WO2024061602A3 publication Critical patent/WO2024061602A3/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32352—Modular modeling, decompose large system in smaller systems to simulate

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

Die Erfindung betrifft ein Verfahren zum Ermitteln wenigstens eines von wenigstens einem Roboter auszuführenden Arbeitsvorgangs zum Bearbeiten wenigstens eines Bauteils. Mittels einer elektronischen Recheneinrichtung werden Produktdaten ermittelt, welche das wenigstens eine mittels des Roboters bei dem wenigstens einen Arbeitsvorgang zu bearbeitende Bauteil charakterisieren. Mittels der elektronischen Recheneinrichtung: werden Anlagendaten ermittelt, welche eine zumindest den Roboter umfassende Anlage zum Ausführen des wenigstens einen Arbeitsvorgangs charakterisieren. Mittels der elektronischen Recheneinrichtung wird ein die Anlage und das Bauteil nachbildendes Simulationsmodells auf Basis der Produktdaten und der Anlagendaten erzeugt. Mittels der elektronischen Recheneinrichtung wird einer Simulation mittels des Simulationsmodells durchgeführt, wodurch mittels der elektronischen Recheneinrichtung Prozessdaten ermittelt werden, welche mehrere Schrittgruppen beschreiben, wobei die jeweilige Schrittgruppen mehrere, voneinander unterschiedliche Teilschritte des Arbeitsvorgangs umfasst. Mittels der elektronischen Recheneinrichtung wird eine Zielfunktion eines Optimierungsproblems erstellt, dessen Zielfunktion die Teilschritte der Schrittgruppen als Parameter umfasst.
PCT/EP2023/074160 2022-09-20 2023-09-04 Verfahren zum ermitteln eines von einem roboter auszuführenden arbeitsvorgangs, verfahren zum ermitteln und prüfen eines von einer anlage auszuführenden arbeitsvorgangs, vorrichtung zur datenverarbeitung, computerprogramm und computerlesbares medium WO2024061602A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022124067.3A DE102022124067A1 (de) 2022-09-20 2022-09-20 Verfahren zum Ermitteln eines von einem Roboter auszuführenden Arbeitsvorgangs, Verfahren zum Ermitteln und Prüfen eines von einer Anlage auszuführenden Arbeitsvorgangs, Vorrichtung zur Datenverarbeitung, Computerprogramm und computerlesbares Medium
DE102022124067.3 2022-09-20

Publications (2)

Publication Number Publication Date
WO2024061602A2 WO2024061602A2 (de) 2024-03-28
WO2024061602A3 true WO2024061602A3 (de) 2024-05-10

Family

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PCT/EP2023/074160 WO2024061602A2 (de) 2022-09-20 2023-09-04 Verfahren zum ermitteln eines von einem roboter auszuführenden arbeitsvorgangs, verfahren zum ermitteln und prüfen eines von einer anlage auszuführenden arbeitsvorgangs, vorrichtung zur datenverarbeitung, computerprogramm und computerlesbares medium

Country Status (2)

Country Link
DE (1) DE102022124067A1 (de)
WO (1) WO2024061602A2 (de)

Citations (3)

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US20190321974A1 (en) * 2019-06-27 2019-10-24 Intel Corporation Apparatus and methods for object manipulation via action sequence optimization
US20200319630A1 (en) * 2019-04-08 2020-10-08 Arrival Robotics Limited System and method for flexible manufacturing
US20210220994A1 (en) * 2020-01-22 2021-07-22 Realtime Robotics, Inc. Configuration of robots in multi-robot operational environment

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JPS59149677A (ja) 1983-01-25 1984-08-27 日産自動車株式会社 コネクタハウジング
US8886359B2 (en) 2011-05-17 2014-11-11 Fanuc Corporation Robot and spot welding robot with learning control function
US20130096719A1 (en) 2011-10-13 2013-04-18 The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration Method for dynamic optimization of a robot control interface
JP2013099815A (ja) 2011-11-08 2013-05-23 Fanuc Ltd ロボットプログラミング装置
DE102014216514B3 (de) 2014-08-20 2015-09-10 Kuka Roboter Gmbh Verfahren zum Programmieren eines Industrieroboters und zugehöriger Industrieroboter
JP6457473B2 (ja) 2016-12-16 2019-01-23 ファナック株式会社 ロボットおよびレーザスキャナの動作を学習する機械学習装置，ロボットシステムおよび機械学習方法
EP3685968A1 (de) 2019-01-22 2020-07-29 Bayerische Motoren Werke Aktiengesellschaft Roboterbewegungsplanung bei der herstellung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200319630A1 (en) * 2019-04-08 2020-10-08 Arrival Robotics Limited System and method for flexible manufacturing
US20190321974A1 (en) * 2019-06-27 2019-10-24 Intel Corporation Apparatus and methods for object manipulation via action sequence optimization
US20210220994A1 (en) * 2020-01-22 2021-07-22 Realtime Robotics, Inc. Configuration of robots in multi-robot operational environment

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ALATARTSEV SERGEY ET AL: "Robotic Task Sequencing Problem: A Survey", JOURNAL OF INTELLIGENT, SPRINGER NETHERLANDS, DORDRECHT, vol. 80, no. 2, 26 March 2015 (2015-03-26), pages 279 - 298, XP035552744, ISSN: 0921-0296, [retrieved on 20150326], DOI: 10.1007/S10846-015-0190-6 *

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DE102022124067A1 (de) 2024-03-21
WO2024061602A2 (de) 2024-03-28

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