WO2019091892A1 - Robot arm and method for adjustment thereof - Google Patents

Abstract

The invention relates to a robot arm having an adjustment element (4) and an adjacent element (2), which are connected to each other in an adjustment joint (3), a carrier element (5), which is connected to the adjacent element by at least one intermediate joint (5A), and a measuring assembly having a measuring element (1B) on the adjustment element side, which, in a predefined adjustment position of the adjustment joint, is located in a measuring plane (E3) which contains a joint axis of the adjustment joint and encloses an angle between 80° and 100° with a joint axis of the intermediate joint.

Description

 description

Robot arm and method for its adjustment

The present invention relates to a robot arm, a method for adjusting a joint of the robot arm, and a controller and a computer program product for performing the method and a robot with the robot arm and the controller.

From internal practice, it is known, for adjusting a robot joint, in which two members of a robot arm are connected to one another, a measuring notch on one of the two members and on the other of the two members to provide a measuring or adjustment cartridge to the adjustment for electrical Sensor is attached, which detects whether the measuring notch is located in a measuring plane, which determines a defined position of the robot joint, which can thus be adjusted based on this defined position.

In particular, for structural reasons, the placement of the Justagepatrone or the sensor can be problematic.

Object of the present invention is an adjustment of a joint of the

Robot arm to improve.

This object is achieved by a robot arm having the features of claim 1 and a method having the features of claim 6. Claims 8-10 protect a controller and a computer program product for carrying out a method or a robot described here with a robot arm described here and a controller described here. The

Subclaims relate to advantageous developments.

According to one embodiment of the present invention, a robot arm has two links which are connected together in a joint, which present without

Restriction of the general public is referred to as to be adjusted or adjustment joint. The two in the Justagegelenk interconnected members are referred to as an adjustment member and a neighboring member, wherein in one Execution one, in particular theoretical, pose of the Justageglieds relative to the adjacent member is determined only by the position of the adjustment joint.

According to one embodiment of the present invention, the robot arm has a further link, which is connected to the neighboring link via at least one joint, which in the present case is known without loss of generality

Intermediate joint is called. This further member is referred to as a carrier member.

According to an embodiment of the present invention, the robot arm has a

Measuring arrangement with a adjusting member side, in particular solid, one or more parts measuring element, which lies in a predetermined adjustment position of the adjustment joint in a measuring plane which a hinge axis of the

Includes adjustment joint and with a hinge axis of the intermediate joint an angle between 80 ° and 100 °, in particular between 85 ° and 95 °, in one

Execution an angle of 90 °, includes or on the hinge axis of the

Intermediate joint, at least substantially, is perpendicular or orthogonal thereto.

In one embodiment, the adjusting member side and thus with an adjustment of the Justageglieds mitbewegte around its hinge axis measuring element is only or

exclusively in the predetermined adjustment position and possibly in a relation to the adjustment position rotated by 180 ° position in the measurement plane. The measuring plane (the measuring arrangement) is predetermined in one embodiment, in particular defined with respect to the carrier member, stationary in one embodiment with respect to the carrier member.

In one embodiment, the measuring arrangement, in particular the measuring element and / or the measuring plane, is or are provided or used to detect that the measuring element lies in the measuring plane, in particular a passage of the measuring element through the measuring plane to detect, in one embodiment, the measuring element, in particular only (and optionally in a relation to the adjustment position rotated by 180 ° position), in the predetermined adjustment position of the adjustment joint (by the measuring arrangement) detectable in the measurement plane. In one embodiment, the measuring plane has a through the hinge axis of

Justagegelenks limited half-plane and the measuring arrangement, in particular the measuring element and / or this half-plane, is or will be provided or

set up or used to detect that or whether the measuring element lies in the half-plane, in particular a passage of the measuring element through the

 To detect half-plane, in one embodiment, the measuring element is, in particular only, in the predetermined adjustment position of the adjustment joint (by the measuring arrangement) detectable in the half-plane.

By using the measuring arrangement detects whether the measuring element is in the measurement or half-plane or not, can be determined in one embodiment, whether the adjustment joint is in the predetermined adjustment position or not: if (is detected that) the measuring element in If the measuring or half plane is located, it is detected that the adjustment joint is in the predetermined adjustment position, otherwise or (if it is detected that) the measuring element is not in the measuring or half plane, it is detected that the adjustment joint not in the specified adjustment position.

In one embodiment, the measuring plane is constructive or structural, in particular relative to or through the carrier member and / or invariable or stationary, in particular by the (arrangement or alignment of) subsequently explained (n) measuring mark and / or interface and / or (the) measuring sensor (s), given or the measuring arrangement, in particular the interface, the measuring mark and / or the measuring sensor set up accordingly, in one embodiment, interface or measuring sensor for detecting the measuring mark only in the adjustment position. In a

For this purpose, the measuring mark or interface or the measuring sensor is arranged in the measuring or half plane.

In the present case, a hinge axis of a rotary joint is understood to mean, in particular, its rotational or rotational axis, under a hinge axis of a

Pivoting joint, in particular its translational or displacement axis.

Due to the, at least substantially, orthogonal orientation of the hinge axis of the intermediate joint relative to the measuring plane influenced in one embodiment, the

Position of the intermediate joint the detection of the adjustment position of the adjustment joint at most slightly, preferably - at least substantially - not at all.

As a result, in one embodiment, the measuring arrangement can be advantageously placed and at the same time a measuring error of the measuring arrangement caused in particular be kept small, although a measuring arrangement or an adjustment via at least two joints or (joint) axes initially seems unfavorable due to the reduced accuracy ,

In one embodiment, the support member is with the neighboring member in the one

Connected intermediate joint, so that in one embodiment a, in particular theoretical, pose of the support member relative to the adjacent member is determined only by the position of the intermediate joint. In other words, in one

Execution of an intermediate and adjustment joint (directly)

successive joints or carrier, neighboring and adjustment member (kinematically directly) successive members of the robot arm.

As a result, in one embodiment, a measurement error of the measuring arrangement can be kept small.

In an alternative embodiment, the support member is connected to the neighboring member via or through two or more intermediate joints, wherein the measuring plane with

Joint axes of these intermediate joints in each case an angle between 80 ° and 100 °, in particular between 85 ° and 95 °, in one embodiment an angle of 90 °, includes or these hinge axes are each, at least substantially, perpendicular or orthogonal to the measurement plane.

As a result, in one embodiment, the measuring arrangement can be advantageously placed and, at the same time, a measuring error of the measuring arrangement, in particular caused thereby, can be kept small. In one embodiment, the measuring element may be a, in particular stationary, placed on the adjustment member, in particular mechanically (detectable) e and / or

optically (detectable) e, measuring mark, in particular recess or elevation, have, in particular be, and the measuring arrangement one, in particular stationary, on the support member, in particular in the measuring, in particular half-plane, placed

Have an interface at the one, in particular electrical, measuring sensor, in one Execution is non-destructively releasably and / or temporarily and / or in the measuring, in particular half-plane, fixed or is, by or with which the measurement mark is detected or detected, or in particular whether the measurement mark in the measuring or Half-plane lies or does not depend on or the adjustment joint has or does not have the predetermined adjustment position, or interface (s), measuring mark and / or measuring sensor are or will be used for this purpose.

By placing the measuring sensor or the interface on the support member, the measuring sensor in one embodiment remain stationary during adjustment of the adjustment joint for its adjustment and thereby advantageously placed the measuring arrangement and / or a measurement error of the measuring arrangement are kept small.

Conversely, in an alternative embodiment, the measuring arrangement can be a

in particular stationary, on the support member, in particular in the measuring,

in particular half-plane, placed, in particular mechanically (detectable) e and / or optically (detectable) e, measuring mark, in particular recess or elevation, and the measuring element have an, in particular stationary, placed on the Justageglied interface, in particular be, at the one , in particular electrical, measuring sensor, in one embodiment non-destructively detachable and / or temporary, is fixed or is, by or with which the measurement mark is detected or detected, in particular whether the interface or the measuring sensor in the Mess or half plane is or not dependent on the Justagegelenk the predetermined Justagestellung or not, or is / are interface, measuring mark and / or measuring sensor set up for this purpose or is / are used for this purpose. In this embodiment, therefore, the measuring sensor moves due to an adjustment of the

Adjustment joint relative to the measuring plane.

As a result, in one embodiment, the carrier member can be made more compact.

In one embodiment, the measuring arrangement comprises the one at the interface

fastened, in particular at least temporarily fixed, measuring sensor. Additionally or alternatively, the interface may itself, in particular by means of the measuring mark and / or translationally adjustable measuring element, in particular for the actuation of the measuring sensor, in particular be.

In one embodiment, the, in one embodiment translational, adjusting axis of a measuring element, in particular key, the interface or the (on the

 Attached interface) measuring sensor and / or an engagement direction of the measuring mark with the hinge axis of the intermediate joint or the joint axes of the

Between joints (each) an angle between 80 ° and 100 °, in particular between 85 ° and 95 °, in one embodiment an angle of 90 °, wherein

Adjustment axis or engagement direction does not intersect this hinge axis (s) in one embodiment, but this distance or skew may be this. Additionally or alternatively, the adjustment axis of the measuring member or engagement direction of the measuring mark in one embodiment - at least substantially - parallel to

Joint axis of the adjustment joint. As a result, in one embodiment, a measurement error of the measuring arrangement can be kept small.

In one embodiment, the adjustment member is a distal end member, in particular a robot (arm) flange. For such distal distal end members, the present invention is particularly advantageous because of the fact that it is preferably compact in order to increase the applicability, without the present invention being limited thereto.

According to an embodiment of the present invention, a method for adjusting the adjustment joint of the robot arm comprises the steps of:

- Adjusting, in one embodiment only, the adjustment joint;

- detecting (the presence) of an adjustment position of the adjustment joint,

 in particular (the presence) that the measuring element in the measuring,

in particular half-plane or a passage of the measuring element through the measuring or half-plane, using the measuring arrangement, in particular during and / or after adjusting the Justagegelenks, in one embodiment adjusting the Justagegelenks (at least) until using the measuring arrangement (the presence) a (r) Justagestellung the Justagegelenks, in particular (the presence) that the measuring element is in the measuring or half-plane, is detected; and

 Adjustment of the adjustment joint as a function of the detected adjustment position or its presence. An adjustment or an adjustment of the adjustment joint comprises in one embodiment a calibration, in particular determination or correction, a zero or

Reference position and / or an offset of the adjustment joint, in particular a (adjustment) joint sensor, which detects a position of the joint or the adjustment and the adjacent member relative to each other or is set up for this purpose or is used. In particular, a position of the adjustment joint detected by a joint sensor when the adjustment is detected can be defined as a zero or reference position, or a corresponding offset can be determined. In addition or as an alternative, the adjustment joint can also be mechanically changed or readjusted in one embodiment. In one embodiment, the method comprises the step preceding the adjustment of the adjustment joint:

 - Adjusting the one intermediate joint or the intermediate joints (respectively) in a measuring position for detecting an adjustment position of the adjustment joint by means of the measuring arrangement or a measuring position in which an adjustment position of the

 Justagegelenks using the measuring device is detected or can be detected.

As a result, in one embodiment, the measuring arrangement can be aligned in an advantageous pose, in a further development measuring sensor and mark relative to each other, and so a measurement error of the measuring arrangement can be kept small. In one embodiment, a controller for controlling the robot arm, in particular hardware and / or software, in particular program technology, for implementing a method described here is set up and / or has:

 - means for adjusting, in one embodiment only, the adjustment joint;

 - means for detecting an adjustment position of the adjustment joint using the

Measuring arrangement; and - Means for adjusting the Justagegelenks depending on the detected adjustment position.

In one embodiment, the controller or its (e) means comprises: means for adjusting the one intermediate joint or the intermediate joints (respectively) in a measuring position for detecting an adjustment position of the adjustment joint by means of the measuring arrangement

A means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules. The CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or

Output signals to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be such that it is capable of embodying or executing the methods described herein so that the CPU may perform the steps of such methods, and thus, in particular, control the robot arm. In one embodiment, a computer program product may include, in particular, a storage medium for storing a program or a program stored thereon, in particular a nonvolatile storage medium, wherein execution of this program is prompted by a system or a controller, in particular a computer method described herein or one or more of its steps. In one embodiment, one or more, in particular all, steps of

Method completely or partially automated, in particular by the controller or their (e) means.

The robotic arm has in one embodiment except the Justage- and the or the intermediate joint (s), one or more of which, in one embodiment may be all, hinges, one or more other joints, in particular

Swivel joints, up. In one embodiment, the robot arm has a total or including adjustment and intermediate joint (s), at least five, in particular at least six, in one embodiment at least seven joints, in particular hinges, on. Additionally or alternatively, in one embodiment, the robot arm has (in each case) one, in particular electric, preferably electromotive, drive for adjusting one or more of its joints, in particular one,

in particular electric, preferably electromotive, drive for adjusting the adjustment joint and / or (respectively) one, in particular electrical,

Preferably electromotive, drive for adjusting the intermediate joint or the intermediate joints, which in one embodiment (in each case) controlled by the controller, in particular regulated, is.

In one embodiment, a stationary placement can be a non-destructively detachable or permanently provided placement, in particular a placement

cohesive fastening or integral training, include, in particular. In one embodiment, the measuring element lies exactly in the measuring or half plane in the sense of the present invention, if a measuring element-fixed reference point lies in the measuring or half plane or at most has a predetermined tolerance distance therefrom, which in a development of a predetermined

Adjustment accuracy corresponds and / or at most 1%, in particular at most 0, 1%, a maximum achievable by adjustment of the adjustment joint distance to the measuring or half-plane.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized:

Fig. 1: a robot arm according to an embodiment of the present invention with an Justage- and an intermediate joint; Fig. 2: a part of the robot arm with the intermediate joint in one

 Measuring position and the adjustment joint in an adjustment position;

Fig. 3: the part of the robot arm with Justage- and intermediate joint in another position; and 4 shows a method for adjusting an adjustment joint of the robot arm according to an embodiment of the present invention.

Fig. 1 shows a robot arm according to an embodiment of the present invention with an adjustment member in the form of a distal end member 4 and a neighboring member in the form of a pivot housing 2, which with the Justage- or distal end member 4 in a Justagerehgelenk 3 and with a support member in shape a base body 5 is connected in an intermediate pivot joint.

On the main body 5 is an interface in the form of a known per se

Adjustment cartridge 1 stationarily mounted for mounting a measuring sensor. FIGS. 2, 3 each show a part of the robot arm with the intermediate joint in a measuring position and the adjustment joint in an adjustment position (FIG.

In contrast, other positions (FIG. 3) were adjusted in schematic form.

It is shown in Figs. 2, 3 instead of the adjustment cartridge 1, the measurement sensor 1 A temporarily attached thereto, which communicates with a controller 30. In addition, in Figs. 2, 3 the (hinge) axis of Justagerehgelenk 3

dash-dotted or indicated by the joint coordinate q ₃ and the (hinge) axis of the intermediate pivot joint 5A.

The measuring sensor 1 A (see (Figures 2, 3) or its interface in the form of

Adjustment cartridge 1 (see Fig. 1) has a structurally predetermined,

carrier member (local) fixed actuation or adjustment direction R _1A . This lies in one with the drawing plane of Figs. 2, 3 identical measuring plane E _{3 of} a measuring arrangement with the measuring sensor 1 A or its interface 1 and a measuring mark in the form of a measuring groove 1 B on the adjustment or distal end member 4, which (only) in the adjustment position shown in FIG of the adjustment joint 3 (and in a relation to this adjustment position adjusted by 180 ° position) in this measurement plane E ₃ or only in the adjustment position in the corresponding, limited by the hinge axis

Half-plane (right in Fig. 2) is located. It can be seen from the synopsis of Figs. 2, 3 that due to the orthogonal orientation of the adjustment direction R _1A or measuring plane E ₃ to the (joint) axis of the intermediate pivot joint 5A whose position is not included in the measurement of the position of the Justagerehgelenkenks 3. In addition, in the embodiment, the (hinge) axis of Justagerehgelenks 3 is parallel to this adjustment direction R _1A .

Conversely, in a modification not shown, the interface 1 or the measuring sensor 1A can also be placed on the adjusting member 4 and the measuring groove 1B can be fixed in the carrier member.

Fig. 4 shows a method for adjusting the adjustment joint 3 according to an embodiment of the present invention.

In a step S10, the controller 30 first adjusts the intermediate joint 5A to the measuring position shown in FIG. 2, in which a measuring device is used by means of the measuring arrangement

Justagestellung the adjustment joint 3 and can be detected whether the measuring groove 1 B in the measuring or half plane E ₃ is (Fig. 3 -> Fig. 2). In this case, the measuring sensor 1 A is attached to the Justagepatrone 1 before or after approaching the measuring position.

Subsequently, in a step S20, the controller 30 commands rotation of only the adjustment joint 3 and constantly records during this whether the measurement notch 1 B is arranged in the measurement or half plane E ₃ .

In a step S30, a detected passage of the measuring groove 1 B through the measuring or half plane E _{3 is determined} as a mechanical zero position of the adjustment joint 3 and the adjustment joint 3 adjusted accordingly, for example, a joint angle sensor (not shown) zeroed or the like.

This allows the joint angle sensor reliable and accurate with a

predetermined mechanical position, the adjustment position of the adjustment joint 3, aligned and then reliably and precisely an actual mechanical position of the adjustment joint 3 are determined based on detected by the joint angle sensor positions. Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible. It should also be noted that it is the exemplary

The explanations are merely examples of the scope of protection

Applications and the structure should in no way limit. Rather, the expert is by the preceding description a guide for the

Implementation of at least one exemplary embodiment given, wherein various changes, in particular with regard to the function and arrangement of the described components, can be made without departing from the scope, as it is apparent from the claims and these equivalent

Feature combinations results.

LIST OF REFERENCES

1 adjustment cartridge (interface)

 1 A measuring sensor

1 B measuring notch (measuring mark)

 2 swivel housing (neighboring member)

 3 swivel joint (adjustment joint)

 4 distal end member (adjustment member)

 5 basic body (carrier member)

5A between (rotary) pivot axle

 30 control

E ₃ measuring or half level

 joint angle

RIA adjustment direction

Claims

claims Robotic arm, the  - An adjustment member (4) and a neighboring member (2), which are connected in an adjustment joint (3),  - A support member (5) connected to the neighboring member via at least one  Intermediate joint (5A) is connected, and  a measuring arrangement with a measuring element on the adjusting element (1 B) has, in a predetermined adjustment position of the adjustment joint in a measuring plane (E ₃ ), which contains a hinge axis of the adjustment joint and with an articulation axis of the intermediate joint forms an angle between 80 ° and 100 °. Robot arm according to claim 1, characterized in that the carrier member is connected to the adjacent member in the one intermediate joint. Robot arm according to claim 1, characterized in that the support member is connected to the adjacent member via at least two intermediate joints, wherein the measuring plane with hinge axes of these intermediate joints each encloses an angle between 80 ° and 100 °. Robot arm according to one of the preceding claims, characterized in that  - The measuring element one, in particular stationary, placed on the Justageglied, in particular mechanical and / or optical, measuring mark (1 B) and the  Measuring arrangement a, in particular stationary, placed on the support member interface (1) for attaching a measuring sensor (1 A) for detecting the measuring mark; or  - The measuring arrangement one, in particular stationary, on the support member  placed, in particular mechanical and / or optical, measuring mark and the measuring element one, in particular stationary, placed on the Justageglied interface for mounting a measuring sensor for detecting the Measuring mark has. 5. Robot arm according to one of the preceding claims, characterized in that the adjustment member is a distal end member. 6. A method for adjusting an adjustment joint of a robot arm according to one of the preceding claims, comprising the steps:  - adjusting (S20) the adjustment joint;  - Detecting (S20) an adjustment position of the adjustment joint by means of  Measuring arrangement; and  - Adjustment (S30) of the adjustment joint depending on the detected  Adjustment position. 7. The method according to the preceding claim, characterized by the  previous step:  - Adjusting (S10) of the at least one intermediate joint in a measuring position for detecting an adjustment position of the adjustment joint using the  Measuring arrangement. 8. Control (30) for controlling a robot arm according to one of the preceding claims, which is suitable for carrying out a method according to one of the  preceding claims and / or has:  - means for adjusting the adjustment joint;  - means for detecting an adjustment position of the adjustment joint using the  Measuring arrangement; and  - Means for adjusting the adjustment joint as a function of the detected  Adjustment position. 9. Robot with a robot arm and a controller (30) for controlling the  Robot arm according to one of the preceding claims. A computer program product having a program code stored on a computer-readable medium for carrying out a method according to any one of the preceding claims.