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WO2018036863A1 - Procédé de commande d'un usinage assisté par robot d'une pièce au moyen d'une interface de collaboration homme-robot - Google Patents

Procédé de commande d'un usinage assisté par robot d'une pièce au moyen d'une interface de collaboration homme-robot Download PDF

Info

Publication number
WO2018036863A1
WO2018036863A1 PCT/EP2017/070653 EP2017070653W WO2018036863A1 WO 2018036863 A1 WO2018036863 A1 WO 2018036863A1 EP 2017070653 W EP2017070653 W EP 2017070653W WO 2018036863 A1 WO2018036863 A1 WO 2018036863A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
operator
programming
interface
workpiece
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2017/070653
Other languages
German (de)
English (en)
Inventor
Jens KAPPEY
Ahmet Bozkurt
Tobias Bäume
Kim-Daniel Kosak
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volkswagen AG
Original Assignee
Volkswagen AG
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 Volkswagen AG filed Critical Volkswagen AG
Priority to CN201780035868.7A priority Critical patent/CN109311162A/zh
Publication of WO2018036863A1 publication Critical patent/WO2018036863A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • 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
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • 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
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35444—Gesture interface, controlled machine observes operator, executes commands
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36133—MMI, HMI: man machine interface, communication
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36433—Position assisted teaching
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36492—Record position and orientation, posture of probe, tool
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37567—3-D vision, stereo vision, with two cameras
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39441—Voice command, camera detects object, grasp, move

Definitions

  • the invention relates to a method for controlling a robot-supported machining of a workpiece by means of an end effector within a working space, in which the
  • Robot control of the end effector robot is equipped by means of a human-robot interface (MRK interface) for an interaction between human and robot, wherein the execution of the work program is released by the robot from the robot controller only when no operator located within the work space.
  • MTK interface human-robot interface
  • a device comprising a robot with a robot controller with an associated human-robot interface is known, in which the detected protection area with respect to its extent and functionality robot activity related and / or robot working position related variable formed.
  • the robot control has been expanded to include these operating modes.
  • the various forms of interaction define the levels of temporal and spatial separation.
  • protection area is assigned the function immediate shutdown of the robot, whereas in another working position the protection area is assigned only the function reduction of the working speed of the robot.
  • the object of the invention is to carry out the method of the type mentioned at the beginning in such a way that an advantageous use of an MRK-capable robot is made possible for small series or even for individual applications.
  • Robot is performed by the interaction with the operator by means of the MRK interface within the workspace after removal and / or after deactivation of the end effector and that the work program is executed without an interaction with an operator when no operator is within the workspace.
  • the MRK interface is not designed to interact with the robot
  • the MRK interface is used exclusively during the learning phase, wherein it has been found that the programming of the robot is considerably simplified by the MRK interface.
  • the operator is together with the robot within the working space, wherein in a conventional manner, the activation of the end effector interrupted or previously removed and optionally by a
  • Placeholder is replaced.
  • the user then performs individual movements or virtually marks certain positions that require, for example, a processing by the robot.
  • the programming can be done very quickly, because not about the entire machining program has to be learned anew, but only programmed relevant positions, in particular so be selected.
  • the programming may be based on the fact that the robot controller detects the position of a referencing element by means of optical sensors, so that the programming can be carried out without contact and without additional programming effort.
  • the programming of the robot by a mark of
  • the end effector is deactivated during programming or replaced by a placeholder whose outer dimensions are to be used later

Landscapes

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

Abstract

L'invention concerne un procédé de commande d'un usinage assisté par robot d'une pièce au moyen d'un effecteur terminal à l'intérieur d'un espace de travail, procédé selon lequel la commande du robot guidant l'effecteur terminal est dotée d'une interface de collaboration homme-robot (interface MRK). La programmation du robot s'effectue par l'interaction avec l'opérateur au moyen de l'interface MRK à l'intérieur de l'espace de travail après le retrait et/ou la désactivation de l'effecteur terminal. Lorsqu'aucun opérateur ne se trouve à l'intérieur de l'espace de travail, le programme de travail peut être lancé et être exécuté sans interaction avec un opérateur. Par conséquent, l'interface MRK est utilisée exclusivement pendant la programmation du robot.
PCT/EP2017/070653 2016-08-22 2017-08-15 Procédé de commande d'un usinage assisté par robot d'une pièce au moyen d'une interface de collaboration homme-robot Ceased WO2018036863A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201780035868.7A CN109311162A (zh) 2016-08-22 2017-08-15 借助人机协作界面控制机器人辅助的工件加工的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016215683.7A DE102016215683B4 (de) 2016-08-22 2016-08-22 Verfahren zur Steuerung einer robotergestützten Bearbeitung eines Werkstückes mittels einer Mensch-Roboter-Kollaboration-Schnittstelle
DE102016215683.7 2016-08-22

Publications (1)

Publication Number Publication Date
WO2018036863A1 true WO2018036863A1 (fr) 2018-03-01

Family

ID=59683556

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/070653 Ceased WO2018036863A1 (fr) 2016-08-22 2017-08-15 Procédé de commande d'un usinage assisté par robot d'une pièce au moyen d'une interface de collaboration homme-robot

Country Status (3)

Country Link
CN (1) CN109311162A (fr)
DE (1) DE102016215683B4 (fr)
WO (1) WO2018036863A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023118216A1 (de) * 2023-07-10 2025-01-16 Krones Aktiengesellschaft Verpackungsmaschine sowie Verfahren zu deren Betrieb

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060178775A1 (en) * 2005-02-04 2006-08-10 George Zhang Accelerometer to monitor movement of a tool assembly attached to a robot end effector
WO2007096322A2 (fr) * 2006-02-23 2007-08-30 Abb Ab Systeme de commande de la position et de l'orientation d'un objet en fonction de forces et de couples reçus d'un utilisateur
DE102007014023A1 (de) 2007-03-23 2008-09-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter-Manipulatorarm-Gelenkantrieb
DE102007028758B4 (de) 2007-06-22 2009-04-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) Roboter-Manipulator-Gelenkantrieb
DE102007063099A1 (de) 2007-12-28 2009-07-02 Kuka Roboter Gmbh Roboter und Verfahren zum Überwachen der Momente an einem solchen
US20100094461A1 (en) * 2008-10-10 2010-04-15 Abb Ag Method for teaching an industrial robot, and a correspondingly equipped industrial robot
DE102009051146A1 (de) 2008-10-29 2011-04-28 Sms Siemag Ag Automatisierungskonzept für ein Hütten- oder Walzwerk
WO2014093822A1 (fr) * 2012-12-14 2014-06-19 Abb Technology Ag Apprentissage de trajet de robot à mains nues
US20140207285A1 (en) * 2013-01-23 2014-07-24 Denso Wave Incorporated System and method for monitoring entry of object into surrounding area of robot

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015526309A (ja) * 2012-08-31 2015-09-10 リシンク ロボティクス インコーポレイテッド 安全ロボット動作のためのシステムおよび方法
DE102014216514B3 (de) 2014-08-20 2015-09-10 Kuka Roboter Gmbh Verfahren zum Programmieren eines Industrieroboters und zugehöriger Industrieroboter

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060178775A1 (en) * 2005-02-04 2006-08-10 George Zhang Accelerometer to monitor movement of a tool assembly attached to a robot end effector
WO2007096322A2 (fr) * 2006-02-23 2007-08-30 Abb Ab Systeme de commande de la position et de l'orientation d'un objet en fonction de forces et de couples reçus d'un utilisateur
DE102007014023A1 (de) 2007-03-23 2008-09-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter-Manipulatorarm-Gelenkantrieb
DE102007028758B4 (de) 2007-06-22 2009-04-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) Roboter-Manipulator-Gelenkantrieb
DE102007063099A1 (de) 2007-12-28 2009-07-02 Kuka Roboter Gmbh Roboter und Verfahren zum Überwachen der Momente an einem solchen
US20100094461A1 (en) * 2008-10-10 2010-04-15 Abb Ag Method for teaching an industrial robot, and a correspondingly equipped industrial robot
DE102009051146A1 (de) 2008-10-29 2011-04-28 Sms Siemag Ag Automatisierungskonzept für ein Hütten- oder Walzwerk
WO2014093822A1 (fr) * 2012-12-14 2014-06-19 Abb Technology Ag Apprentissage de trajet de robot à mains nues
US20140207285A1 (en) * 2013-01-23 2014-07-24 Denso Wave Incorporated System and method for monitoring entry of object into surrounding area of robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SANG CHOI ET AL: "Lead-through robot teaching", 2013 IEEE CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA), 22 April 2013 (2013-04-22), pages 1 - 4, XP055420857, ISSN: 2325-0526, ISBN: 978-1-4673-6223-8, DOI: 10.1109/TePRA.2013.6556347 *

Also Published As

Publication number Publication date
DE102016215683B4 (de) 2024-12-19
DE102016215683A1 (de) 2018-02-22
CN109311162A (zh) 2019-02-05

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