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WO2019091892A1 - Bras de robot et procédé servant à l'ajustage de ce dernier - Google Patents

Bras de robot et procédé servant à l'ajustage de ce dernier Download PDF

Info

Publication number
WO2019091892A1
WO2019091892A1 PCT/EP2018/080104 EP2018080104W WO2019091892A1 WO 2019091892 A1 WO2019091892 A1 WO 2019091892A1 EP 2018080104 W EP2018080104 W EP 2018080104W WO 2019091892 A1 WO2019091892 A1 WO 2019091892A1
Authority
WO
WIPO (PCT)
Prior art keywords
adjustment
measuring
joint
robot arm
adjusting
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/EP2018/080104
Other languages
German (de)
English (en)
Inventor
Alexander HANDFEST
Gernot Nitz
Jorge Torres
Sinan Özpinar
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.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland 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 KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Priority to DE212018000329.7U priority Critical patent/DE212018000329U1/de
Priority to CN201890001441.5U priority patent/CN213081468U/zh
Publication of WO2019091892A1 publication Critical patent/WO2019091892A1/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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • B25J19/0095—Means or methods for testing manipulators

Definitions

  • 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.
  • the placement of the Justagepatrone or the sensor can be problematic.
  • Object of the present invention is an adjustment of a joint of the
  • 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.
  • a robot arm has two links which are connected together in a joint, which present without
  • 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.
  • 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
  • This further member is referred to as a carrier member.
  • the robot arm has a
  • 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.
  • the adjusting member side and thus with an adjustment of the Justageglieds mitbewegte around its hinge axis measuring element is only or
  • 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.
  • 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.
  • the measuring plane has a through the hinge axis of
  • 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.
  • 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.
  • 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.
  • 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.
  • the measuring mark or interface or the measuring sensor is arranged in the measuring or half plane.
  • 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.
  • 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.
  • 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 ,
  • the support member is with the neighboring member in the one
  • a measurement error of the measuring arrangement can be kept small.
  • 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.
  • 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.
  • 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
  • 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.
  • the measuring arrangement can be a
  • 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 Justage ein 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
  • the carrier member can be made more compact.
  • the measuring arrangement comprises the one at the interface
  • 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.
  • 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
  • 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
  • a measurement error of the measuring arrangement can be kept small.
  • the adjustment member is a distal end member, in particular a robot (arm) flange.
  • 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.
  • a method for adjusting the adjustment joint of the robot arm comprises the steps of:
  • adjusting the Justagegelenks at least) until using the measuring arrangement (the presence) a (r) Justage ein the Justagegelenks, in particular (the presence) that the measuring element is in the measuring or half-plane, is detected;
  • Adjustment of the adjustment joint as a function of the detected adjustment position or its presence 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.
  • 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.
  • the adjustment joint can also be mechanically changed or readjusted in one embodiment.
  • the method comprises the step preceding the adjustment of the adjustment joint:
  • Justagegelenks using the measuring device is detected or can be detected.
  • 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.
  • 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:
  • Measuring arrangement and - Means for adjusting the Justagegelenks depending on the detected adjustment position.
  • 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
  • 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.
  • 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.
  • 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
  • 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,
  • 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.
  • a stationary placement can be a non-destructively detachable or permanently provided placement, in particular a placement
  • 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.
  • 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
  • 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
  • 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.
  • 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
  • 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.
  • the (hinge) axis of Justagerehgelenks 3 is parallel to this adjustment direction R 1A .
  • 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.
  • 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
  • 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).
  • the measuring sensor 1 A is attached to the Justagepatrone 1 before or after approaching the measuring position.
  • 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 .
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un bras de robot comportant un organe d'ajustage (4) et un organe voisin (2) reliés entre eux en une articulation d'ajustage (3), un organe de support (5) relié à l'organe voisin par l'intermédiaire d'au moins une articulation intermédiaire (5A), et un ensemble de mesure pourvu d'un élément de mesure (1B) côté organe d'ajustage, qui se situe dans une position d'ajustage prédéfinie de l'articulation d'ajustage dans un plan de mesure (E3), lequel contient un axe d'articulation de l'articulation d'ajustage et forme avec un axe d'articulation de l'articulation intermédiaire un angle compris entre 80° et 100°.
PCT/EP2018/080104 2017-11-09 2018-11-05 Bras de robot et procédé servant à l'ajustage de ce dernier Ceased WO2019091892A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE212018000329.7U DE212018000329U1 (de) 2017-11-09 2018-11-05 Roboterarm
CN201890001441.5U CN213081468U (zh) 2017-11-09 2018-11-05 机器人臂

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017010405.0 2017-11-09
DE102017010405.0A DE102017010405A1 (de) 2017-11-09 2017-11-09 Roboterarm und Verfahren zu dessen Justage

Publications (1)

Publication Number Publication Date
WO2019091892A1 true WO2019091892A1 (fr) 2019-05-16

Family

ID=64109879

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/080104 Ceased WO2019091892A1 (fr) 2017-11-09 2018-11-05 Bras de robot et procédé servant à l'ajustage de ce dernier

Country Status (3)

Country Link
CN (1) CN213081468U (fr)
DE (2) DE102017010405A1 (fr)
WO (1) WO2019091892A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020203671B4 (de) 2020-03-23 2024-06-13 Kuka Deutschland Gmbh Verfahren zum Steuern eines Roboterarms
CN112077879B (zh) * 2020-08-29 2021-12-03 上海大学 一种基于仿人柔软指的转轴全工作域力学性能检测方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010060484A1 (fr) * 2008-11-28 2010-06-03 Abb Technology Ab Outil de calibrage, unité robot et procédé pour régler l'orientation d'un bras de robot dans une orientation prédéterminée

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010060484A1 (fr) * 2008-11-28 2010-06-03 Abb Technology Ab Outil de calibrage, unité robot et procédé pour régler l'orientation d'un bras de robot dans une orientation prédéterminée

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
PETER MAKO: "Principles of Mastering at KUKA Robots", ACTA MECHATRONICA - INTERNATIONAL SCIENTIFIC JOURNAL ABOUT MECHATRONICS, VOLUME 2, 2017, 1 June 2017 (2017-06-01), pages 7 - 12, XP055549507, Retrieved from the Internet <URL:http://actamechatronica.eu/issues/2017/II_2017_02_Mako.pdf> [retrieved on 20190130] *
RSI UNIVERSITY - ROBOTIC SOLUTIONS INC: "Robot U - Mastering Your KUKA Robot", 13 August 2012 (2012-08-13), pages 1 - 4, XP055549576, Retrieved from the Internet <URL:https://www.youtube.com/watch?v=6TVe965SPPA> [retrieved on 20190130] *

Also Published As

Publication number Publication date
DE212018000329U1 (de) 2020-07-20
CN213081468U (zh) 2021-04-30
DE102017010405A1 (de) 2019-05-09

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