Interactive gripping system

Abstract

Gripping system with an end effector, with sensors for detecting the gripping environment, with an analysis and control unit, with a communication system provided in the end effector, wherein the gripping system is set up in such a way that workpiece identification takes place and, as a result, subsequent processes are independently initiated, their implementation is adapted and / or their correct completion, including the recorded test measurement data, is tracked, and / or that data or information is forwarded to higher-level control or information technology analysis systems.

Description

[0001] The invention relates to an interactive gripping system with cognitive capabilities and immediate, situation-appropriate user interaction. The invention also relates to a corresponding method for operating a gripping system.

[0002] Various gripping systems are known from the state of the art. In particular, gripping systems with end effectors are known. These are used as actuators at the end of a kinematic chain (e.g., as attachments on a robot) and are typically controlled for opening or closing, or for generating gripping force and workpiece handling. Control is achieved pneumatically via piston strokes or mechatronically using electric motor drive components. The drive components either have no dedicated control system or, at most, have components for directly controlling the relevant functional assemblies (e.g., valves, motors).

[0003] In general, known gripping systems are purely actuators. Integrated or attached sensors are used at most for distance measurement, gripping position, or end-of-stroke detection. The grippers are typically used in a protected work area separated from the operator. Safety precautions are generally not directly integrated into the end effector.

[0004] There is no independent system adaptation of the gripping system to the tasks to be performed.

[0005] There are also newer approaches: A new generation of grippers is entering production halls. These functionally safe gripping systems are designed for direct human-robot collaboration (HRC). HRC refers to the safe, fence-free, direct interaction between a worker (human) and a robot in shared workspaces. HRC is one of the pillars of Industry 4.0. HRC synergistically combines the strengths of humans and robots, enabling significantly more flexible automated production.

[0006] This has changed the requirements for assembly and gripping systems. These are increasingly moving away from the previously predominant application scenario of fully automated mass production, where safety was ensured by the strict separation of humans and machines. Instead, traditional industrial robotics is evolving into modern assistance and service robotics. Where full automation of production or assembly lines is too expensive or only partially feasible, it makes sense to isolate subprocesses and divide them between humans and robots. In many workplaces in future production, robots will actively support workers in their tasks and interact directly with them.

[0007] This change and the requirements of Industry 4.0 with flexible, adaptable production pose additional new challenges for future gripping, handling, and assembly assistance systems that significantly exceed the current state of the art. It is no longer sufficient to ensure controlled gripping, opening, or closing of a gripping tool via simple unidirectional interfaces.

[0008] Gripping systems including communication systems with directional information are already known from US 2011 / 0 268 546 A1, in which the information is presented in a visualization system. Direct interaction with a gripping system is provided via control levers and buttons. Additional sensors serve to prevent collisions.

[0009] The present invention is based on the task of providing gripping systems that meet these new requirements. Future gripping systems must be able to see, feel, and provide advice via decentralized control devices and sensors integrated into the gripping tool.

[0010] For this purpose, intelligent gripping systems optimized for human-robot collaboration (HRC) are proposed, in particular but not exclusively, according to patent claim 1. Further advantageous embodiments of the invention are defined in the subclaims.

[0011] Such gripping systems feature integrated sensors, analysis and control units such as local controllers and / or computer systems, and built-in sensors, particularly cameras. This enables the safeguarding of the gripping area, the evaluation of the gripping situation, and the inspection of the workpiece to be handled, e.g., geometric measurement or verification of complete and damage-free assembly.

[0012] Another advantage is that the computers, sensors and measuring systems in the gripper can transmit information to higher-level control systems (e.g. a robot controller), as well as adopting information and parameter settings obtained elsewhere.

[0013] Another advantage is that interactive, situation-specific, and needs-based information provision is possible on the gripping system, which goes far beyond the usual visualization of system states and error messages. This allows information to be provided for worker assistance in a previously unknown way.

[0014] This will be illustrated by an example according to Fig. 1. With the gripping system 10 according to Fig. 1, a workflow-accompanying visualization is presented in image and text form, or any combination of these forms (e.g., as an animated video sequence, a virtual reality representation, or an augmented reality representation) appropriate to the work process. This can, for example, be an assembly instruction or test specification, which is presented via a graphic display 11 integrated into the gripping system 10 and interactively accompanies and assists the worker during processing depending on the process or the respective work situation. The assistance is tailored to the worker's needs depending on the situation.

[0015] A key advantage is that, in keeping with the principles of Industry 4.0 and a flexible workplace and work process design, the gripping system's integrated computers and displays enable users to access needs-based information, support work processes, and monitor processes. This can also be done in various languages.

[0016] Furthermore, it is particularly advantageous that the information can be provided both from a direct process control, for example stored in a memory of the gripping system, and by utilizing other information technology systems networked with the gripping system, including a cloud implementation.

[0017] Furthermore, it is advantageous that the information can be provided in a situation-specific and step-by-step manner, and that the content presented can be derived or adapted from the evaluation of sensor data on the handling process, through direct acknowledgment by the worker (interaction) or automatically after evaluation of sensor and camera data or a combination of the same (cognition).

[0018] Another advantage is that animated video sequences are shown on a display built into the gripping system, which illustrates the work processes to be carried out to a worker in the sense of a controlled workflow and enables direct interaction during inspection and work steps.

[0019] Another advantage is that user identification and thus personalization of the system as well as access authorization are possible via the display and the integrated computer system.

[0020] Another advantage is that the display enables direct interaction with the operator, e.g., through direct touch (button push, touchscreen), but also through speech recognition, gesture control, or a combination of these or similar technologies using cognitive methods and analyses.

[0021] Another advantage is that the display can provide immediate feedback to the operator on the gripping system, including alarm and error messages, information on possible processing errors, and possibly forgotten or incorrectly performed work steps.

[0022] Another advantage is that the gripping system enables the initiation of logistics processes and the provision of materials, and this can also be supplemented by a counter-check.

[0023] Example according to the Fig. 2 to 5: Montage sequence with interactive menu navigation utilizing cognitive abilities.

[0024] In the Fig. Figure 2 shows a gripping system 10 with an end effector 12, which uses sensors 13, in particular a camera, to locate a workpiece 14 located in the vicinity of the end effector 12. The gripping system 10 informs the worker about the position of the workpiece 14 via a display 11, measures the size of the workpiece 14, identifies the workpiece 14, and initiates the provision of assembly information. The assembly information is shown on the display 11.

[0025] In the Fig. 3, the workpiece 14 is positioned by the robot using the gripping system 10, whereby the gripping system 10 checks the installation situation and asks the worker on the display 11 for a fine positioning of the workpiece 14; the worker interactively acknowledges "Understood" and moves the gripping system 10 together with the workpiece 14 to the intended position and initiates the next steps.

[0026] In Fig. 4, the gripping system 10 detects the need for a screw and loads the necessary processing and inspection data, for example, from a database, an ERP system, or a cloud environment. This data is presented to the operator on the display 11. The operator acknowledges the data and initiates the next steps.

[0027] According to Fig. 5, the gripping system 10 supports the assembly process and also provides control information to the worker and the robot. At the same time, the gripping system 10 uses its integrated sensors and cameras to monitor the processing process and informs the user (via visualization on the display 11) and a higher-level control system (via cloud transfer or to ERP) about the completion of the work process.

[0028] The aforementioned object is also achieved by a method for operating a gripping system, as defined in the patent claims. Such a method is characterized in particular by the fact that the analysis and control unit provides information for worker assistance via the communication system, depending on the gripping environment detected by the sensors. Further method steps can be provided, as recited in the characterizing parts of at least one of claims 2-19.

Claims

[1] Gripping system with an end effector, with sensors for detecting the gripping environment, with an analysis and control unit, with a communication system provided in the end effector, wherein the gripping system is set up in such a way that a workpiece identification takes place and, as a result, subsequent processes are initiated independently, adapted in their implementation and / or their correct completion is tracked, including the recorded test measurement data, and / or that data or information is forwarded to higher-level control or information technology analysis systems. [2] Gripping system according to claim 1, characterized by that the analysis and control unit provides information for worker assistance via the communication system depending on the gripping environment detected by the sensors. [3] Gripping system according to claim 1 or 2, characterized bythat the communication system provides uni- or bi-directional, and / or needs- and / or situation-appropriate information for worker assistance. [4] Gripping system according to claim 1, 2 or 3, characterized by that the sensors are designed as cameras, proximity sensors and / or other sensors. [5] Gripping system according to claim 1, 2, 3 or 4, characterized by that one or more analysis and control units, in particular in the form of computers or calculators, are provided in the end effector and / or in a higher-level unit. [6] Gripping system according to one of the preceding claims, characterized by that the communication system is or includes a visualization system, a touch screen and / or an acoustic system. [7] Gripping system according to one of the preceding claims, characterized bythat the selection and provision of information is triggered by means of cognitive analysis methods using the sensors integrated in the end effector and / or sensors arranged in the working environment of the end effector or is initiated by a higher-level control system, in particular a robot controller. [8] Gripping system according to one of the preceding claims, characterized by that direct interaction between the end effector and the worker takes place via the communication system, operating elements, switches or indirectly via gesture recognition systems, voice or other acoustic controls. [9] Gripping system according to one of the preceding claims, characterized by that the possibilities for direct interaction between the end effector and the worker are designed flexibly and / or adapted to requirements via an authorization system, whereby personalized information is provided via the identification of the user. [10] Gripping system according to one of the preceding claims, characterized by that immediate and situation-appropriate information is provided via the visualization systems integrated in the system, in particular verification instructions, helpful additional information on system operation and workflow-supporting instructions on work step design. [11] Gripping system according to one of the preceding claims, characterized by that a direct exchange of information takes place between the components involved in the control of the kinematic chain of effects and networked control units, in particular the transfer of identification data, time stamp information and test results. [12] Gripping system according to one of the preceding claims, characterized bythat information is provided in a situation-appropriate manner via integrated display instruments, in particular the visualisation of messages and reports, the display of assembly, work and test information in text form, in graphic form or in any combination of these visualisation forms, in particular via technology and method approaches of augmented reality, video animations, image or video sequences. [13] Gripping system according to one of the preceding claims, characterized by that a workpiece identification takes place and resulting assistance tasks are taken over by the end effector, such as in particular the monolingual or multilingual provision of assembly, testing and processing information with an additional possible graphical visualization of the work processes, system and message states. [14] Gripping system according to one of the preceding claims, characterized bythat an information technology network or a cloud system is used to provide data and information on workpiece processing and handling at the end effector or to send it from there to other network participants. [15] Gripping system according to one of the preceding claims, characterized by that sensor data and sensor fusions from the gripper or end effector environment are recorded and analyzed in order to monitor correct process control, to check the process results and / or to support the worker interactively, in particular by providing or displaying additional information that is appropriate to the needs and situation. [16] Gripping system according to one of the preceding claims, characterized bythat sensor data and sensor fusions from the gripper or end effector environment are collected and analyzed in order to interpret the scene and to obtain the parameters for the workpiece approach, to derive the ideal gripping position, to select a suitable gripping model, and to choose the optimal selection and / or orientation of the gripper fingers. [17] Gripping system according to one of the preceding claims, characterized by that gripping system or network parameterizations are adopted from comparable application scenarios, gripping tools or process sequences and are used immediately or after further optimization, in particular using machine learning methods. [18] Gripping system according to one of the preceding claims, characterized bythat previously learned processing sequences and test results of comparable grasping situations and grasping tools are provided from a knowledge database, a knowledge network or a cloud-based service. [19] Gripping system according to one of the preceding claims, characterized by that the measurement signals from the sensors are continuously analyzed and evaluated in order to determine general operating states, states of the gripping system or process characteristics determined using statistical methods and that this status information is passed on to other electrical, electronic or information technology systems in order to optimize processes based on this and / or to diagnose the function of all systems used. [20] Method for operating a gripping system according to at least one of the preceding claims, characterized bythat the analysis and control unit provides information for worker assistance via the communication system depending on the gripping environment detected by the sensors. [21] A method according to the preceding claim, wherein the method comprises one or more further steps as recited in the characterising parts of at least one of claims 2-19.

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