Autonomous gripping tool, industrial robot arrangement and operating procedures

Abstract

Industrial robot arrangement including - an industrial robot (1) with a robot arm (3) at the distal end of which a flange (4) is arranged, - a gripping tool (5) which is attached to the flange (4), wherein - an energy storage device (9) for supplying the gripping tool (5) with electrical energy is arranged on or in the flange (4) and - the gripping tool has an interface component that allows energy from the energy storage device to be transferred to the gripping tool without contact.

Description

[0001] The present invention relates to a gripping tool for an industrial robot comprising at least one gripping device and an electrical actuator for actuating the gripping device. Furthermore, the present invention relates to an industrial robot arrangement comprising an industrial robot and such a gripping tool. The present invention also relates to a method for operating an industrial robot arrangement.

[0002] In car body manufacturing, grippers (also referred to as gripping tools in this document) are often used, attached to the flange of an industrial robot. These grippers are typically pneumatically actuated. The necessary pressure is generated at the base of the robot arm and transmitted to the flange via hoses. The typical application of these grippers is the transport of parts from one process step to the next. Consequently, many grippers are in use and are integrated into multiple work steps.

[0003] Transmitting pressure via hoses has the disadvantage that the hoses wear out quickly and the compressed air generators require a lot of maintenance. Furthermore, the robot's programming must always take hose movement into account, which is a limitation. Additionally, the energy conversion from electrical energy to compressed air energy and then to mechanical energy results in energy loss. The compressed air generators also take up space in the factory and require calibration depending on the application. Finally, controlling a system via compressed air always involves a delay, resulting in waiting time.

[0004] Document CN 215568943 U discloses an inspection pipeline robot comprising a tracked body, a control terminal, and a control center. The robot includes a gripper. A transmit / receive antenna is connected to the control terminal via a wireless Bluetooth or NFC network and to the control center via a 3G / 4G / GPRS radio network.

[0005] Furthermore, publication CN 105865790 A discloses a device and a method for measuring the flexibility of a bearing. In the measuring device, a higher-level controller is connected to a photoelectric counting sensor, a rotational speed sensor, an electric gripper, a drive mechanism, and an electric push rod. The higher-level controller is also wirelessly connected to a piezoelectric accelerometer.

[0006] Furthermore, publication WO 2021 / 150493 A1 discloses a robot system with a parallel gripper. The gripper includes a communication interface for wireless connection to various networks, such as mobile networks, radio, WiFi networks, etc.

[0007] German patent application DE 10 2010 013 923 A1 discloses a manipulator with a movable manipulator element. The manipulator element includes a drive and an energy storage device for operating the drive.

[0008] Furthermore, the publication WO 2021 / 150493 A1 describes a robot system with a gripper. The gripper has a motor that allows the gripper fingers to be moved relative to each other.

[0009] The object of the present invention is to simplify the handling of grippers in industrial robots.

[0010] According to the invention, this problem is solved by an industrial robot arrangement as defined in the independent claim. Furthermore, a corresponding operating method is also provided, as defined in the independent method claim.

[0011] Advantageous further developments of the invention result from the dependent claims.

[0012] A gripper can be provided for an industrial robot. Such a gripper can also be referred to simply as a gripper, as mentioned above, and is used, for example, in car body manufacturing for transporting parts. Typically, such a gripper is moved by an industrial robot. The gripper is usually located at the distal end of one of the robot's arms.

[0013] The gripping tool has at least one gripping device. Optionally, several such gripping devices may be provided on the gripping tool. For example, the gripping device might be a pincer-like structure with two movable clamp- or finger-like elements. When brought together, these elements are able to grasp or enclose an object. In this case, the gripping device is moved electromechanically, not pneumatically or hydraulically. Such an electrical actuator is an electromechanical transducer. The electromechanical transducer can be implemented using a piezoelectric element, an electric motor, an electromagnet, or the like. In particular, a linear motor can also be used. In any case, the resulting mechanical movement is used to actuate the gripping device.In this process, one or more movable gripping elements of the gripping device are moved by the electric actuator, and a gripping movement is performed.

[0014] In an example not claimed here, the gripping tool is equipped with an energy storage device to supply the actuator with electrical energy. This means that the gripping tool has, for example, a housing in or on which the energy storage device is located. The energy storage device is required to supply the gripping tool's actuator with electrical energy, which the actuator then converts into mechanical energy. Because the energy storage device is integrated directly into or on the gripping tool, the gripping tool is self-sufficient with regard to its energy supply. Consequently, no electrical cables are necessary to transfer electrical energy from an external unit (e.g., an industrial robot) to the gripping tool. Since such cables are unnecessary, they do not need to be connected between the units during tool changes, and they do not restrict the gripping tool's movement.Specifically, no complex programming is required, which would otherwise have to account for the movement of the cables when the gripping tool is moved. Overall, this makes the gripping tool easier to handle.

[0015] In one embodiment, the gripping tool is provided with a communication interface for wireless data communication. Via such a wireless communication interface, the gripping tool can receive and send data without the need for a data cable. This offers the same advantages as the elimination of power cables, as mentioned above. The gripping tool can thus be addressed wirelessly by a control device directly via the communication interface. Such a communication interface can be based on various communication technologies such as Bluetooth, WiFi, 3G, 4G, 5G, and the like. Overall, the wireless communication interface increases the gripping tool's ease of use and maneuverability.

[0016] In another embodiment, the energy storage device can be a capacitor or a battery. This energy storage device serves as the primary energy source for the gripping tool. If the energy storage device is implemented as a capacitor, it can be charged and discharged very quickly. This is because the charge in a capacitor can usually be stored and made available without chemical processes. However, the energy capacity of a capacitor is correspondingly limited. In contrast, energy in a battery is stored and released through electrochemical processes. This results in longer charging and discharging times. Therefore, energy can be provided over longer periods using a battery. Depending on the dynamic requirements, a capacitor, a battery, or even both can be incorporated into the gripping tool.

[0017] An industrial robot arrangement (not claimed here) is provided, comprising an industrial robot and a gripper. The industrial robot has a robot arm with a flange at its distal end. The free end of the robot arm thus has a mechanical interface, referred to as the flange. A gripper, as described above, is attached to the flange. The gripper has a corresponding mechanical interface component to which it is connected. The interface component and the flange are therefore compatible. The mechanical connection between the gripper and the flange can optionally be a screw connection, a plug connection, a positive locking mechanism, or the like. The industrial robot can, in particular, have a robot arm with multiple degrees of freedom. This allows the industrial robot to move the gripper into different spatial positions.

[0018] In one embodiment of the industrial robot arrangement according to the invention, it may be provided that this arrangement also includes an industrial robot with a robot arm, at the distal end of which a flange is arranged. A gripper is also attached to the flange. In this case, however, the gripper does not have an energy storage device as the primary energy supplier for the actuator and / or signal processing. Instead, an energy storage device for supplying the gripper with electrical energy is arranged on or in the flange. This means that the energy required for the actuator and / or signal processing of the gripper is transferred from the flange to the gripper. However, even here, the energy is not transferred over long distances, but only via the interface between the distal end of the robot arm and the gripper, i.e., from the flange to the gripper.This means that the robot arm does not need to have power lines installed inside or outside along its entire length.

[0019] In this case, the flange has its own energy storage device, which can be integrated into or attached to it. This has the advantage, for example, that the industrial robot can reach a remote charging station with its arm, where the energy storage device can be recharged. Another advantage of this arrangement of the energy storage device in or on the flange is that not every gripper needs to have its own integrated energy storage device.

[0020] Energy transfer from the flange to the gripper can be wireless or via galvanic contacts. In the case of galvanic contacts (not applicable here), the interface between the end of the robot arm and the gripper, comprising the flange and the gripper's interface component, must be electromechanical. This means it has both mechanical and electrical functions. Alternatively, if energy is transferred wirelessly between the flange and the gripper, an inductive or capacitive transmission method, for example, must be used. This also increases the flexibility in the design and use of the industrial robot assembly.

[0021] Furthermore, the industrial robot arrangement can include a control device for controlling the gripper, which is designed for wireless communication with the gripper. In this case, a control device is located outside the gripper, controlling it via wireless communication. For this to work, not only the control device but also the gripper requires a corresponding wireless communication interface. This, in turn, eliminates the need for signal lines for the control system, thus simplifying the handling of the gripper.

[0022] In another embodiment, a wireless network and / or a private mobile network, particularly based on 5G technology, is used for wireless communication. Such a wireless network can be a private company network or a public network. Mobile networks are advantageous due to their high reliability. 5G technology offers the particular advantage of low latency.

[0023] In another embodiment, the industrial robot can be configured to recharge the energy storage device (as needed) at a predetermined charging point. The energy storage device, which is located either in the industrial robot's flange or directly in the gripper itself, must be recharged after it has discharged its electrical energy. Therefore, the industrial robot can be configured to detect the energy content of the energy storage device directly or indirectly. For example, the industrial robot can determine the voltage of the energy storage device. If necessary, the industrial robot measures the voltage of the energy storage device in the flange. Alternatively, the industrial robot can also receive a voltage reading from the energy storage device of the gripper itself.Alternatively, the voltage value of the gripper's energy storage device can be wirelessly transmitted to a central control unit, which then controls the industrial robot accordingly to recharge the energy storage device at the designated charging point. In any case, the industrial robot automatically ensures that the energy storage device is sufficiently charged for the respective application.

[0024] According to the present invention, a method for operating an industrial robot arrangement as described above can also be provided. In this case, the industrial robot arrangement is part of a plant or factory system, wherein the plant or factory system has a central control device. The gripper is then controlled directly by the central control device. This has the advantage that the gripper can be integrated into a specific plant cycle or company cycle. Optionally, the gripper can be controlled in real time, i.e., the gripper's reaction time occurs within a predetermined timeframe. In particular, the gripper can be controlled wirelessly by the control device. In this case, for example, a radio interface is again available for the central control.

[0025] In another preferred embodiment, the gripping tool is controlled via a cloud. In particular, a so-called edge cloud can be used for control, enabling low latency and thus potentially real-time control.

[0026] For use cases or application situations that may arise during the procedure and are not explicitly described here, it may be provided that, according to the procedure, an error message and / or a request for user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0027] The invention also includes the control device for the industrial robot arrangement, the plant, or the company system. The control device can comprise a data processing device or a processor unit configured to carry out an embodiment of the method according to the invention. For this purpose, the processor unit can comprise at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). Furthermore, the processor unit can comprise program code configured to carry out the embodiment of the method according to the invention when executed by the processor unit. The program code can be stored in a data memory of the processor unit. A processor circuit of the processor unit can, for example, comprise at least one circuit board and / or at least one SoC (System on Chip).

[0028] The invention also includes further developments of the method according to the invention, which have features already described in connection with the further developments of the gripping tool or the industrial robot arrangement according to the invention. For this reason, the corresponding further developments of the method according to the invention are not described again here.

[0029] As a further solution, the invention also includes a computer-readable storage medium comprising instructions that, when executed by a computer or a computer network, cause it to execute an embodiment of the method according to the invention. The storage medium can, for example, be configured at least partially as a non-volatile data storage medium (e.g., as flash memory and / or as an SSD - solid state drive) and / or at least partially as a volatile data storage medium (e.g., as RAM - random access memory). The storage medium can also be operated, for example, as an app store server on the internet. The computer or computer network can provide a processor circuit with at least one microprocessor. The instructions can be provided as binary code or assembly language and / or as source code in a programming language (e.g., C).

[0030] The invention also includes combinations of the features of the described embodiments. The invention therefore also includes realizations that each exhibit a combination of the features of several of the described embodiments, provided that the embodiments have not been described as mutually exclusive.

[0031] The following are exemplary embodiments of the invention described. This is illustrated by: Fig. 1 schematically an embodiment of an industrial robot with a gripping tool according to the invention; and Fig. 2 A schematic representation of a further embodiment of a gripping tool according to the invention in an enlarged view.

[0032] The exemplary embodiments described below are preferred embodiments of the invention. In these exemplary embodiments, the described components each represent individual features of the invention, which can be considered independently of one another and each further develops the invention independently. Therefore, the disclosure is intended to include combinations of features of the embodiments other than those shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0033] In the figures, identical reference symbols denote functionally equivalent elements.

[0034] Overall, the examples demonstrate how a gripping tool or an industrial robot arrangement can be provided. Furthermore, the examples relate to a corresponding procedure for operating an industrial robot arrangement.

[0035] The concept of the invention is based on the idea of ​​replacing pneumatically controlled grippers, particularly in car body manufacturing. The primary focus is on energy savings and increased ease of use of the grippers or gripping tools. For example, using an energy storage device in the flange of an industrial robot arm to attach the gripping tool would eliminate the need for electrical cables. Furthermore, control via wireless networks, such as 5G, from a cloud application would further eliminate the need for data cables. Typical industrial communication standards, such as Profinet, Modbus, or OPC UA, can be used to transmit the control commands.

[0036] Electric gripping tools (also called electric clamps) are therefore provided instead of pneumatic gripping tools (also called pneumatic clamps). The use of electric grippers has the advantage of fewer breakdowns due to hose ruptures and lower energy consumption due to higher overall efficiency. Lower energy consumption is in line with global sustainability strategies.

[0037] One option is to store electrical energy in capacitors or battery packs on or within the flange of an industrial robot arm or similar device. The energy is then transferred to the gripper either galvanically or wirelessly. The energy storage device(s) are recharged at a ground station after one or more work steps, if necessary.

[0038] This variant, where the energy storage device is located in the flange of the robot arm or robot element, has the advantage that no electrical connection is required between the flange and the robot base. Charging and discharging the energy storage device (e.g., a capacitor) can occur within a very short time (e.g., one second or less), and wear, especially on capacitors, is minimal. Furthermore, electromagnetic grippers, which require a power supply for their electromagnets, can also be used. This opens up the possibility of using multiple grippers with a single robot arm to perform different tasks.

[0039] Furthermore, it may be possible to control the gripper or gripping tool via a wireless network. In this case, the use of private mobile networks is recommended, as these can guarantee low latency and high reliability. This eliminates the need for a wired communication connection (e.g., via Ethernet cable) between the robot base and the flange. This results in fewer cable breaks, lower acquisition costs, and reduced maintenance of the connections.

[0040] In a specific implementation, the control of one or more grippers can be integrated into the factory control system or (decentrally) into the plant control system. When using mobile networks, e.g., based on the 5G mobile standard, this control can be achieved via a function within the network core or a cloud function. Using an edge cloud is recommended to guarantee low latency.

[0041] Centralized factory control or decentralized plant control offers several options for monitoring and controlling production. The end positions of grippers and robot arms can be queried in real time. This enables more efficient production and reduces cycle times. The data can be accessed throughout the entire factory for analysis and real-time evaluation. The use of 5G networks offers the advantage of low latency and high reliability.

[0042] Fig. Figure 1 shows a concrete example of an industrial robot arrangement. The industrial robot arrangement comprises an industrial robot 1 with a robot base 2 and a robot arm 3. At the distal end of the robot arm 3, i.e., opposite the robot base 2, there is a flange 4. A gripper or gripping tool 5 is located on the flange 4. The gripping tool 5 has, for example, a gripper base or a gripper housing 6, on which one or more movable gripper elements 7 are arranged. The gripper element(s) 7 can move relative to the gripper base or gripper housing 6. The movement is controlled by an electric actuator 8 (see Figure 1). Fig. 2) initiated. The electric actuator 8 converts electrical energy into mechanical energy to move the gripping elements 7.

[0043] The gripper, for example, has its own energy storage device 9 as the main energy source for the electrical actuator 8. Other components of the gripper 5, such as a signal processing unit (not shown), may also be supplied with electrical energy from the energy storage device 9. The gripper 5 thus has its own energy supply and is energy-independent of the industrial robot 1 or any other base to which the gripper 5 is attached.

[0044] The gripper 5 can be detachably attached to the flange 4. Since the gripper 5 has its own power supply, i.e., the integrated energy storage device 9, the flange 4 can be a purely mechanical interface component. Likewise, no energy transfer interface is required in the flange 4 to transfer energy from the robot arm 3 to the gripper 5.

[0045] The gripper 5 also has an interface component (not shown) with which it is (removably) attached to the flange 4. The entire interface consisting of both interface components can be purely mechanical or electromechanical in nature. This means that it either serves only for the mechanical attachment of the gripper 5 to the robot arm 3 or another base, or that it has additional contacts or transmission means for electrical power transmission or data transmission. In the example of Fig. 1. It can be purely mechanical in nature, since the gripping tool 5 has its own power supply via the energy storage device 9. Furthermore, the gripping tool 5 also has a communication device 10, for example, for wireless communication with an external control device 11. This allows the gripping tool 5 to wirelessly receive control commands directly from the control device 11 and, if necessary, send data back. The control device 11 can be a central company control system or a decentralized plant control system.

[0046] The gripping tool 5 can further comprise a signal processing unit (not shown) that is connected to the communication unit 10, the energy storage device 9, and the electrical actuator 8. Thus, control commands, for example, from the external control device 11, can be implemented in the actuator 8 when they are received by the communication unit 10 and processed accordingly for the actuator 8 in the signal processing unit. This implementation, which may represent a gripping movement of the gripping tool 5, is therefore completely independent of the industrial robot 1, since the gripping tool 5 has both its own energy storage device 9 and its own communication interface or communication unit 10 for control.

[0047] Fig. Figure 2 shows an alternative embodiment of a gripping tool or an industrial robot arrangement according to the invention. As in the entire document, the term "industrial robot" can be understood to mean any system component capable of moving the gripping tool 5 between different positions. These positions can also be purely relative positions with respect to other system components. For example, the gripping tool 5 can also be arranged above a conveyor belt, with the belt moving relative to the gripping tool and thus the gripping tool changing its relative position with respect to the belt.

[0048] In the example of Fig. In this embodiment, the industrial robot 1 again has a robot arm 3, at the distal end of which the flange 4 is arranged. The flange 4 has an integrated energy storage device 9. The energy storage element 9 can be, for example, a capacitor, a battery, or the like, as in the example of Fig. 1.

[0049] To transfer electrical energy from the flange 4 to the gripping tool 5, an energy transfer unit 12 is required. In the simplest case, this energy transfer unit 12 is formed by contacts provided on the flange 4 and the gripping tool 5 (or its interface component). These contacts enable a direct galvanic connection between the flange 4 and the gripping tool 5. Thus, a conductive energy transfer from the flange 4 to the gripping tool 5 is ensured.

[0050] Alternatively, the energy transfer unit can also be implemented without contact, as is the case in Fig. 2 is represented symbolically. In this case, the flange 4 has a transmission component 13 and the gripping tool 5 has a corresponding receiving component 14. Wireless energy transmission 15 is possible between the transmission component 13 and the receiving component 14.

[0051] For example, wireless power transfer can be inductive. In this case, the transmitting component 13 and the receiving component 14 are each formed by an electrical coil. Wireless power transfer 15 can also occur, for example, capacitively. In this case, the transmitting component 13 and the receiving component 14 can form the electrodes of a capacitor.

[0052] To actuate the gripping tool 5, i.e., to move one or more gripping elements of the gripping tool 5, by means of the actuator 8, energy is supplied from the flange 4. Specifically, the energy from the energy storage device 9 of the flange 4 is wirelessly transmitted from the transmission component 13 to the receiving component 14 via the wireless transmission link. Upon arrival at the receiving component 14, the energy is forwarded within, for example, the gripper housing 6 to the actuator 8. In this embodiment, the industrial robot can use any gripping tool 5 that can wirelessly receive the energy from the energy storage device 9 on the flange 4 in the appropriate manner.

[0053] The above embodiments all demonstrate the advantage that, by integrating an energy storage device into a gripper 5 or in the flange 4 (i.e., in the immediate vicinity of the gripper 5), electrical cables in or on the robot arm 3 can be eliminated to provide power to the gripper 5. Similarly, data lines in the robot arm 3 can be omitted if the gripper 5 itself has its own communication device for wireless communication with an external control unit. This results in a significantly simplified design of the industrial robot assembly and more convenient handling of the gripper 5.

Claims

[1] Industrial robot arrangement comprising - an industrial robot (1) with a robot arm (3) at the distal end of which a flange (4) is arranged, - a gripping tool (5) which is attached to the flange (4), wherein - an energy storage device (9) for supplying the gripping tool (5) with electrical energy is arranged on or in the flange (4) and - the gripping tool has an interface component that allows energy from the energy storage device to be transferred to the gripping tool without contact. [2] Industrial robot arrangement according to claim 1, wherein the gripping tool (5) has a communication interface (10) for wireless data communication. [3] Industrial robot arrangement according to claim 1 or 2, wherein the energy storage device (8) comprises a capacitor or battery. [4] Industrial robot arrangement according to one of the preceding claims, comprising a control device (11) for controlling the gripping tool (5), which is designed for wireless communication with the gripping tool (5). [5] Industrial robot arrangement according to claim 4, wherein a wireless network and / or a private mobile network, in particular based on 5G technology, is used for wireless communication. [6] Industrial robot arrangement according to one of the preceding claims, wherein the industrial robot (1) is configured to recharge the energy storage device (8) as required at a predetermined charging point. [7] Method for operating an industrial robot arrangement according to one of the preceding claims, which is part of a plant or factory system, wherein the plant or factory system has a central control device (11), characterized by - Control of the gripping tool (5) directly via the central control device (11). [8] Method according to claim 7, wherein the control is carried out via a cloud.

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