Method for providing motion instructions to an actuator, input device and actuator system

Abstract

The invention relates to an input device for providing movement instructions to at least one actuator (4), the input device having an input interface (20), on which a plurality of movement symbols (25, 26, 27, 28, 29, 30, 31) are arranged, the plurality of movement symbols (25, 26, 27, 28, 29, 30, 31) being respectively associated with the movement instructions for the actuator (4), and the input interface having a flow track (22) for arranging copies of the movement symbols (25, 26, 27, 28, 29, 30, 31) along an arrangement direction; and a processing device, which is configured to access the flow track to determine a sequence of movement instructions, and to output the sequence of movement instructions and / or a sequence of actuator control signals depending on the sequence of movement instructions. According to the invention, a sensor signal track (70) is arranged parallel to the flow track, which is configured to display a sensor signal curve (71) of at least one sensor signal of a sensor device associated with the actuator (4) depending on the sequence of movement instructions.

Description

Technical Field

[0001] The invention relates to an input device for providing movement instructions to at least one actuator, comprising: an input interface on which a plurality of movement symbols are arranged, the movement symbols being respectively associated with movement instructions for at least one actuator, wherein the input interface comprises a flow track, which is particularly designed only for arranging copies of the movement symbols into a movement flow along an arrangement direction; a processing device, which is designed for accessing the flow track in the arrangement direction and for determining a sequence of movement instructions according to a movement flow predetermined by the arrangement of the movement symbols in the flow track, and for outputting the movement instructions of the sequence and / or an actuator control signal sequence depending on the sequence of movement instructions; and an output interface, which is designed for providing the movement instructions of the sequence and / or the actuator control signal sequence to the at least one actuator, as is known from DE 10 2017 202 439 A1. The invention also relates to a method for providing movement instructions to at least one actuator and an actuator system. Background Art

[0002] Document DE 10 2010 012 598 A1 discloses a process module library for programming manipulator processes, comprising a plurality of parameterizable process modules for executing sub-processes, wherein the process modules each comprise a plurality of basic instructions of a common basic instruction set for executing basic operations, wherein the process modules can be connected to further process modules and / or basic instructions, and wherein the manipulator can be controlled during programming with the aid of functional modules of a graphical programming environment. Summary of the invention

[0003] The object of the present invention is to provide an input device, a method for providing a movement command to at least one actuator, and an actuator system, which ensure an increased operating range while maintaining simple operation by an operator.

[0004] This object is achieved by an input device according to the invention of the type mentioned at the outset. It is provided that a sensor signal track is arranged parallel to the process track, which is designed to display a sensor signal curve of at least one sensor signal of a sensor device associated with the actuator, which sensor signal depends on the sequence of movement commands, in particular is temporally correlated with the movement commands.

[0005] Using the sensor signal curve, a user of the input device can, for example, easily understand or check whether the physical variable occurring at the actuator and determined by means of the sensor device is meaningfully related to the movement command (which is predefined by a copy of the movement symbol for the actuator arranged in the process track).

[0006] The sensor device can be constructed, for example, as an angle sensor for detecting the travel between adjacent arm sections of a robot arm, or as an acceleration sensor for detecting the acceleration of an end section of a robot arm, or as a force sensor for detecting forces acting on the robot arm, or as a current sensor or pressure sensor for detecting the energy supply at a drive coupled to the movement of the robot arm.

[0007] Alternatively, the sensor device can also be designed as an image capturer, so that a sequence of individual images (Einzelbild) that depends on the sequence of movement commands can be displayed in the sensor signal track, wherein these individual images can be played back as a movie. In this case, the sensor device designed as an image capturer can be directly associated with the actuator in order to be able to record its movements as a "moving observer" or can be arranged next to the actuator in order to be able to record its movements as a "stationary observer". For example, the sensor device is designed as a camera, which is connected to the input device and whose image signals are displayed in the sensor signal track.

[0008] Alternatively, the sensor device can also be designed as a sound collector, in particular a microphone, so that a sound signal that depends on the sequence of movement commands can be displayed in the sensor signal track. For example, this sound signal can be used to be able to judge certain actions within the movement sequence of the actuator, such as the insertion process of a first assembly part moved by the actuator into a second assembly part, wherein, in the course of this insertion process, for example, a characteristic insertion sound occurs, and if the insertion process is carried out in accordance with the provisions, it can be concluded that the assembly process is defective when there is no insertion sound or when there is a sufficiently large deviation between the current insertion sound and the stored insertion sound.

[0009] Preferably, it is provided that the sensor signal track is arranged adjacent to the process track. Preferably, it is provided that the display of the sensor signal curve in the sensor signal track is performed in such a way that a sub-region of the sensor signal curve, which is temporally correlated with a movement command which can be traced back to a copy of the movement symbol arranged in the process track, is correspondingly scaled to the size of the copy of the movement symbol in the arrangement direction along the process track. This simplifies the mental association between the sensor signal curve and the movement command resulting from the arrangement of the copy of the movement symbol in the process track for the user.

[0010] Independently of the type of sensor device, it can be provided that the at least one sensor signal curve is not only stored in the input device, but can also be output as a data set or file in a predefinable data format so that an evaluation of the at least one sensor signal curve can be carried out elsewhere, in particular for preventive maintenance or for quality assurance purposes or for documentation purposes.

[0011] Additionally or alternatively, it can be provided that a plurality of sensor signal curves are combined with one another in the input device in order to thereby generate an observer signal curve, which is then displayed in the sensor signal track. In this case, the signals of the sensor devices associated with the actuator are linked to one another in such a way that a signal curve is generated that could come from a non-existent sensor. Such a virtual sensor is also referred to as an observer, and the associated signal curve is accordingly referred to as an observer signal curve.

[0012] The present invention also provides advantageous improvements.

[0013] The sensor signal track is expediently designed to display a comparison between a first sensor signal curve stored and dependent on the sequence of motion commands and a second sensor signal curve currently determined and dependent on the sequence of motion commands. Based on this comparison between the first sensor signal curve (which was determined in the past during a motion sequence for the actuator that was preset by the sequence of motion commands) and the second sensor signal curve (which was generated by the current sensor signal of the sensor device during the execution of the motion sequence for the actuator that was preset by the sequence of motion commands), the operator can easily understand whether there may be a fault at the actuator or whether there is a problem with the workpiece to be moved or processed by the actuator.

[0014] When using a sensor device designed as an image acquisition device, in particular a camera, it can be provided that a difference display is provided in the sensor signal track by superimposing an image of the first sensor signal curve and an image of the second sensor signal curve. Preferably, it is provided that deviations in the motion sequence of the actuator are visually highlighted according to the amount of the deviation between the first and second sensor signal curves, for example by suitable coloring, so that the user of the input device can thus be effectively informed of where in the motion sequence of the actuator a critical situation may exist (which may require an adjustment of the motion sequence). It is particularly preferably provided that, in order to perform the comparison between the first sensor signal curve and the second sensor signal curve, a computer algorithm, also referred to as "artificial intelligence", in particular based on a neural network, is used, which is preferably designed to be self-learning and which is used in particular to determine a hazard to the actuator or to an object and / or a person in the surroundings of the actuator.

[0015] Analogously, an evaluation of the second sensor signal profile can also be performed if the sensor device is designed as a sound collector, in particular as a microphone.

[0016] In a further development of the invention, it is provided that the sensor signal track is designed for inputting and displaying a tolerance band relative to a first sensor signal curve stored and dependent on a sequence of motion commands. For example, it can be provided that the user can select one or more function fields on an input interface next to the process track and the sensor signal track and can activate or deactivate the one or more function fields by selecting them. By activating the first function field, for example, a selection of a section of the first sensor signal curve to which a tolerance band is to be associated can be made. In a subsequent step, the bandwidth of the tolerance band can then be made for the previously selected section of the first sensor signal curve by activating the second function field. By activating the third function field, it can be determined whether the tolerance band should be arranged symmetrically with the first sensor signal curve or whether an asymmetrical arrangement should be selected, for example with a larger tolerance bandwidth for signal values ​​below the first sensor signal curve or with a larger tolerance bandwidth for signal values ​​above the first sensor signal curve. Of course, the aforementioned operating method for inputting the tolerance band relative to the first sensor signal curve is purely exemplary and other operating methods, such as purely graphical input, can be made by dragging and stretching at least one copy of the first sensor signal curve on the touch-sensitive input interface. After the tolerance band has been entered, it is displayed on the input interface with respect to the first sensor signal curve and can be used by the user, for example, during the execution of a movement sequence for the actuator by additionally displaying the currently determined second sensor signal curve, in order to determine regions in the movement sequence in which the tolerance band is exceeded.

[0017] In an alternative use of the tolerance band, it can be provided that, during the execution of the motion process, the processing device also scans the tolerance band associated with the first sensor signal curve in addition to scanning the copy of the motion symbol arranged in the process track, so as to influence the motion process when the sensor signal currently determined during the execution of the motion process approaches the tolerance limit of the tolerance band and thereby avoid exceeding the tolerance limit determined by the tolerance band.

[0018] Alternatively, it can also be provided that the tolerance band is determined by a computer algorithm, which can also be referred to as "artificial intelligence", taking into account parameters that can be selected in advance by the user from a parameter table. For example, the parameter table contains the sensor signals to be used, the movement instructions derived from the movement symbols and possibly further boundary conditions, which depend, for example, on the movement sequence to be executed by the actuator. Such boundary conditions can be, for example, a maximum acceleration for a workpiece to be moved by the actuator or a maximum duration for executing the movement sequence of the actuator. After the tolerance band has been determined in this way, it can then also be influenced by the user, for example in order to influence particularly critical sections of the movement sequence and thereby obtain a user-defined version of the tolerance band.

[0019] In a further embodiment of the invention, it is provided that the processing device is designed to prevent the execution of a movement command when a tolerance band is exceeded by a second sensor signal curve that is currently determined and is dependent on the sequence of movement commands. In this case, the tolerance band serves as a limit value in order to prevent the movement sequence from continuing, for example, in the event of an actuator overload, as may occur in particular when the actuator collides with an object, which can be achieved in particular by shutting down the actuator or by initiating a predeterminable compensating movement or retraction movement of the actuator.

[0020] Advantageously, at least one control symbol is arranged on the input interface, which is associated with a control instruction for processing at least one sensor signal that is dependent on a sequence of motion instructions, and a copy of the control symbol is configured to be arranged between copies of the motion symbol in a process track, wherein the processing device is configured to process the control instruction and to display the sensor signal curve in the sensor signal track. For example, a first control symbol is configured to activate the display of a preset sensor signal curve. In addition, a second control symbol is configured to deactivate the display of a preset sensor signal curve. Alternatively, it can be provided that the first control symbol is configured to activate monitoring for a previously selected section of the first sensor signal curve that exceeds a tolerance band, and the second control symbol is configured to deactivate monitoring for a previously selected section of the first sensor signal curve that exceeds a tolerance band. In any case, the first control symbol (a copy of which can be arranged in the process track) is used to influence the signal display and / or signal processing of at least one sensor signal curve displayed in the sensor signal track.

[0021] Preferably, it is provided that the control symbol is selected from the following group: sensor signal curve recording start, sensor signal curve recording end, first sensor signal curve and second sensor signal curve comparison start, first sensor signal curve and second sensor signal curve comparison end. With the control symbol, which is designed for the start of recording of the sensor signal curve and a copy of which can be arranged in the process track for evaluation by the processing device, the recording of the associated sensor signal from a predeterminable point in time during the movement process of the actuator can be determined. With the control symbol designed for the end of recording, the recording of the associated sensor signal can be ended. With the control symbol designed for the start of comparison of the first sensor signal curve and the second sensor signal curve, the evaluation device can compare the first and second sensor signals from a predeterminable point in time during the execution of the movement process for the actuator. It can also be provided that, in the event of a predeterminable deviation between the first and second sensor signals, a predeterminable reaction of the actuator is caused, such as a reduction in the movement speed or a retraction movement or a closing.

[0022] In an advantageous development of the invention, it is provided that the processing device is constructed to display a magnified segment of a segment of the sensor signal track on the input interface, in particular next to the process track and / or the sensor signal track. For example, it can be provided that the user can cause an enlarged display of a fixedly preset or freely selectable segment of the sensor signal track as a magnified segment by selecting an area of ​​the sensor signal track, in particular in a freely movable display window on the input interface. In addition or alternatively, it can be provided that such a magnified segment is displayed without user assistance by a copy of a motion symbol arranged in the process track, in particular in a freely movable display window on the input interface. Preferably, the display of the magnified segment of the segment of the sensor signal track is performed next to the process track and the sensor signal track.

[0023] The processing device is preferably designed to influence the sequence of motion commands and / or actuator control signal sequences according to a first sensor signal curve defined by the user and displayed in the sensor signal track. For example, it can be provided that after the determination of the motion sequence for the actuator (which is achieved by arranging a copy of the motion symbol in the process track), the user changes the first sensor signal curve generated by the motion sequence in order to thereby obtain an optimization of the motion sequence for the actuator. Such an influence can be exerted, for example, by selecting the corresponding sensor signal curve in the sensor signal track and then manually distorting the sensor signal curve by the user, in particular by a swiping finger movement on the input interface. The first sensor signal curve can be a recording of a real sensor signal during a real motion sequence for the actuator or a simulation of a sensor signal during a simulated motion sequence for the actuator. If the sensor signal curve is, for example, a recording or simulation of an acceleration sensor (which is installed in the hand area of ​​the actuator), the user can, by selecting this sensor signal curve and a corresponding swiping movement on the input interface, purely by way of example, cause a reduction in the acceleration peaks in the motion sequence and thus an equalization of the motion sequence. Preferably, a plurality of recorded or simulated sensor signal curves are displayed in the sensor signal track so that a change in a selected sensor signal curve leads to a corresponding influence on other sensor signal curves in order to also visualize the changes of the other sensor signal curves. The visualization is preferably based on a simulation of the sensor signal curve of interest.

[0024] The object of the present invention is achieved by a method for providing motion instructions to at least one actuator, the method comprising the steps listed below: providing a plurality of motion symbols on an input interface, wherein each of the motion symbols is associated with at least one motion instruction for at least one actuator, arranging the motion symbols in a process track so as to determine a motion process for the at least one actuator, scanning the motion symbols arranged in the process track using a processing device, providing a sequence of motion instructions by the processing device according to a motion process preset by the arrangement in the process track, providing the sequence of motion instructions to the at least one actuator and / or to an analog display of the at least one actuator, determining at least one sensor signal of a sensor device associated with the actuator, and displaying a sensor signal curve in a sensor signal track arranged parallel to the process track, wherein the association with the motion symbols arranged in the process track can be preset in time, in particular synchronized.

[0025] In an advantageous development of the method, provision is made for a comparison of a stored first sensor signal profile dependent on a sequence of movement commands and a currently determined second sensor signal profile dependent on a sequence of movement commands to be displayed in the sensor signal track.

[0026] Furthermore, the invention relates to an actuator system having an input device according to the invention and an actuator which is designed to execute a movement sequence as a function of a movement command which is provided using a method according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] An advantageous embodiment of the present invention is shown in the accompanying drawings.

[0028] Figure 1 shows a purely schematic diagram of an actuator system with an input device, an actuator control device and an actuator,

[0029] Figure 2 A detailed diagram showing an input device,

[0030] Figure 3 shows a diagram of a multifunctional input box of an input device,

[0031] Figure 4 An exemplary diagram showing an input field for determining a condition stored in a motion symbol, and

[0032] Figure 5 A detailed view of the input device is shown in an additional operating configuration. DETAILED DESCRIPTION

[0033] exist Figure 1 The actuator system 1 shown purely by way of example comprises an input device 2, which is designed, for example, as a tablet computer, which is connected to an actuator control device 3, wherein the actuator control device 3 itself is connected to an actuator 4, which is designed, for example, as a multi-jointed robot. Alternatively, the actuator can also be designed in a manner not shown as a handling device (Handling), in particular an H-portal (H-Portal), or a tripod or its variants or a flexible and elastic gripping arm or can be designed in another way for manipulating objects. Figure 1 , connecting cables 5, 6 are provided between the input device 2 and the actuator control device 3 and between the actuator control device 3 and the actuator 4, respectively, in order to enable information to be transmitted between the corresponding components. Purely by way of example, the output interface 17 of the input device 2 is designed as an Ethernet or USB interface (universal serial bus) and is connected to a correspondingly designed input interface 18 on the actuator control device 18 by means of a connecting cable 5.

[0034] In an embodiment of the actuator system, which is not shown in greater detail, a wireless link is provided between the input device and the actuator control and between the actuator control and the actuator.

[0035] For example, the actuator 4 shown purely schematically is a pneumatically operable multi-jointed robot, wherein the design of the actuator 4 is selected in view of the mass of the moving parts of the actuator 4, the maximum force that can be exerted by the actuator 4 and the maximum movement speed of the actuator 4 so that the actuator 4 can be operated in direct cooperation with the worker without the actuator 4 endangering the worker. Alternatively, the actuator can also be provided with an electric drive or a hydraulic drive or a combination of an electric and / or hydraulic and / or pneumatic drive.

[0036] Purely by way of example, the actuator 4 has a base part 7, on which a rotary table 8 is supported, which can be rotated about a vertically oriented rotation axis (not shown), and on which a swivel joint 9 is formed. An arm part 10 is movably accommodated on the swivel joint 9, which is swivelably connected to an arm part 11 (which is itself swivelably connected to an arm part 12). The arm part 12 carries a linear gripper 15 at the end, which is shown purely by way of example in an open position. For example, it is provided that pneumatic drives (not shown in detail) are arranged between the base part 7 and the rotary table 8 and between the swivel joint 9 and the respective arm parts 10, 11 and 12 and at the linear gripper 15, which enable the respective parts to move relative to each other.

[0037] The compressed air flow required for moving the corresponding pneumatic drive (not shown) is provided via the actuator control device 3, which is purely by way of example an assembly of a plurality of electropneumatic control valves, which are actuated in a manner not shown in detail by a control device belonging to the actuator control device 3. The control device is in particular a microprocessor with an associated electrical output stage, wherein a predefinable program runs on the microprocessor, by means of which the corresponding electrical output stage can be actuated in order to be able to provide a suitable electrical control current to the corresponding electropneumatic control valve, so that the electropneumatic control valve can provide the corresponding compressed air flow to the corresponding pneumatic drive.

[0038] The microprocessor is programmed with the aid of an input device 2 which is designed purely by way of example as a tablet computer with a touch-sensitive screen 20 and on which runs a program which enables a user to program movement sequences for the actuator 4 in a simple and intuitive manner.

[0039] In input device 2 Figures 1 to 3 In the embodiment shown in , the screen content displayed on the screen 20 can be freely selected within the scope of the graphical display options of the input device 2 designed as a tablet. Purely by way of example, the screen 20 is divided into a plurality of functional areas at 21, 22, 23 and 24, the functions of which are explained in detail below.

[0040] In the functional area 21, a plurality of movement symbols 25, 26, 27, 28 and 29 are shown, which can be individually selected by an operator, who is symbolically represented as an operator hand 32, by touching such a screen area in which the corresponding movement symbol 25 to 29 is displayed, with a finger. By way of example, it can be provided that this touching leads to a graphical and / or acoustic and / or tactile feedback, so that the operator is informed that a copy is generated from the corresponding movement symbol 25 to 29, which copy can then be moved to the functional area 22 by a sliding movement of the finger on the screen 20. The functional area 22 is designed as a flow track, in which the movement symbols 25 to 29 can be arranged side by side only in sequence. Purely by way of example, it is provided that the movement symbols 25 to 29 arranged in the flow track are scanned by a microprocessor of a processing device, in particular an input device 2, in a scanning direction oriented from left to right, and the movement instructions associated with the corresponding movement symbol 25 to 29 can be linked to the movement instructions of the preceding and following movement symbols 25 to 29 to form a sequence of movement instructions. Optionally, it can be provided that the number of motion symbols 25 to 29 that can be arranged in the sequence track is limited or that no limit is imposed on this.

[0041] The functional area 23 below the functional area 22 includes a graphical display of a slide regulator 33, which can be selected by an operator and can be moved along a process track of the functional area 22, wherein movement instructions correspondingly associated with movement symbols 25 to 29 arranged in the process track are output by the input device 2 to the actuator control device 3 in order to perform an actual movement of the actuator 4, or are processed into a simulation within the input device 2, which can be displayed on the screen 20 as a graphical representation of the actuator 4 in a manner not shown in detail.

[0042] For example, a further functional area 24 is arranged below the functional area 23, which has a forward button 34, a stop button 35 and a reverse button 36 depending on the instrument or program for playing a music track or a film, wherein these buttons 34 to 36 can be used to start the process of a movement instruction (as represented by movement symbols 25 to 29 in the process track) in the supply direction or the reverse direction or the stop button 35 can be used to stop the process of the movement instruction.

[0043] Purely by way of example, the movement symbols 25 to 29 are associated with functions that are described in detail below: movement symbol 25 represents the point in space that the tool center point (TCP—tool centerpoint) of the actuator 4 should occupy, movement symbol 26 represents a closing movement for the linear gripper 15, movement symbol 27 represents an opening movement for the linear gripper 15, movement symbol 28 represents a movement for the actuator 4, and movement symbol 29 represents a waiting phase for the actuator 4.

[0044] The movement symbols 25 to 29 can only be arranged sequentially next to each other in the process path of the functional area 22, wherein the input device 2 can be set in such a way that only certain combinations of the movement symbols 25 to 29 can be arranged next to each other. For example, it can be provided that the microprocessor and the software of the input device 2 that is operated thereon are designed to prevent the side-by-side arrangement of two movement symbols 25 that represent different tool center points or the side-by-side arrangement of two movement symbols 28 that represent movements for the actuator 4.

[0045] In accordance with Figure 1 In the sequence of motion symbols 25 to 29 shown purely by way of example in the process path of FIG. , the tool center point is preset at the first position using the motion symbol 25, and the opening of the linear gripper 15 is also preset at the second position using the motion symbol 27. Subsequently, the movement of the actuator 4 to the preset tool center point is realized using the motion symbol 28 arranged at the third position. After reaching the tool center point, the closing movement for the linear gripper 15 is caused by the motion symbol 26 arranged at the fourth position. Subsequently, a new tool center point is preset using the motion symbol 25 arranged at the fifth position, to which the actuator 4 drives according to the motion symbol 28 provided at the sixth position.

[0046] Optionally, it can be arranged that the actuator 4 directly performs the corresponding actions defined by the arrangement of one or more of the motion symbols 25 to 29 in the functional area 22, or that the actuator 4 only performs these actions when the operator starts the execution of the corresponding actions by means of a slide adjuster 33 arranged in the functional area 23 or by means of start-stop buttons 34, 35 and 36 arranged in the functional area 24.

[0047] In order to execute the action of the actuator 4 in this way, the input device 4 is designed to place the motion instructions, not shown, associated with the corresponding motion symbols 25 to 29 in a motion instruction process, which is then provided to the actuator control device 3, where the motion instructions are converted into control signals for an electropneumatic control valve, not shown in detail, which provides a compressed air flow to a pneumatic drive device, not shown in detail, of the actuator 4.

[0048] Purely by way of example, it is provided that the operator can also move movement symbols 25 to 29 temporarily arranged in the flow track of the functional area by selecting the corresponding movement symbol 25 to 29 within the flow track, or can delete them by removing them from the flow track.

[0049] Furthermore, it can be provided that the operator can combine a group of motion symbols 25 to 29 arranged in the process track of the functional area 22 into a motion group and that the motion group can be associated with a new motion symbol 31, which can be obtained, for example, from a library of motion symbols. Additionally or alternatively, it can be provided that the library of motion symbols already includes different motion groups, which are provided with corresponding motion symbols and which can be arranged by the operator in the functional area 22 in the same way as the motion symbols 25 to 29.

[0050] Furthermore, it can be provided that the movement symbols from the library of movement symbols are also arranged in the functional area 21, as is shown purely by way of example in Figure 2 The sports symbols arranged there can then be easily used for multiple applications.

[0051] For example, between the functional area 22 serving as a flow path and the functional area 23 serving as a slide regulator, a functional area 70 serving as a sensor signal path is arranged, which is designed to display a sensor signal curve 71 shown purely by way of example. The sensor signal curve 71 only illustrates by way of example and in a highly schematic manner a pressure curve for a pneumatic actuator, which is arranged in particular between the arm part 10 and the arm part 11 and can cause a swiveling movement of the arm part 11 relative to the arm part 10. The sensor signal curve 71 can be generated, for example, by recording a sensor signal of a pressure sensor, not shown in detail, which supplies the sensor signal to a processing device, also not shown, of an input device in a manner not shown in detail. There, the processing of the sensor signal and the conversion to a graphical display of the sensor signal curve 71 take place. For example, it can be provided that the pneumatic actuator is first supplied with a high pressure, which is maintained until the movement to the first tool center point, represented by the first movement symbol 28, is introduced, wherein for this purpose, a reduction in the pressure for the pneumatic actuator is performed. The reduced pressure is then maintained until the movement to the second tool center point, which is indicated by the second movement symbol 28 , is initiated, wherein for this purpose the pressure for the pneumatic actuator is slightly increased.

[0052] It is important that the sensor signal curve 71 is correctly associated with the motion symbols 25 to 30 in proportion to the time axis extending in the horizontal direction when displayed on the touch-sensitive screen 20 of the input device 2. As a result, the temporal relationship between the respectively activated motion symbol and the sensor signal curve 71 is always displayed to the operator.

[0053] For purely exemplary purposes Figure 2 The movement symbol 30 shown in FIG. 2 (which can be selected from a library of movement instructions not shown in detail and arranged in the functional area 21), the stored movement instructions are configured as conditions. If the user decides to select the movement symbol 30, the screen 20 opens Figure 4, in which detailed description data for the condition can be entered. For example, it is provided that in the input window 40, a selection window 41 can be used to select a source for the value to be monitored. This source can be, for example, a sensor that provides a sensor value. In addition, a selection window 42 can be used to determine the value to be used as a threshold value. In addition, the selection of logical operations 43 to 48 is preset in the input window 40, with which a relationship can be established between the threshold value and the sensor value and thus determine the condition.

[0054] As from Figure 2 As can be seen from the diagram, after selecting the sports symbol 30, the user Figure 4 The user determines a specific condition by selecting in the input window 40 of the control unit 20, whereby the motion symbol 30 is displayed purely by way of example in a modified display as the motion symbol 31 on the screen 20 and is now available for arrangement in the functional area 22. For the purpose of explaining the function of the condition represented by the motion symbol 31 and the connection of the motion symbol 31 with the other motion symbols 25 to 29, it is assumed that the user selects a certain sensor signal in the input window 40 and presets a threshold value and a logical operation for the sensor signal. For example, it is assumed that the condition of the motion symbol 31 is met when the amount of the sensor signal is greater than or equal to the selected threshold value.

[0055] For example, Figure 2 In the illustration of , the motion symbol 31 can be arranged in an additional functional area 50, which is designed as a sub-track relative to the functional area 22. By arranging the motion symbol 31 in the functional area 50, the existing connection between the adjacently arranged motion symbols 25 to 29 (exemplarily the motion symbols 26 and 28) is first released and then re-established under the conditions defined in the intermediate connecting motion symbol 31. In order to enable the user to understand the connection between the three motion symbols 26, 31 and 28 well, it can be provided, for example, that the motion symbol 31 remains arranged in the sub-track of the functional area 50 and the two motion symbols 26 and 28 are spaced apart from each other.

[0056] Due to the arrangement of motion symbol 31 and its connection with motion symbols 26 and 28, after the linear gripper 15 is closed (which is represented by motion symbol 26), the condition represented in motion symbol 31 is first checked, which condition can be selected, for example, so that the gripping force of the linear gripper 15 is monitored by means of a sensor not shown in detail and the movement represented by motion symbol 28 is only executed when the gripping force reaches or exceeds the condition stored in the motion symbol.

[0057] Depend on Figure 3The illustration of FIG. 60 shows a practical implementation of the user interface 60 purely schematically, as it can also be displayed on the screen 20 of the input device 2 and in which the above-discussed method is used. Figure 1 , 2 and 4. In addition, additional information is shown on the screen 20 in the user interface 60. Figure 1 , Figure 2 and Figure 4 In line with this, the user interface 60 also has the functional areas 21 and 22. Furthermore, an additional functional area 61 is arranged between the functional area 21 and the functional area 22, in which individual settings can be made for such movement symbols (which are currently selected using, for example, a slide regulator 33 directly associated with the functional area 22). Purely by way of example, the movement speed and acceleration of the actuator 4 can be set in the functional area 61, for which corresponding slide regulators 62, 63 are arranged in the functional area 61. For other movement symbols arranged in the functional area 22 (which can also be selected using the slide regulator 33), other settings may be provided. Adjacent to the functional area 61, in accordance with Figure 3 In the input device 2, purely schematically, a text display of the motion symbols arranged in the functional area 22 is provided on the left side in the functional area 64, and an arrangement of multiple status displays (for example for a wireless communication connection and a graphical visualization of the tool center point) is provided on the right side in the functional area 65.

[0058] exist Figure 5 A configuration scheme of the screen 20 of the input device 2 is shown in FIG. Figure 1 For example, it is configured that when the operator's hand 32 touches the functional area 70 configured as a sensor signal track, the user input of the configuration scheme of the screen 20 is generated. Figure 125 to 29 shown in FIG. 2 and a functional area 80 is displayed in this area of ​​the screen 20, which is, for example, an enlarged section of such an area of ​​the functional area 70 designed as a sensor signal track (which is selected by the operator's hand 32). Purely by way of example, it is provided that in the functional area 80, such a section of the sensor signal curve 71 is displayed, which is associated with the associated motion symbols 25 to 30 in the functional area 22 arranged above the functional mode 70 and designed as a process track. It can also be provided that in addition to the functional area 80, further functional areas 72 to 79 associated with the sensor signal curve 71 are displayed on the screen. For example, it is provided that by selecting the functional area 72 to 75, a selection can be made which sensor signal or which sensor signals are to be displayed in the functional area 70 used as a sensor signal track. In addition, the upper tolerance value curve 81 for the sensor signal curve 71 can be activated by selecting the functional area 76. For example, it can be provided that, with the selection of the functional area 76, an upper tolerance value curve 81 with a fixed preset distance from the sensor signal curve 71 is first calculated and displayed in the enlarged section of the functional area 80. Subsequently, the user can select the upper tolerance value curve 81 in the enlarged section of the functional area 80 and adapt the upper tolerance value curve 81 in a desired manner by dragging and / or moving. Similarly, the user can activate and then manipulate the lower tolerance value curve 82 by selecting the option area 77. It is preferably provided that the user can also select and then manipulate the sensor signal curve 71 in the functional area 70 or in the functional area 80, so as to be able to change the influence on the movement speed, the minimum acceleration, the maximum acceleration or other movement-related sensor curves 71 determined by the sensor device not shown and thus be able to influence the characteristics of the actuator 4 in a desired manner.

[0059] The further function areas 78 and 79 can be understood as a button for starting the acquisition (function mode 78) and a button for ending the acquisition (function area 79), as in a music recorder. Copies of these function areas 78, 79 can be inserted in the form of movement symbols into the function area 22 designed as a process track, in order to, for example, start the acquisition of the sensor signal curve 71 before the actuator 4 moves and end the acquisition of the sensor signal curve after the actuator 4 moves.

[0060] In an embodiment of the input device (not shown), a preferably freely movable window region is provided in which a representation of the actuator, in particular generated by simulation, is displayed in its movement position as a function of the movement sign and the movement command derived therefrom.

[0061] Additionally or alternatively, it can be provided that a camera image of the sensor device designed as an image acquisition device is respectively shown in the sensor signal track, which is associated with the motion symbol.

Claims

1. An input device for providing a motion command to at least one actuator (4), the input device having: an input interface (20), on which a plurality of motion symbols (25, 26, 27, 28, 29, 30, 31) are arranged, the plurality of motion symbols (25, 26, 27, 28, 29, 30, 31) being respectively associated with the motion command for at least one actuator (4), wherein: The input interface (20) comprises a process track (22), wherein the process track (22) is configured to arrange the copies of the motion symbols (25, 26, 27, 28, 29, 30, 31) into a motion process along an arrangement direction; and a processing device is configured to access the process track in the arrangement direction, and to determine a sequence of motion instructions according to the motion process preset by the arrangement of the motion symbols (25, 26, 27, 28, 29, 30, 31) in the process track (22), and to output the sequence of motion instructions and / or an actuator control signal sequence depending on the sequence of motion instructions; and an output interface (17) configured to provide the sequence of motion instructions and / or the sequence of actuator control signals to at least one of the actuators (4), characterized in that: A sensor signal track (70) is arranged parallel to the process track, the sensor signal track (70) being designed to display a sensor signal curve (71) of at least one sensor signal of a sensor device associated with the actuator (4) which is dependent on the sequence of the movement commands and is temporally correlated with the movement commands, The sensor signal path (70) is designed to display a comparison between a stored first sensor signal curve (71) which is dependent on the sequence of movement commands and a currently determined second sensor signal curve which is dependent on the sequence of movement commands.

2. The input device according to claim 1, characterized in that The sensor signal track (70) is designed to input and display tolerance bands (81, 82) relative to a stored first sensor signal curve (71) that is dependent on the sequence of movement commands.

3. The input device according to claim 2, characterized in that The processing device is designed to prevent the execution of a movement command if the tolerance band (81, 82) is exceeded by the currently determined second sensor signal curve that is dependent on the sequence of the movement commands.

4. The input device according to claim 1, 2 or 3, characterized in that At least one control symbol (78, 79) is arranged on the input interface (20), which is associated with a control instruction for processing at least one sensor signal that depends on the sequence of the motion instructions, and a copy of the control symbol (78, 79) is constructed to be arranged between copies of the motion symbols (25, 26, 27, 28, 29, 30, 31) in the process track, wherein the processing device is constructed to process the control instruction and to display the sensor signal curve in the sensor signal track (70).

5. The input device according to claim 4, characterized in that The control symbols (78, 79) are selected from the following group: sensor signal curve recording start, sensor signal curve recording end, first sensor signal curve and second sensor signal curve comparison start, first sensor signal curve and second sensor signal curve comparison end.

6. The input device according to any one of the preceding claims 1 to 3, characterized in that: The processing device is designed to display an enlarged detail (80) of a section of the sensor signal track (70) on the input interface (20) next to the process track (22) and / or the sensor signal track (70).

7. The input device according to any one of the preceding claims 1 to 3, characterized in that: The processing device is designed to influence the sequence of movement commands and / or actuator control signal sequences as a function of a user-defined first sensor signal curve (71) displayed in the sensor signal track (70).

8. A method for providing a motion command to at least one actuator, the method comprising the steps of: providing a plurality of motion symbols (25, 26, 27, 28, 29, 30, 31) on an input interface (20), wherein: Each of the motion symbols (25, 26, 27, 28, 29, 30, 31) is associated with at least one motion instruction for at least one actuator (4), the motion symbols (25, 26, 27, 28, 29, 30, 31) are arranged in a process track (22) to determine a motion process for at least one of the actuators (4), the motion symbols (25, 26, 27, 28, 29, 30, 31) arranged in the process track (22) are scanned by a processing device, and the processing device determines the motion instructions according to the motion symbols (25, 26, 27, 28, 29, 30, 31) ,31) providing a sequence of motion instructions according to the motion process preset in the process track (22), providing the sequence of motion instructions to at least one of the actuators (4) and / or to an analog display of at least one of the actuators (4), determining at least one sensor signal associated with the actuator (4), and displaying a sensor signal curve in a sensor signal track (70) arranged parallel to the process track (22) using a temporally predeterminable association with a motion symbol (25, 26, 27, 28, 29, 30, 31) arranged in the process track (22), In this case, a comparison of a first sensor signal curve (71) stored and dependent on the sequence of movement commands and a second sensor signal curve currently determined and dependent on the sequence of movement commands is displayed in the sensor signal track (70).

9. The method according to claim 8, characterized in that A sensor signal curve is displayed in a sensor signal track (70) arranged parallel to the process track (22) with a time-synchronous association with a motion symbol (25, 26, 27, 28, 29, 30, 31) arranged in the process track (22).

10. An actuator system (1) having an input device (2) according to any one of claims 1 to 7 and an actuator (4), wherein the actuator (4) is configured to execute a motion process according to a motion instruction, wherein the motion instruction is provided using a method according to any one of claims 8 or 9.

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