Method and apparatus for the start-up operation of multi-axis system

A control device and coordinate system technology, applied in general control systems, TV system components, control/adjustment systems, etc., can solve problems such as difficult identification of multi-axis systems and error-prone

Active Publication Date: 2018-05-29
SIEMENS AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This requires strong ideation skills, so it is easy to make mistakes
Furthermore, it is not easy to identify whether the envelope of a segment of a multi-axis system actually completely contains the segment
Another problem is that it is not straightforward to determine whether the defined envelope corresponds to the correct section of the dynamics of the multi-axis system

Method used

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  • Method and apparatus for the start-up operation of multi-axis system

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Embodiment Construction

[0029] figure 1 The device 1 according to the invention for starting a multi-axis system 10 is shown schematically. The multi-axis system 10 can be, for example, an industrial robot, a production or packaging machine tool, a CNC milling machine, a shipping crane or the like. However, a multi-axis system can also be understood as a production cell with a number of machines of this type.

[0030] exist figure 1 In the schematic diagram of , the multi-axis system 10 includes a plurality of segments 11 which are connected to each other in pairs via hinges 12 . For example, a tool 13 with a TCP (Tool Center Point) 14 is arranged at the free end of the last section 11 . The tool position of the multi-axis system 10 is described using TCP. The TCP is a reference point located at a suitable location on the tool 13 .

[0031] The movement of the multi-axis system 10 is controlled by a control device 20 . Control means, such as a programmable logic controller (SPS), may be provide...

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Abstract

The invention relates to a method for the start-up operation of a multi-axis system, with the multi-axis system including, as components, a plurality of segments connected via respective joints and movable in one or more axes, and a tool connected to one of the segments and movable to a specified position. A plurality of optical markers are arranged in the environment. Position coordinates of theoptical markers in a first, global coordinate system are ascertained and stored in a controller. The environment is captured as image data by a camera system. The image data are transmitted to an AR system and visualized in an output apparatus. The optical markers and virtual markers are represented during the visualization of the image data, wherein a respective virtual marker is assigned to an optical marker. A check is performed as to check whether an optical marker and the virtual marker overlay one another in the visualized image data.

Description

technical field [0001] The invention relates to a method and a device for starting a multi-axis system. A multi-axis system comprises as an assembly a number of segments connected via corresponding hinges and movable in one or more axes, and a tool connected to one of the segments and actuated and movable to a preset Location. Background technique [0002] Multi-axis systems are general-purpose, programmable machines that are used to handle, mount or machine workpieces. They are also called (industrial) robots. They are designed for use in the industrial field. Once programmed, such multi-axis systems can execute workflows autonomously, or change the way tasks are performed within certain boundaries based on sensor information. [0003] The danger posed by such multi-axis systems lies in the often completely unpredictable, complex movement patterns and high velocities with enormous forces that are often completely unpredictable for humans. Therefore, working next to an ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/414
CPCG05B19/4147G05B2219/34013B25J9/1692G05B2219/32014G05B2219/37009G05B2219/39449G06T2207/30244G06T7/73G06T2207/30204H04N23/69G06T7/80G06T7/74G06T7/60G06T11/60G06T2210/12
Inventor 迈赫迪·哈马杜扬·里希特马克西米利安·沃尔特
Owner SIEMENS AG
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