Automated handling system and method for operating an automated handling system

Abstract

The invention relates to an automated handling system, comprising a robot arm (2) with a plurality of links (3) and a plurality of joints (4) which connect the links (3) in a mutually adjustable manner, wherein a proximal end link of the robot arm (2) forms a base frame (3a) by means of which the robot arm (2) is fixed or mounted with respect to a foundation (5), and a distal end link of the robot arm (2) has a connecting flange (3b) to which a load body (6) to be moved by the robot arm (2) is fastened, a gravity compensation device (7) separate from the robot arm (2) with a base support (8) by means of which the gravity compensation device (7) is fixed or mounted on a building structure (9) arranged in a fixed position with respect to the foundation (5), with a boom (10) mounted on the base support (8) and a support means (11) coupled to the boom (10) for the Load body (6) which has a connecting member (12),which is connected to a member (3) of the robot arm (2) or directly to the load body (6), wherein the gravity compensation device (7) comprises at least one magnetic spring (13) arranged between the support means (11) and the boom (10). The invention also relates to a method for operating an automated handling system (1).

Description

[0001] The invention relates to an automated handling system comprising a robot arm with several links and several joints which connect the links adjustably relative to one another, wherein a proximal end link of the robot arm forms a base frame by which the robot arm is fixed or supported with respect to a foundation, and a distal end link of the robot arm has a connecting flange to which a load body to be moved by the robot arm is attached, a gravity compensation device separate from the robot arm with a base support by which the gravity compensation device is fixed or supported on a structure arranged in a fixed position with respect to the foundation, with a boom mounted on the base support and a support element coupled to the boom for the load body, which has a connecting element that is connected to a link of the robot arm or directly to the load body.The invention also relates to a method for operating an automated handling system.

[0002] EP 2 508 308 B1 describes an automated handling system comprising a gravity compensation device for a load body, which is provided with a connecting element on the load side, a load body holding device, and a robot for the automated movement of the gravity-compensated load body, the robot having an end effector flange, wherein the connecting element of the gravity compensation device is connected to a robot member, in particular to the end effector flange forming a distal robot end member, by means of a joint coupling, wherein the joint coupling has a connecting element rotatably connected to the robot member, which has a ring body rotatably mounted on the robot member about a first axis of rotation, which is rotatably mounted on a partially annular and / or U-shaped holding element by means of two opposing rotary joints lying on a common second axis of rotation.which in turn is rotatable about a third axis of rotation and connected to the connecting element of the gravity compensation device.

[0003] The object of the invention is to create an automated handling system and a method for operating an automated handling system in which a load body can be positioned with particular precision by an automatically controlled robot arm.

[0004] The task is solved by an automated handling system, comprising: - a robot arm with multiple segments and multiple joints which connect the segments adjustable to one another, wherein a proximal end segment of the robot arm forms a base frame by which the robot arm is fixed or supported with respect to a foundation, and a distal end segment of the robot arm has a connecting flange to which a load body to be moved by the robot arm is attached, - a gravity compensation device separate from the robot arm, comprising a base support by which the gravity compensation device is fixed or mounted on a structure fixed in relation to the foundation, a boom mounted on the base support, and a load-bearing element coupled to the boom for the load body, which has a connecting element that is connected to a member of the robot arm or directly to the load body, wherein the gravity compensation device has at least one magnetic spring arranged between the load-bearing element and the boom.

[0005] In gravity compensation devices known from the prior art, a rope is typically guided as a support element over pulleys that are rotatably mounted on a support arm of the gravity compensation device. The rope merely acts as a deflection element, leading to a compensating mechanism of the gravity compensation device. This compensating mechanism is generally formed by mechanical springs or by hydraulic or pneumatic springs. A disadvantage of the known compensating mechanisms, however, is that they each exhibit an increasing, and in particular a linearly increasing, displacement-force characteristic. This means that, depending on the extension length of the spring, a greater or lesser force acts, corresponding to the displacement-force characteristic. If the spring is extended relatively far, the extended spring causes a correspondingly greater retraction force.If, on the other hand, the spring is extended less far, the less extended spring also results in a correspondingly smaller retraction force.

[0006] When a robot arm moves a load body with gravity compensation using such a known gravity compensation device, the gravity-compensating pulling force of the device varies at different positions of the load body in space. This means that constant gravity compensation cannot occur, and thus the load body is compensated to varying degrees with respect to its gravity at its different positions in space. Specifically, when the automatically adjusting robot arm raises or lowers the load body, the pulling force with which the gravity compensation device acts on the load body changes. For example, if the load body is lowered by a movement of the robot arm, the mechanical spring or the hydraulic system is compressed.The pneumatic spring of the known gravity compensation device is extended, leading to an increase in the pulling force of the gravity compensation device. This results in the weight of the load being overcompensated, causing the load to be pulled upwards. However, if the load is lifted by a movement of the robot arm, the mechanical spring, or the hydraulic or pneumatic spring of the known gravity compensation device, is compressed, leading to a reduction in the pulling force of the gravity compensation device. Consequently, the weight of the load is no longer fully compensated, and the load would descend due to the uncompensated components of the weight force.In order for the load to still assume its desired position, the robot arm must ultimately absorb the portions of the weight force that are not compensated for or are overcompensated by the gravity compensation device. Such changes in the uncompensated or overcompensated weight force on the load act on the robot arm, which is automatically controlled by a control device, like an external force that pushes or pulls on the robot arm depending on the direction of the force. Such disruptive forces can negatively affect the positioning accuracy of the robot arm.

[0007] To prevent such disruptive forces from arising in the first place, the invention proposes that the gravity compensation device include at least one magnetic spring arranged between the lifting element and the boom. Accordingly, the mechanical springs or hydraulic or pneumatic springs known from the prior art are to be replaced by magnetic springs.

[0008] Magnetic springs exhibit a constant displacement-force characteristic within their operating range. This means that, regardless of the extended length of the magnetic spring, a constant force corresponding to this constant displacement-force characteristic is always exerted. When the magnetic spring is extended relatively far, it produces the same retraction force as when it is extended less. Thus, the magnetic spring exerts a constant retraction force regardless of its current extension length.

[0009] When a load is moved by a robot arm using a gravity compensation device according to the invention, the gravity-compensating pulling force of the device remains constant at different positions of the load in space. This ensures consistent gravity compensation, meaning the load is always compensated for gravity in the same way at its various positions. Specifically, when the automatically adjusting robot arm raises or lowers the load, the pulling force exerted by the gravity compensation device according to the invention does not change. For example, if the load is lowered by a movement of the robot arm, the magnetic spring is extended, but this does not result in an increase in the pulling force of the gravity compensation device according to the invention.This ensures that the weight of the load is always correctly compensated, and the load remains suspended, for example. Conversely, if the load is lifted by a movement of the robot arm, the magnetic spring contracts, which also does not result in any change in the tensile force of the gravity compensation device according to the invention. Consequently, the weight of the load is always compensated uniformly, and in particular completely, and the load would not rise or fall differently at different positions in space due to uncompensated weight components. As a result, the robot arm does not have to absorb any weight components uncompensated by the gravity compensation device that would change depending on the position of the load.No unplanned external forces act on the robot arm, which is automatically controlled by a control device, and which would push or pull on the robot arm in different ways depending on the direction of the force. Such variable disruptive forces can thus be prevented by using magnetic springs, which improves the positioning accuracy of the robot arm.

[0010] The robot arm can be moved automatically by a control device, in particular a robot controller. For this purpose, the control device can, for example, control electric drives connected to the joints of the robot arm in order to adjust them automatically, so that the limbs of the robot arm move accordingly and the robot arm assumes a desired pose, also referred to as joint configuration, in which the load being moved by the robot arm occupies a specific position and orientation in space.

[0011] The gravity compensation device is connected directly or indirectly to the load body. For this purpose, the gravity compensation device comprises a support element that engages either a link of the robot arm, in particular a connecting flange of the robot arm or a link immediately upstream of the connecting flange in the kinematic chain of several links and joints of the robot arm, or the load body itself. The support element may include fastening elements that are connected to a link of the robot arm or to the load body itself. The fastening element, in turn, may be connected, for example, to a coupling element, such as a cable or rod, which is connected to the magnetic spring of the gravity compensation device. The support element can thus comprise both the coupling element and the fastening element.

[0012] The robot arm can have a base frame at its distal end, which is attached to a floor as a foundation. Alternatively, the robot arm can be mounted on a carriage of a linear axis, allowing the entire robot arm to be adjusted automatically. In such a case, the robot arm is still supported by a floor as a foundation. The robot arm can also be attached to or supported by a vertical wall or ceiling of a room.

[0013] Similarly, the gravity compensation device is attached to or mounted on a building structure. This building structure can be a vertical wall or the ceiling of a room. Alternatively, the gravity compensation device can also be mounted on a floor, for example, if it is mounted on a support column that is fixed to the floor.

[0014] By having at least one magnetic spring arranged between the lifting element and the boom in the gravity compensation device, an automated handling system and a method for operating an automated handling system are created in which a load body can be positioned with particular precision by an automatically controlled robot arm.

[0015] In all embodiments, the gravity compensation device can be moved passively, and in particular without its own drive, solely due to an active movement of the robot and / or the load body. The gravity compensation device therefore does not need its own drives, but can be designed as a predominantly or exclusively mechanical joint arrangement. In one exemplary embodiment, the gravity compensation device can be formed by a mechanical articulated boom with two degrees of freedom, the end of which can be freely adjusted within a horizontal plane.

[0016] In one embodiment, the gravity compensation device can compensate exclusively for the gravitational force caused by the mass of the load. The gravity compensation device can be configured to completely compensate for the gravitational force caused by the mass of the load. Alternatively, the gravity compensation device can be configured to only partially compensate for the gravitational force caused by the mass of the load.

[0017] In this case, the robot must still exert a certain amount of lifting force, for example, to lift the load-holding device and / or the end-effector flange, and / or due to the additional moments that arise when the load is tilted about the horizontal axes. The force does not necessarily have to pass through the load's center of gravity. Furthermore, dynamic forces may or must also be absorbed, at least partially or completely.

[0018] If necessary, the gravity compensation device may even be designed to more than completely compensate for, i.e. overcompensate for, the gravity caused by the mass of the load body, if this is desired or deemed appropriate in a particular application.

[0019] In an alternative embodiment, the gravity compensation device can compensate not only for the gravity caused by the mass of the load body, but also for the gravity caused by the mass of the load body holding device and / or the mass of the end effector flange and / or one or more of the robot's links. In this way, the robot arm can also be relieved of the weight forces from the masses of the load body holding device and / or individual links, in particular the end effector flange, by the gravity compensation device.

[0020] The load body itself can be, for example, a workpiece and / or tool to be handled by the robot arm. For instance, the tool can be a gripper attached to the robot arm's mounting flange, designed and configured to grasp and move a workpiece. In this case, the load body can be formed not only by the gripped workpiece but also by the combination of the gripper and the gripped workpiece.

[0021] At least one magnetic spring can contain at least one permanent magnet.

[0022] At least one magnetic spring can contain at least one pair of permanent magnets.

[0023] Such a magnetic spring can, for example, have a tubular housing containing at least one stator permanent magnet, which is fixed within the housing. The stator permanent magnet, or several segments of stator permanent magnets, can be arranged around an inner cavity in which a rotor rod is axially adjustable. The rotor rod, in turn, can have at least one rotor permanent magnet arranged inside it. Iron-neodymium magnets, for example, can be used as stator permanent magnets and / or rotor permanent magnets.

[0024] At least one magnetic spring can have at least one electromagnet as an alternative or supplement to at least one permanent magnet.

[0025] In one embodiment, the electromagnet can be designed as a stator electromagnet that is attached in or to the housing of the magnetic spring.

[0026] One or more electromagnets can be combined with one or more permanent magnets on the magnetic spring. For example, the rotor rod can have one or more rotor permanent magnets, and the housing can have one or more stator electromagnets.

[0027] The at least one electromagnet can be controlled by a control device designed and configured to control the electromagnet in order to adjust and / or change the spring stiffness and / or stroke length of the magnetic spring.

[0028] The advantage of using electromagnets over permanent magnets is that the magnetic field strength of electromagnets can be varied. By electrically controlling the electromagnets, the magnitude of the constant force provided by the magnetic spring can be easily changed. The constant force provided by the magnetic spring thus determines its load-bearing capacity. To fully compensate for the force of gravity on a load, the load-bearing capacity of the magnetic spring must be matched to the mass of the load. Therefore, when using electromagnets, the magnetic spring can be easily adjusted to different loads of varying masses using control technology.

[0029] However, a constructive adjustment of the load-bearing capacity of the magnetic spring or a set of several magnetic springs can be achieved by appropriately selecting magnetic springs of different sizes and / or by varying the arrangement of several magnetic springs.

[0030] The gravity compensation device can have at least one first magnetic spring and at least one second magnetic spring arranged parallel to the first magnetic spring.

[0031] The load-bearing capacity can be scaled by using two or more magnetic springs. In particular, several magnetic springs of identical design and size can be combined. Due to the parallel arrangement, each magnetic spring can bear a proportion of the total load-bearing capacity corresponding to the number of magnetic springs used.

[0032] Each of the multiple magnetic springs can comprise a housing and a linearly adjustable rotor rod within the housing. The multiple housings can be mounted in parallel on a common stator support. The multiple rotor rods can be attached to a common rotor support at their distal ends. The stator support and the rotor support form the connecting bodies of the magnetic spring assembly, enabling it to be coupled between the arm of the gravity compensation device and the support element of the gravity compensation device.

[0033] The gravity compensation device can have at least one first magnetic spring and at least one second magnetic spring arranged in series with the first magnetic spring.

[0034] The stroke length can also be scaled by using two or more magnetic springs. In particular, several magnetic springs of identical design and size can be combined. Due to the serial arrangement, each magnetic spring can assume a proportion of the total stroke corresponding to the number of magnetic springs used.

[0035] Each of the multiple magnetic springs can comprise a housing and a linearly adjustable runner rod within the housing. The housing of one magnetic spring can be attached to the runner rod of another magnetic spring in a serial arrangement. To couple such a serial set of magnetic springs between the arm of the gravity compensation device and the support element of the gravity compensation device, the housing of the magnetic spring at one end of the serial set can form a first connection element, and the runner rod of the magnetic spring at the other end of the serial set can form a second connection element. The serial set of magnetic springs can then be coupled between the arm of the gravity compensation device and the support element of the gravity compensation device via these two connection elements.

[0036] The gravity compensation device may have a trolley that can be moved along the boom, on which at least one magnetic spring is arranged.

[0037] The gravity compensation device can be designed in the form of a crane. For example, the gravity compensation device can be designed in the form of a jib crane, slewing crane, gantry crane, or column slewing crane.

[0038] The gravity compensation device can have a base support, which, for example, can be attached to a building wall. A boom, extending at least substantially horizontally, can be pivotally mounted on the base support about an axis of rotation that is at least substantially vertical. The trolley can be mounted on the boom for movement. Both the pivoting of the boom about the vertical axis of rotation and the movement of the trolley along the boom can be passive; that is, in such an embodiment, the gravity compensation device has no drives. Pivoting the boom and moving the trolley along the boom can be achieved by moving the load suspended from the gravity compensation device in a horizontal plane.

[0039] The magnetic spring or magnetic spring set can be attached to a running gear or to a chassis of the trolley's running gear.

[0040] Very few magnetic springs can have a magnetic spring body on which a magnetic spring runner determining the spring travel of the magnetic spring is adjustableally mounted, wherein the magnetic spring with its magnetic spring body is arranged on the boom or trolley in such a way that the magnetic spring runner is adjustableally mounted in a vertical direction.

[0041] The magnetic spring body can be formed by the housing of a single magnetic spring or by a stator carrier as the connecting body of a set of magnetic springs.

[0042] The magnetic spring rotor can be formed by the rotor rod of a single magnetic spring or by a rotor carrier as the connecting body of a set of magnetic springs.

[0043] The magnetic spring can be arranged with its magnetic spring base body to the side of the boom and / or to the side of the trolley, so that the magnetic spring runner can be adjusted in a vertical direction past the boom or trolley.

[0044] The magnetic spring base body can accordingly be attached laterally to the trolley, so that the magnetic spring runner, in particular the runner rod or the runner carrier, can project vertically downwards laterally at a distance from the trolley and at a distance from the boom.

[0045] Alternatively, the boom can have two parallel rails on which the trolley travels, wherein the magnetic spring base body can be attached to the trolley in such a way that the magnetic spring runner, in particular the runner rod or the runner carrier, can project vertically downwards between the two rails of the boom.

[0046] The problem is also solved by a method for operating an automated handling system, in particular an automated handling system according to one of the described embodiments, wherein the method comprises the following steps: - Connecting a load body to a connecting flange of a distal end element of a robot arm, which has several elements and several joints that connect the elements adjustable to each other, - Automatic adjustment of the robot arm's joints so that the load body connected to the robot arm's mounting flange is automatically moved in space, - during the automatic movement of the load body by automatically adjusting the joints of the robot arm, at least partially or completely compensating the weight force of the load body by a constant counterforce to the weight force of the load body.

[0047] According to the invention, the method provides that the counterforce, which at least partially or completely compensates the weight of the load body, is always kept constant, especially regardless of the position of the load body in space, and in particular regardless of the vertical height of the load body in space.

[0048] This allows a method to be created for operating an automated handling system in which a load body can be positioned with particular precision by an automatically controlled robot arm.

[0049] If necessary, a gravity compensation device that can be actively moved can be used to carry out the method. This gravity compensation device can optionally have drives that generate moments such that, in every position of the load, the device provides the same constant counterforce to the weight of the load. The drives of such an active gravity compensation device can be automatically controlled by a control device.

[0050] In the case of an embodiment in which the gravity compensation device is to continue to function without drives, such a passive gravity compensation device can, as already described, have at least one magnetic spring that can provide a constant spring force over its spring travel.

[0051] A specific embodiment of the invention is explained in more detail in the following description with reference to the accompanying figures. Specific features of this exemplary embodiment, regardless of the specific context in which they are mentioned, and optionally considered individually or in further combinations, may represent general features of the invention.

[0052] They show: Fig. 1 a perspective view of an automated handling system according to the invention with a robot arm, a gravity compensation device and a magnetic spring, Fig. 2 a side view of an automated handling system according to the invention with a robot arm, a gravity compensation device and a magnetic spring according to Fig. 1 in a unique position, Fig. 3 a side view of an automated handling system according to the invention with a robot arm, a gravity compensation device and a magnetic spring according to Fig. 1, in which the robot arm is fixed to a foundation and the gravity compensation device is fixed to a building structure, such as a wall of a building, and Fig. 4 a flowchart of the steps in the basic method according to the invention.

[0053] In the Fig. Figure 1 shows an exemplary automated handling system according to the invention.

[0054] The automated handling system 1 comprises a robot arm 2 with several links 3 and several joints 4, which connect the links 3 adjustable to one another, wherein a proximal end link of the robot arm 2 forms a base frame 3a, over which the robot arm 2 is mounted with respect to a foundation 5 ( Fig. 3) is fixed or mounted, and a distal end element of the robot arm 2 has a connecting flange 3b to which a load body 6 to be moved by the robot arm 2 is attached.

[0055] The automated handling system 1 also includes a gravity compensation device 7, separate from the robot arm 2, with a base carrier 8, via which the gravity compensation device 7 is mounted on a stationary base in relation to the foundation 5 ( Fig. 3) arranged building structure 9 ( Fig. 3) is fixed or mounted, with a boom 10 mounted on the base support 8 and a lifting element 11 coupled to the boom 10 for the load body 6, which has a connecting element 12 that is connected to a link 3 of the robot arm 2 or directly to the load body 6.

[0056] In the illustrated automated handling system 1, the gravity compensation device 7 has at least one magnetic spring 13 arranged between the support means 11 and the boom 10.

[0057] The magnetic spring 13 has a housing 14 and a runner rod 15.

[0058] At least one magnetic spring 13 can have at least one permanent magnet.

[0059] Such a magnetic spring 13 can, as shown, have a tubular housing 14 in which at least one stator permanent magnet is located and fixed within the housing 14. The stator permanent magnet, or several segments of stator permanent magnets, can be arranged around an inner cavity in which a rotor rod 15 is axially adjustable. The rotor rod 15, in turn, can have at least one rotor permanent magnet arranged inside the rotor rod 15. For example, iron-neodymium magnets can be used as stator permanent magnets and / or rotor permanent magnets.

[0060] As in Fig. As shown in Figure 2, the gravity compensation device 7 can have at least one first magnetic spring 13.1 and at least one second magnetic spring 13.2 arranged parallel to the first magnetic spring 13.1.

[0061] The load-bearing capacity can be scaled by using, for example, two magnetic springs 13.1 and 13.2. In particular, several magnetic springs 13.1, 13.2 of identical design and size can be combined. Due to their parallel arrangement, each magnetic spring 13.1, 13.2 can bear a proportion of the total load-bearing capacity corresponding to the number of magnetic springs 13.1, 13.2 used; in the case of two magnetic springs 13.1, 13.2, each bears 50% of the total load-bearing capacity.

[0062] Each magnetic spring 13.1, 13.2 can comprise a housing 14.1, 14.2 and a linearly adjustable runner rod 15.1, 15.2 within the housing 14.1, 14.2. The housings 14.1, 14.2 can be mounted in parallel on a common stator support 16. The runner rods 15.1, 15.2 can be attached at their distal ends to a common runner support 17. The stator support 16 and the runner support 17 form the connecting bodies of the magnetic spring assembly, enabling it to be coupled between the arm 10 of the gravity compensation device 7 and the support element 11 of the gravity compensation device 7.

[0063] As in Fig. As shown in Figure 3, the gravity compensation device 7 can have at least one first magnetic spring 13.1 and at least one second magnetic spring 13.2, which is arranged in series with the first magnetic spring 13.1.

[0064] The stroke length can be scaled by using, for example, two magnetic springs in series. In particular, several magnetic springs 13.1 and 13.2 of identical design and size can be combined. Due to the series arrangement, each magnetic spring 13.1, 13.2 can assume a proportion of the total stroke corresponding to the number of magnetic springs 13.1, 13.2 used.

[0065] Each magnetic spring 13.1, 13.2 can comprise a housing 14.1, 14.2 and a linearly adjustable runner rod 15.1, 15.2 within the housing 14.1, 14.2. The housing 14.2 of the second magnetic spring 13.2 can be attached to the runner rod 15.1 of the first magnetic spring 13.1 in a serial arrangement. In order to couple such a serial set of magnetic springs between the boom 10 of the gravity compensation device 7 and the support element 11 of the gravity compensation device 7, the housing 14.1 of the first magnetic spring 13.1 can form a first connecting element 18.1 at one end of the serial set of magnetic springs, and the runner rod 15.2 of the second magnetic spring 13.2 can form a second connecting element 18.2 at the other end of the serial set of magnetic springs, wherein the two connecting elements 18.1, 18.2 the serial magnetic spring set is coupled between the boom 10 of the gravity compensation device 7 and the support element 11 of the gravity compensation device 7.

[0066] As particularly in Fig. As shown in Figure 1, the gravity compensation device 7 can have a trolley 19 that can be moved along the boom 10, on which at least one magnetic spring 13, 13.1, 13.2 is arranged.

[0067] In the case of a magnetic spring 13, a magnetic spring body 14a can have a magnetic spring base body 14a on which a magnetic spring runner 15a determining the spring travel of the magnetic spring 13 is adjustably mounted, wherein the magnetic spring 13 with its magnetic spring base body 14a can be attached to the trolley 19, such that the magnetic spring 13 is mounted on the boom 10 in a manner that allows movement over the trolley 19, wherein the magnetic spring runner 15a is adjustable in a vertical direction.

[0068] As also in Fig. As shown in Figure 1, the magnetic spring 13 with its magnetic spring base body 14a can be arranged to the side of the boom 10 and / or to the side of the trolley 19, so that the magnetic spring runner 15a can be adjusted in a vertical direction past the boom 10 or the trolley 19.

[0069] In the Fig. Figure 4 shows the steps in the basic method according to the invention in the form of a flowchart.

[0070] The method is designed to operate an automated handling system 1, in particular an automated handling system 1 according to one of the described embodiments.

[0071] In a first step S1 of the procedure, a load body 6 is connected to a connecting flange 3b of a distal end element of a robot arm 2, which has several links 3 and several joints 4 which connect the links 3 adjustable to each other.

[0072] In a second step S2 of the procedure, the joints 4 of the robot arm 2 are automatically adjusted so that the load body 6 connected to the connecting flange 3b of the robot arm 2 is automatically moved in space.

[0073] In a third step S3 of the procedure, during the automatic movement of the load body 6, the weight force of the load body 6 is at least partially or completely compensated by a constant counterforce to the weight force of the load body 6 by automatically adjusting the joints 4 of the robot arm 2.

[0074] According to the invention, the method provides that the counterforce, which at least partially or completely compensates the weight of the load body 6, is always kept constant, especially regardless of the position of the load body 6 in space, and in particular regardless of the vertical height of the load body 6 in space.

[0075] This creates a method for operating an automated handling system in which a load body can be positioned with particular precision by an automatically controlled robot arm.

[0076] Optionally, a gravity compensation device 7, which can be actively moved, can be used to carry out the method. The gravity compensation device 7 can optionally have drives that generate such moments on the gravity compensation device 7 that, in every position of the load body 6, the gravity compensation device 7 provides the same constant counterforce to the weight of the load body 6. For this purpose, the drives of such an active gravity compensation device 7 can be automatically controlled by a control device.

[0077] In the case of the illustrated embodiment, in which the gravity compensation device 7 does without drives, such a passive gravity compensation device 7 can, as already described, have at least one magnetic spring 13 which can provide a constant spring force over its spring travel. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] EP 2 508 308 B1

[0002]

Claims

[1] Automated handling system comprising: - a robot arm (2) with several links (3) and several joints (4) which connect the links (3) adjustably to one another, wherein a proximal end link of the robot arm (2) forms a base frame (3a) by which the robot arm (2) is fixed or supported with respect to a foundation (5), and a distal end link of the robot arm (2) has a connecting flange (3b) to which a load body (6) to be moved by the robot arm (2) is attached, - a gravity compensation device (7) separate from the robot arm (2) with a base support (8) on which the gravity compensation device (7) is fixed or supported on a structure (9) fixed in relation to the foundation (5), with a boom (10) supported on the base support (8) and a lifting element (11) coupled to the boom (10) for the load body (6), which has a connecting element (12) that is connected to a link (3) of the robot arm (2) or directly to the load body (6), characterized by that the gravity compensation device (7) has at least one magnetic spring (13) arranged between the support means (11) and the boom (10). [2] Automated handling system according to claim 1, characterized by , that at least one magnetic spring (13) has at least one permanent magnet. [3] Automated handling system according to claim 1 or 2, characterized by, that at least one magnetic spring (13) has at least one electromagnet. [4] Automated handling system according to claim 3, characterized by , that the at least one electromagnet is controlled by a control device which is designed and configured to control the electromagnet in order to adjust and / or change the spring stiffness and / or the stroke length of the magnetic spring (13). [5] Automated handling system according to any one of claims 1 to 4, characterized by , that the gravity compensation device (7) has at least one first magnetic spring (13.1) and at least one second magnetic spring (13.2) arranged parallel to the first magnetic spring (13.1). [6] Automated handling system according to any one of claims 1 to 4, characterized by, that the gravity compensation device (7) has at least one first magnetic spring (13.1) and at least one second magnetic spring (13.2) arranged in series with the first magnetic spring (13.1). [7] Automated handling system according to any one of claims 1 to 6, characterized by , that the gravity compensation device (7) has a trolley (19) that can be moved along the boom (10), on which at least one magnetic spring (13) is arranged. [8] Automated handling system according to any one of claims 1 to 7, characterized by, that at least a magnetic spring (13) has a magnetic spring body (14a) on which a magnetic spring runner (15a) determining the spring travel of the magnetic spring (13) is adjustably mounted, wherein the magnetic spring (13) with its magnetic spring body (14a) is arranged on the boom (10) or on the trolley (19) such that the magnetic spring runner (15a) is adjustably mounted in a vertical direction. [9] Automated handling system according to claim 8, characterized by , that the magnetic spring (13) with its magnetic spring base body (14a) is arranged laterally to the side of the boom (10) and / or laterally to the trolley (19), so that the magnetic spring runner (15a) can be adjusted in a vertical direction past the boom (10) or the trolley (19). [10] Method for operating an automated handling system (1), in particular an automated handling system (1) according to any one of claims 1 to 9, characterized by the steps: - Connecting a load body (6) to a connecting flange (6b) of a distal end element of a robot arm (2) which has several elements (3) and several joints (4) which connect the elements (3) adjustably to each other, - automatic adjustment of the joints (4) of the robot arm (2) so that the load body (6) connected to the connection flange (3b) of the robot arm (2) is automatically moved in space, - during the automatic movement of the load body (6) by automatically adjusting the joints (4) of the robot arm (2), at least partially or completely compensating the weight force of the load body (6) by a constant counterforce to the weight force of the load body (6).

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