Manipulator for operating swiveling functional elements of motor vehicles

Abstract

End effector of a manipulator for vehicle assembly or functional testing of vehicle components, comprising: a gripper (3) arranged at a distal end of the manipulator (1); the gripper (3) having at least two gripping surfaces (9) on at least two jaws (10) which are attached to an effector base (2) and are movable within a gripper plane (E); characterized in that the gripper (3) has an auxiliary rod (4) which is attached next to the gripper (3) in an orthogonal or parallel orientation to the gripper plane (E) and comprises an axle bolt (7); and the auxiliary rod (4) has a centrally extending auxiliary rod axis (A) and a roller (6) rotatably mounted on the axle bolt (7) about the auxiliary rod axis (A).

Description

[0001] The invention relates to an end effector of a manipulator for vehicle assembly or functional testing of vehicle components, comprising a gripper arranged at a distal end of the manipulator, wherein the gripper comprises at least two gripping surfaces on at least two jaws which are attached to an effector base and are movable within a gripper plane.

[0002] In production lines, particularly in the automotive industry, robotic arms, so-called manipulators, are frequently used as part of automation. These make it possible to carry out individual production steps quickly, precisely, and with high repeatability, to lift and install heavy components such as vehicle doors, and to check the installed components for correct fit and functionality.

[0003] Manipulators consist of several arm segments connected by motorized joints. The number of these joints and segments varies depending on the task and range of motion of the individual manipulator. In many applications, it is advantageous for the manipulator to have more joints than are necessary for the movement and orientation of the end segment in space. Depending on the specific task of the manipulator, a tool, usually referred to as an end effector, is attached to the end segment. This can be a gripper, a welding machine, a suction device, a screwdriver, or any other tool. Typically, each manipulator is thus adapted for a specific purpose: For example, one manipulator might remove a body panel and position it, while a second manipulator with a welding attachment joins the panel to the rest of the vehicle body.

[0004] One of the most versatile end effectors is a gripper, capable of performing a wide variety of tasks. Such a gripper comprises at least two jaws that can be brought together and an actuator that drives the gripper. Various designs exist, one example of which is disclosed in WO 2013 / 075245 A1. On the one hand, objects can be gripped; on the other hand, such an end effector also enables the movement of objects, the operation of buttons, the opening of vehicle doors, or the passing of components and tools. Thus, the gripper is used not only in assembly but also in the testing of installed components. For example, a gripper can be used to test the functionality of height adjustment mechanisms on vehicle seats or other hand-operated elements.

[0005] In vehicle production lines, it is a regular occurrence that the vehicle doors or trunk need to be opened by one or more manipulators. While this is technically possible with a manipulator equipped with a gripper, the movement is extremely complex: To avoid scratching the component being processed, which may already be painted, a gripper must always touch the vehicle door or trunk lid at the same point and thus perform a pivoting motion. Programming a manipulator accordingly is extremely complex, so specialized robots are used as an alternative.

[0006] Such a robot is disclosed in DE 10 346 054 A1, which includes a method for grasping a vehicle door mounted on a car body and a device for opening the vehicle door. The handling robot uses a modified device to engage a window recess located on the vehicle door. The device is mounted on the inner part of the door and has a plate that the handling robot uses as a guide to reach into the window recess without colliding with and damaging the mounted vehicle door during opening due to tolerances. The handling robot is not a conventional manipulator, but rather a robot specifically designed for opening vehicle doors. During the robot's movement, care must be taken to ensure that the vehicle door opens in a pivoting motion, so either the robot itself navigates a corresponding curve or the pivoting motion is mechanically compensated.

[0007] A similar system is disclosed in DE 10 2019 207 129 A1, which discloses a hand for a manipulator having several finger segments with rotatable holding pads. Furthermore, a pressing element is provided, designed to fix a workpiece held between the holding pads by pressing on it.

[0008] US patent 2012 / 0299322A1 discloses various designs of a gripper adaptable by means of mounting rails for a manipulator.

[0009] German patent DE 10 2011 002 180 B3 discloses a gripper for a manipulator designed for car assembly. The gripper is equipped with assembly tools that can be used to fit a tire bead over a rim.

[0010] US Patent 2010 / 0030381A1 discloses a method and a device for opening oscillating metal elements such as doors or trunk lids by means of a manipulator using the feedback of the motors present in the manipulator.

[0011] To simplify the work process, it is advantageous to minimize the number of manipulators and / or robots required on a production line. This reduces malfunctions, such as manipulator collisions, or necessary evasive maneuvers that could slow down the production process. Furthermore, it is desirable to perform both assembly and testing with as few manipulators as possible.

[0012] The object of the invention is therefore to reduce the number of manipulators and / or robots on a production line by having one or more manipulators easily take over tasks that would normally be performed by specialized robots. High reliability and the protection of the vehicle from damage, for example from collisions, must also be taken into account.

[0013] The problem is solved according to the invention in an end effector of a manipulator for vehicle assembly or functional testing of vehicle components, comprising a gripper arranged at a distal end of the manipulator, wherein the gripper has at least two gripping surfaces on at least two jaws which are attached to an effector base and are movable within a gripper plane, by the fact that the gripper has an auxiliary rod which is arranged on the gripper orthogonally or parallel to the gripper plane and comprises an axle bolt, and that the auxiliary rod has a roller rotatably mounted about an auxiliary rod axis.

[0014] The rotatably mounted roller is advantageously designed as a cone, truncated cone, cylinder, or sphere, with combinations of these shapes also being possible. In this way, the end effector according to the invention can be used in a variety of applications.

[0015] Preferably, the roller is made at least at the periphery of a rubber-like or elastic plastic or other surface-friendly material, as is also used in demanding transport or drive rollers.

[0016] Furthermore, it is advantageous if the auxiliary rod terminates with a rotating roller. Constructed in this way, the auxiliary rod can be used to press buttons or similar controls. Additionally, the roller protects the tip of the auxiliary rod, thus reducing the risk of damage should the auxiliary rod come into contact with a component due to a malfunction.

[0017] Furthermore, it can be advantageous to attach the auxiliary rod to a jaw located on the gripper. This way, the gripper retains a flat profile.

[0018] Alternatively, it is advantageous to attach the auxiliary rod to the gripper via an adapter element mounted on the effector base. This solution does not stress the gripper jaws and can transmit greater forces. An adapter element also increases flexibility in positioning the auxiliary rod on the end effector.

[0019] The adapter element extends advantageously from the effector base along the gripper in such a way that there is a gap between the jaws and the adapter element. This allows free movement of the gripper jaws and provides sufficient space to grip a workpiece.

[0020] Furthermore, it is particularly advantageous if the adapter element does not extend over the gripping surfaces, so that the gripping surfaces project beyond the adapter element. In this way, the space above and below the gripping surfaces, i.e., where objects are picked up, remains completely clear, and any impairment of the end effector's gripping function is avoided.

[0021] Generally, it is advantageous to connect the auxiliary rod to the adapter element or jaw in a detachable manner to maximize the system's flexibility. In particular, it can be beneficial to automatically pick up and put down the auxiliary rod during manipulator operation, depending on the task the manipulator is currently performing.

[0022] It is also advantageous if the auxiliary rod has a taper at its distal end. This further facilitates the operation of buttons or other controls.

[0023] Depending on the application, it can also be advantageous if the auxiliary rod or adapter element includes a force sensor that detects the forces acting on the auxiliary rod. Direct measurement of the forces acting on the auxiliary rod allows for a precise determination of the forces acting on the component being machined, thus ensuring maximum safety against damage to the component, the end effector, or the manipulator.

[0024] The task is further solved by a procedure for vehicle assembly or functional testing of vehicle components, which includes the following steps: - Providing a manipulator with an end effector on which an auxiliary rod comprising an axle bolt is arranged, which has a roller rotatably mounted about an auxiliary rod axis, - Extending the manipulator against an element to be pivoted, which can perform a pivoting movement about a pivot axis, - Aligning the auxiliary rod attached to the end effector such that the roller rotatably mounted about the auxiliary rod axis touches the element to be pivoted, and - Rotation of the element to be pivoted around the pivot axis by a linear movement of the end effector lateral to the auxiliary rod, whereby the rotatably mounted roller is in contact with the element to be pivoted at all times.

[0025] The invention will be explained in more detail below with reference to the drawings. These show: Fig. 1 a manipulator with end effector according to the invention, Fig. 2 a suitable embodiment of the end effector according to the invention, Fig. 3 a second embodiment of the end effector according to the invention, Fig. 4a-d different designs of the auxiliary staff with roller, Fig. 5a an advantageous application of a manipulator with an end effector according to the invention for lifting a suitcase lid, Fig. 5b another preferred application of a manipulator with an end effector according to the invention for actuating an adjustment lever of a car seat and Fig. 5c an enlarged detail view of the in Fig. 5b outlined cutout with the end effector according to the invention when the adjusting lever is actuated.

[0026] The Fig. Figure 1 shows a manipulator 1 for vehicle assembly or functional testing of vehicle components, equipped with the end effector according to the invention. The design of the manipulator 1, i.e., its dimensions, degrees of freedom, or shapes of its individual segments, is flexible and can be adapted to external circumstances, for example, the design and dimensions of the production line in which the manipulator 1 with the end effector according to the invention is to be used. The end effector is designed here as a gripper 3 and consists of an effector base 2 and a gripping device. It also has an auxiliary rod 4. The gripper 3 and the auxiliary rod 4 are described below with reference to Fig. 2 described in more detail.

[0027] The gripper 3 comprises at least two gripping surfaces 9 on at least two jaws 10, which are attached to the effector base 2 and with which the gripping surfaces 9 are movably guided relative to each other within a gripper plane E.

[0028] In the exemplary embodiment according to Fig. An adapter element 8 is attached to the effector base 2 next to the gripper 3, and the auxiliary rod 4 is attached to this adapter element. The auxiliary rod 4 can be permanently or detachably attached to the adapter element 8. In principle, a one-piece assembly is also possible.

[0029] The auxiliary rod 4 has a centrally located auxiliary rod axis A, which is aligned orthogonally to the gripper plane E. The auxiliary rod 4 is composed of an axle bolt 7, a roller 6 mounted around the auxiliary rod axis A, and an end piece 5. The end piece 5 is screwed or clamped to the axle bolt 7 and rotatably attaches the roller 6 to it. Ideally, the end piece 5 is rubberized or made of a similarly gentle material, or fitted with a suitable cap. In this way, the auxiliary rod 4 can be used to operate buttons or other control elements, particularly if this results in the auxiliary rod 4 having a taper at its distal end, the end furthest from the gripper 3.

[0030] Alternatively, the roller 6 can be rotatably mounted directly on the end piece 5, while the latter can be rigidly connected to the axle bolt 7. In addition to a notch provided on the roller 6, this arrangement allows the auxiliary rod 4 to be flush with the roller 6, so that the entire tip of the auxiliary rod 4 is enclosed, thus preventing damage to the vehicle parts being processed or moved as effectively as possible. Other shapes of the rotatably mounted roller 6 can also be integrated in this way, such as a cone, truncated cone, cylinder, sphere, or composites thereof. This allows for adaptation to the specific requirements of each task.

[0031] In this embodiment, the adapter element 8 extends from the effector base 2 along the gripper 3, with a clearance between the jaws 10 and the adapter element 8. The fundamental difficulty in attaching additional elements to a gripper 3 lies in ensuring that the gripper's function is not impaired. Therefore, the adapter element 8 should also not extend over the gripping surfaces 9, as is the case in this embodiment. Fig. 2 is implemented. The gripping surfaces 9 extend beyond the adapter element 8 and can thus operate without restriction.

[0032] The end effector here has a force sensor 11, which can detect forces acting on the auxiliary rod 4. As shown, this sensor can be located directly on the auxiliary rod 4, but it can also be integrated into the adapter element 8 or the effector base 2. The force sensor 11 allows forces acting on the auxiliary rod 4 to be measured directly. The control of the manipulator 1 can thus be adjusted if excessive forces act on the auxiliary rod 4, indicating either damage to the workpiece being examined and / or assembled, or a disruption in the operating process.

[0033] The Fig. Figure 3 shows an alternative way to attach the auxiliary rod 4 directly to the gripper 3. In this case, the auxiliary rod 4, which has the same structure (as in Figure 3), is used. Fig. 2) consisting of end piece 5, roller 6 and axle bolt 7 and optional force sensor 11, attached laterally to one of the two gripping surfaces 9. In principle, the auxiliary rod 4 can be attached arbitrarily to either of the jaws 10 in the area of ​​the gripping surfaces 9. The auxiliary rod axis A lies in the gripper plane E or a plane parallel to it, so that the auxiliary rod 4 does not excessively enlarge the gripper 3 or restrict its operating range.

[0034] The Fig. Figures 4a-d show different embodiments of the auxiliary rod 4 as it can be used in practice. All four illustrations have in common that the auxiliary rod 4 terminates with the roller 6 and the end piece 5 is concealed by the roller 6. However, the concealed end piece 5 is not strictly necessary, but is only advantageous if a free end piece 5 of the auxiliary rod 4 is to be used to prevent damage to the moving parts. The variations in the Fig. Figures 4a to 4d show the various shapes described above that are possible for the design of the roller 6. Combinations of the drawn design shapes of the roller 6 are also possible. In particular, the conical shape in combination with the cylinder or the sphere is useful when opening a door or flap with a small initial opening angle requires the auxiliary rod 4 with its concealed end piece 5 to be "threaded" into place.

[0035] Fig. Figure 5a shows the end effector according to the invention together with a manipulator 1, as it opens a trunk lid 12. A vehicle door, a lever, or any other pivoting element can be moved in the same way. A pivoting element has a movable lateral bearing so that it can perform a pivoting movement (i.e., an angle-limited rotational movement).

[0036] The following section explains how to open the trunk lid 12, as is regularly necessary during vehicle assembly or functional testing of vehicle components. In principle, however, this procedure can be applied to any element that can pivot about a pivot axis S.

[0037] First, the manipulator 1 moves towards the trunk lid 12 and aligns the auxiliary rod 4 located on the end effector such that the rotatably mounted roller 6 touches the trunk lid 12 on an inner surface that should be free of cracks or other discontinuities. To open the trunk lid 12, the manipulator 1 performs a lateral linear movement C of the end effector relative to the auxiliary rod 4, thus lifting the trunk lid 12. Depending on the shape and size of the trunk lid 12, as well as the size of its opening angle, a combination of several linear movements C may be necessary for opening. In any case, the linear movement(s) significantly simplify the programming of the manipulator 1. The roller 6 of the auxiliary rod 4 touches the trunk lid 12 at all times during the opening process, but during the linear movement C, a point of contact (or...) moves.a line), where the roller 6 is in contact with the trunk lid 12, continuously along the trunk lid 12 by rotating the roller 6 around the auxiliary rod axis A during the movement and rolling along the trunk lid 12.

[0038] The Fig. Figure 5b shows the manipulator 1 according to the invention during the testing of a vehicle seat 13. To test the adjustability of the vehicle seat 13 for functionality, the gripper 3 with auxiliary rod 4 according to the invention can also be used. The manipulator 1 guides the auxiliary rod 4 of the gripper 3 towards a seat lever 14, so that it moves with the lever over the roller 6, as shown in the detail in Figure 5b. Fig. 5b enlarged in Fig.As shown in Figure 5c, the seat lever 14 comes into contact with the pivoting element S. This element can be pivoted about the pivot axis S and can be raised and rotated about its pivot axis S by means of a linear movement C (e.g., vertical). This pivoting movement triggers an adjustment function of the vehicle seat 13, such as a height adjustment or an adjustment of the backrest, which can then be carried out and tested.

[0039] These two applications are exemplary of a multitude of other uses. For example, a gripper 3 equipped with an auxiliary rod 4 can be used to open vehicle doors, including operating the opening lever inside the vehicle, or to move scratch-sensitive components. In the latter case, the roller 6 protects the scratch-sensitive components from damage. Reference symbol list 1 Manipulator 2 Effector base 3 grippers (end effector) 4 Auxiliary staff 5 End piece 6 rolls 7 axle bolts 8 adapter element 9 Gripping surface 10 cheek 11 Force sensor 12 Trunk lid 13 vehicle seats 14 seat levers E gripper level A auxiliary rod axis C Linear motion S swivel axis

Claims

[1] End effector of a manipulator for vehicle assembly or functional testing of vehicle components, comprising - a gripper (3) arranged at a distal end of the manipulator (1), - wherein the gripper (3) has at least two gripping surfaces (9) on at least two jaws (10) which are attached to an effector base (2) and are movable within a gripper plane (E), characterized by , that - the gripper (3) has an auxiliary rod (4) which is attached next to the gripper (3) in an orthogonal or parallel orientation to the gripper plane (E) and includes an axle bolt (7), and - the auxiliary rod (4) has a centrally extending auxiliary rod axis (A) and a roller (6) rotatably mounted on the axle bolt (7) about the auxiliary rod axis (A). [2] End effector according to claim 1, characterized by , that the rotatably mounted roller (6) is designed as a cone, truncated cone, cylinder or sphere. [3] End effector according to one of claims 1 or 2, characterized by , that the auxiliary rod (4) terminates with the rotatably mounted roller (6). [4] End effector according to any one of claims 1 to 3, characterized by , that the auxiliary rod (4) is attached to a jaw (10) located on the gripper (3). [5] End effector according to any one of claims 1 to 3, characterized by , that the auxiliary rod (4) is attached to the gripper (3) via an adapter element (8) attached to the effector base (2). [6] End effector according to one of claim 5, characterized by , that the adapter element (8) extends from the effector base (2) along the gripper (3) such that there is a free space between the jaws (10) and the adapter element (8). [7] End effector according to one of claims 5 or 6, characterized by , that the adapter element (8) ends in front of the gripping surfaces (9), so that the gripping surfaces (9) extend beyond the adapter element (8). [8] End effector according to any one of claims 1 to 7, characterized by , that the auxiliary rod (4) is detachably connected to the adapter element (8) or the jaw (10). [9] End effector according to any one of claims 1 to 8, characterized by , that the auxiliary rod (4) has a taper at its distal end. [10] Methods for vehicle assembly or functional testing of vehicle components, comprising the steps: - Providing a manipulator (1) with an end effector to which an auxiliary rod (4) comprising an axle bolt (7) is attached next to the gripper (3), which has a roller (6) rotatably mounted about an auxiliary rod axis (A), - Extension of the manipulator (1) against an element (12, 14) to be pivoted, which can perform a pivoting movement about a pivot axis (S), - Aligning the auxiliary rod (4) attached to the end effector (3) such that the roller (6) rotatably mounted about the auxiliary rod axis (A) touches the element (12, 14) to be pivoted, and - Rotation of the element to be pivoted (12, 14) about the pivot axis (S) by a linear movement (C) of the end effector (3) lateral to the auxiliary rod (4), wherein the rotatably mounted roller (6) has contact with the element to be pivoted (12, 14) at all times.

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