Computer-implemented method, computer program, end effector, parameterization system, robot system

Abstract

The invention relates to a computer-implemented method for parameterizing an end effector (10), in particular a gripper, by means of several parameterization devices (30, 38, 44), wherein the end effector (10) has firmware (14) for controlling the end effector (10), wherein the end effector (10) communicates with at least one parameterization device (30, 38) via cable and with at least one further parameterization device (44) wirelessly, and wherein the end effector (10) is parameterizable by means of the parameterization device (30, 38, 44) to which a control authority is assigned, the method comprising the following steps: a) Assigning control authority by the firmware (14) to a primary parameterization device (30, 38, 44), b) in case of an error, assigning control authority by the firmware (14) to a requesting secondary parameterization device (30, 38, 44), c) Parameterizing the end effector (10) using the secondary parameterizing device (30, 38, 44).

Description

[0001] The invention relates to a method for parameterizing an end effector. The invention further relates to a computer program for executing the method, such an end effector, and a parameterization system.

[0002] Mechatronic grippers have a control unit for controlling gripper elements, whereby the control unit must be parameterized for a specific gripper application. The application specifies the required parameters for gripping or other handling of an object. Therefore, changing the gripper's application necessitates re-parameterizing the gripper.

[0003] From DE 10 2020 120 532 A1, a control system for automatic tool changing is known, wherein, during a tool change, the control system receives information about the newly connected tool, so that specific control variables can be specified for the tool. For this purpose, a wireless communication interface via Bluetooth is provided, which represents a single communication line to the control system of an external parameterization unit.

[0004] DE 10 2021 209 011 A1, DE 10 2020 115 628 A1, DE 10 2019 001 252 A1, DE 10 2017 216 093 B4, DE 10 2015 012 779 A1 and DE 20 2008 003 348 U1 are known as various methods for parameterizing an end effector or correspondingly parameterized end effectors.

[0005] The invention is based on the objective of eliminating the disadvantages of the prior art, in particular ensuring improved operational safety and increased operational readiness, especially of a handling device comprising an end effector.

[0006] The problem underlying the invention is solved by a computer-implemented method with the features of claim 1. The invention is directed to a computer-implemented method for parameterizing an end effector, in particular a gripper, by means of several parameterization devices, wherein the end effector has a control device and firmware for controlling the end effector, wherein the end effector can communicate with at least one parameterization device via a wired communication device and with at least one further parameterization device via a further communication device wirelessly, and wherein the end effector can be parameterized by means of the parameterization device to which control authority is assigned by the firmware.

[0007] The computer-implemented procedure can alternatively include the following steps: a) Assigning control authority via the firmware to a primary parameterization unit, b) Parameterizing the end effector using the primary parameterization device, c) in the event that re-parameterization is necessary, transfer of control authority to a secondary parameterization device, where the control authority must be requested from the secondary parameterization unit d) Parameterizing the end effector using the secondary parameterization unit.

[0008] In the aforementioned steps, parameterization can be understood as the ability to transfer parameters such as control variables from the higher-level control unit, which may include a PLC, to the firmware located in the control unit of the end effector.

[0009] In the first step, control authority is assigned to a primary parameterization unit via a default setting in the firmware. In the second step, the primary parameterization unit configures the end effector. In the third step, if re-parameterization is necessary, control authority can be transferred to a secondary parameterization unit, whereby the secondary parameterization unit must request control authority from the firmware. In the fourth step, the end effector can then be parameterized using the secondary parameterization unit.

[0010] Should an error occur during the second step, the parameterization using the primary parameterization unit, particularly due to an emergency stop situation not described in detail here, the firmware assigns control authority to a requesting, secondary parameterization unit in a third step. This assignment of control authority to the secondary parameterization unit is only possible if it has previously requested or is requesting control authority from the firmware. A parameterization unit's request for control authority signifies its readiness to communicate with the end effector's control unit and / or to parameterize the end effector. The secondary parameterization unit then performs the parameterization of the end effector in a fourth step. The primary and secondary parameterization units represent one of several parameterization units.The primary parameterization unit is the parameterization unit that has control over the secondary parameterization unit.

[0011] Due to the software-related properties of the firmware for assigning control authority and simultaneously providing multiple parameterization devices as well as different communication devices, the operational reliability of an end effector and a handling device comprising an end effector is improved, especially during the parameterization of the end effector, and the operational readiness of the end effector and / or a handling device and / or a robot is increased.

[0012] The majority of communication devices allow for alternative data communication with at least one external parameterization device, designed separately from the end effector. The end effector can thus be controlled by various communication devices and connected to multiple parameterization devices. Should a communication device and / or a parameterization device connected via that communication device fail, or should a fault occur due to an emergency stop situation (not described in detail here), the end effector can still be reliably parameterized via at least one of the other communication devices. The alternative combination of wired and wireless communication devices allows the appropriate communication method to be selected depending on the application, so that, for example...During parameterization, either the wired communication device can be used, or, when parameterization is performed from a safe distance, a wireless communication device can be used.

[0013] Furthermore, it is conceivable that, in addition to a wired communication device for control, another communication device could be set up for diagnosing the end effector and / or for exchanging other data between the end effector and a handling device or robot. Moreover, the wireless communication device enables parameterization from a safe distance from a handling device and / or robot encompassing the end effector, particularly from a distance of 2 m. Therefore, for safety reasons, parameterization can be performed outside the operating range of a handling device and / or robot, which significantly improves the occupational safety of the operator or programmer and thus the operational reliability of the end effector, the handling device, and / or the robot.

[0014] During parameterization, preferably one or more or all of the following parameters are passed to the firmware located in a control unit of the end effector: gripping force, opening and closing speed, operating mode, opening width, gripping position and orientation and / or gripping sequence.

[0015] It is advantageous if the secondary parameterization device only requests control authority and / or if control authority is only assigned to it by the firmware if parameterization via the primary parameterization device does not occur, for example due to an error.

[0016] An advantageous further development provides for the end effector and a first parameterization unit to communicate via a first wired communication interface, in particular a fieldbus (FB). Wired communication, which can take place via the first communication interface, provides a reliable transmission option for, in particular, large amounts of data. A first parameterization unit can, for example, be a higher-level controller, in particular a PLC, of ​​a handling device and / or a robot.

[0017] A further advantageous enhancement involves the end effector and a second parameterization unit communicating via a second wired communication interface, in particular a Controller Area Network (CAN). Wired communication via this second interface provides an additional reliable transmission option for, especially, large amounts of data. This second parameterization unit could, for example, be a laptop or an industrial PC.

[0018] A further advantageous enhancement involves the end effector and a third parameterization unit communicating via a third wireless communication interface, particularly using Bluetooth modules. Wireless communication via this third interface provides an easily configurable transmission method for transferring data from a distance to the end effector. This third parameterization unit could be, for example, a laptop, tablet, smartphone, or similar mobile device. The wireless connection, especially via Bluetooth, establishes simple and secure communication between the parameterization unit and the control unit. This also ensures easy integration with a mobile device and its associated commissioning and operating software.It is conceivable that alternative radio standards could also be used as an alternative to the Bluetooth communication device.

[0019] Furthermore, different mobile devices can be used to configure the end effector. Wireless communication allows for high flexibility when reading and writing parameters.

[0020] It is advantageous if control authority can be transferred from the firmware located on the end effector controller in a cascade-like transition from the first parameterization device to the second parameterization device and from the second parameterization device to the third parameterization device.

[0021] It is conceivable that the control authority can also be transferred from the first parameterization device to the third parameterization device without the second parameterization device having previously held the control authority.

[0022] Accordingly, parameterization can first be carried out using a primary parameterization device, or alternatively, parameterization using a secondary parameterization device, or alternatively, parameterization using a tertiary parameterization device.

[0023] If no parameterization is performed using the primary parameterization device, control can be transferred in a cascade manner to the secondary parameterization device, provided that this has been requested by the secondary parameterization device in the firmware.

[0024] If no parameterization is performed using the first or secondary parameterization device, control can be transferred in a cascade manner to the tertiary parameterization device, provided that this has been requested by the tertiary parameterization device in the firmware.

[0025] Control authority is preferably assigned to the parameterization units via the firmware. The firmware is preferably implemented as embedded software on the end effector's control unit, through which control authority is assigned to the individual parameterization units. The assignment of control authority is thus defined, in particular, by programming the firmware. Furthermore, the special case can be covered in which control authority is assigned to a mobile parameterization unit, provided that it is located, for example, in a near field, preferably 2 meters, outside the end effector and / or the handling device encompassing the end effector.

[0026] It is further advantageous if the method according to the invention comprises the following steps: a) Assigning control authority via the firmware to a primary parameterization device requesting control authority, b) in particular, parameterizing the end effector using the primary parameterizing device, c) in case of an error, assigning control authority by the firmware to a secondary or tertiary parameterization device requesting control authority, c) Parameterizing the end effector using the secondary or tertiary parameterization device.

[0027] A fault may occur in particular if the higher-level control system, for example a PLC, causes an emergency stop of the end effector, or if the supply voltage of the end effector is outside a permissible range, or if an unexpected blockage of the movement of at least one effector element of the end effector or the end effector occurs during operation.

[0028] This results in a high level of operational reliability and readiness of the end effector and the handling device comprising the end effector, since the end effector can be parameterized alternatively using three parameterization devices, which provide reliable communication due to the alternative wired or wireless connection.

[0029] It is also advantageous if the communication between the control device and the first parameterization device and / or the second parameterization device and / or the third parameterization device is bidirectional.

[0030] Preferably, the end effector and at least two parameterization devices communicate simultaneously, wherein one communication includes the transmission of parameterization data and at least one further communication includes the transmission of further data.

[0031] The problem underlying the invention is further solved by one or more computer programs having the features of claim 9, wherein the computer program or the multiple computer programs comprise instructions which, when the program is executed by a computer, cause it to execute the computer-implemented method described above according to claim 1.

[0032] The problem underlying the invention is further solved by an end effector with the features of claim 10. The end effector, in particular a gripper, is suitable for arrangement on a handling device, especially a robot. The end effector is parameterizable by means of at least one parameterization device. The end effector comprises a base housing; at least one effector element movably mounted in the base housing; and a control device arranged in the base housing. The control device comprises a computer and storage unit, which possesses the properties of a computer in the broadest sense. The control device can, as a computer, comprise a microcontroller and firmware running on the microcontroller, wherein the firmware can, in particular, be implemented as embedded software.

[0033] The control device comprises firmware for controlling a drive of at least one effector element, a first communication interface for wired communication with a first parameterization device, and / or a second communication interface for wired communication with a second parameterization device, and at least one further communication interface for wireless communication with a third parameterization device. The communication interface is an integral part of the communication device. The communication interface typically consists of several components known to those skilled in the art, for example, a transmitter and a receiver or a similarly configured transmission unit.

[0034] The multiple communication interfaces enable redundant data communication with at least one external parameterization unit, separate from the end effector. This allows the control unit to be commanded using firmware located on the control unit itself. Should a communication interface and / or parameterization unit fail, or should a communication error occur via a communication interface, the end effector can still be reliably parameterized via at least one other communication interface. The alternative combination of wired and wireless communication interfaces allows the appropriate communication method to be selected depending on the application, so that, for example...Parameterization can be performed using wired communication, or wireless communication can be used when parameterization is performed at a safe distance. Furthermore, it is conceivable that parameterization can alternatively be performed using several or all communication interfaces or parameterization devices. It is also conceivable that, in parallel to a first, particularly wired, communication interface for parameterization, another, particularly wireless, communication interface is set up for diagnosing the end effector and / or for exchanging other data between the end effector and a handling device or a robot. Furthermore, the wireless communication interface allows parameterization from a safe distance, particularly from a distance of 2 m. Therefore, parameterization can be performed...For safety reasons, the diagnosis of the end effector or the exchange of other data must take place outside the operating range of a handling device and / or a robot.

[0035] Furthermore, different mobile devices can be used to configure the end effector. The wireless connection allows for high flexibility when reading and writing parameters, for example, through alternative access from different mobile devices.

[0036] During parameterization, one or more of the following parameters are preferably passed to the control unit of the end effector: gripping force, opening and closing speed, operating mode, opening width, gripping position and orientation and / or gripping sequence.

[0037] The control unit is preferably located on a control board of the end effector within the main housing. The control unit preferably comprises hardware and firmware.

[0038] An advantageous aspect of the invention provides that the first wired communication interface is configured to communicate with the parameterization device via at least one fieldbus. A first parameterization device can, for example, be a higher-level controller, in particular a PLC of a handling device and / or a robot. The first parameterization device preferably communicates with the control device via the first wired communication interface, preferably using the fieldbus for data transmission. For this purpose, the first wired communication interface has a first interface that corresponds to an interface arranged on the first parameterization device.

[0039] A further advantageous aspect of the invention provides that the second wired communication interface is configured to communicate with the parameterization unit via at least one Controller Area Network (CAN). A second parameterization unit can, for example, be a laptop or an industrial PC. The second parameterization unit preferably communicates with the control unit via the second wired communication interface, preferably using CAN for data transmission. For this purpose, the second wired communication interface has an interface that corresponds to an interface arranged on the second parameterization unit.

[0040] An advantageous aspect of the invention provides that the wireless communication interface is configured to communicate with the parameterization device via a radio connection, in particular Bluetooth. A third parameterization device can, for example, be a laptop, tablet, or smartphone. The third parameterization device preferably communicates with the control device via the wireless communication interface, preferably using a radio connection, in particular Bluetooth, for data transmission. The wireless communication interface has an interface that corresponds to an interface arranged on the third parameterization device. Thus, parameterization of the control device is easily possible. The radio connection, in particular Bluetooth, provides a simple and secure connection between the parameterization device and the control device.This also ensures easy pairing with a mobile device and the commissioning and operating software located on it.

[0041] Preferably, at least one parameterization device, and in particular the third parameterization device, comprises software independent of the handling device and / or the robot, which allows the end effectors to be configured for a change of application. For this purpose, commissioning and operating software is preferably provided, which can display and change the parameters required for the specific application for the specific end effector. The software can preferably be installed on the mobile device in the form of an app, so that the user can easily and quickly parameterize the end effector's control device for the specific application using the software and its user interface. Thus, the end effector can be parameterized in real time without an additional, service-specific cable connection.

[0042] An advantageous aspect of the invention provides that the control device is configured such that its parameterization depends on the control priorities of the communication device connected to a parameterization device. Accordingly, the assigned control authority allows for simultaneous prioritization of the communication interfaces and / or parameterization devices, enabling the selection of different communication devices depending on the end effector and / or application. It is advantageous if the firmware, particularly if designed as embedded software, includes a memory device within the control device of the end effector or utilizes a separate memory device in which the control priorities of the individual communication devices and / or parameterization devices are stored.Consequently, control authority can be transferred between different communication devices and / or the parameterization devices associated with them.

[0043] An advantageous aspect of the invention provides that the primary communication interface, for example a wired fieldbus, which preferably communicates with a higher-level controller (which may be located within the controller of a robot and / or handling device), inherently possesses control authority and controls the end effector. It is advantageous if a secondary communication interface, for example a CAN bus, can request control authority from the firmware and be assigned it by the firmware, particularly if the end effector is, for example, in a fault state. It is further advantageous if a tertiary communication interface, for example a Bluetooth interface, can request control authority from the firmware and be assigned it by the firmware, particularly if the end effector is, for example, in a fault state. Such a fault state could, for example,This can occur when the end effector is initiated via control and one or more error messages are detected by the end effector's firmware. Another error scenario can occur if, for example, the supply voltage to the end effector's drive falls below or exceeds a certain value, or is even missing altogether, such as during an emergency stop.

[0044] The problem underlying the invention is also solved by a parameterization system with the features of claim 12.

[0045] An advantageous aspect of the invention provides that the parameterization system comprises a first parameterization device communicating via a fieldbus and / or a second parameterization device communicating via a Controller Area Network (CAN) and a third parameterization device communicating via a radio connection, in particular Bluetooth.

[0046] An advantageous aspect of the invention provides that the first parameterization device is designed as a higher-level control system for a robot and / or handling device and / or the second parameterization device is designed as a laptop and / or industrial PC and / or the third parameterization device is designed as a mobile device, in particular a laptop and / or tablet and / or smartphone.

[0047] Another advantageous aspect of the invention includes the use of at least one, in particular two, wired communication interfaces and one wireless communication interface for alternative or sequential parameterization of a control device of an end effector, in particular a gripper.

[0048] The problem underlying the invention is also solved by a robot system with the features of claim 13.

[0049] The problem underlying the invention is also solved by a parameterization device, in particular a first parameterization device and / or a second parameterization device and / or a third parameterization device, which is configured to parameterize a previously described end effector using the previously described process steps.

[0050] Further advantages, features, and details will become apparent from the following description, in which an embodiment of the invention is illustrated with reference to the drawing. The features mentioned in the claims and the description can each be essential to the invention individually or in any combination.

[0051] They show: Fig. 1 a schematic overview of a communication and parameterization system according to the invention; Fig. 2 a flowchart within the firmware of the control of an end effector; Fig. 3. Another flowchart for processing a parameterization command within the firmware; and Fig. 4. Another flowchart for the further processing of a parameterization command within the firmware.

[0052] The end effector 10, in particular the gripper, has a base housing (not shown) and an effector element (not shown) movably mounted in the base housing. Furthermore, the end effector 10 has, according to Fig. 1. A control unit 12, which includes firmware 14. The end effector 10 has a first wired communication interface 16 for communication with a fieldbus and a second wired communication interface 18 for communication with a CAN bus. Furthermore, the end effector 10 has a wireless communication interface 20 for communication via radio link, in particular Bluetooth. The first wired communication interface 16 and the second wired communication interface 18 are each connected to firmware 14 located in the control unit 12 and to a protocol layer 22 integrated therein. The wireless communication interface 20 is also connected to protocol layer 22, preferably with a Universal Asynchronous Receiver / Transmitter or UART 24 interposed for serial data transmission.The UART 24 provides an interface for the control unit 12 and the wireless communication interface 20.

[0053] From protocol level 22, the transmitted data can be sent to a command set service interface 26, which includes, for example, the control of drives (not shown) for moving the effector elements and / or for generating and / or maintaining a gripping force. The control of the UART 24, protocol level 22, and the command set service interface 26 are preferably assigned to the firmware 14 of the end effector 10. The wireless communication interface 20 is preferably assigned to the hardware of the end effector 10.

[0054] The first wired communication interface 16 is preferably connected to a first parameterization device 30 by means of a first cable 28, in particular by means of a fieldbus. The first parameterization device 30 has a fourth communication interface 32 connected to the first cable 28. The first parameterization device 30 can, for example, be configured as a PLC of a handling device and / or robot that accommodates the end effector 10. The first parameterization device 30 includes first software 34, which is configured to parameterize the end effector 10 by means of the first wired communication interface 16. The first software 34 preferably comprises the operating software located on a PLC of the handling device and / or the robot.

[0055] The second wired communication interface 18 is preferably connected to a second parameterization device 38 by means of a second cable 36, in particular by means of CAN. The second parameterization device 38 has a fifth communication interface 40 connected to the second cable 36. The second parameterization device 38 can, for example, be configured as a laptop or an industrial computer. The second parameterization device 38 has a second software 42, which is configured to parameterize the end effector 10 by means of the second wired communication interface 18.

[0056] The wireless communication interface 20 is wirelessly connected, in particular via a radio connection such as Bluetooth, to a third parameterization device 44. The wireless communication interface 20 is preferably configured as a first Bluetooth module, in particular as a first combined transmitter and receiver. The third parameterization device 44 has a sixth communication interface 46, which is in particular configured as a second Bluetooth module, in particular as a second combined transmitter and receiver, and which is configured for connection to the wireless communication interface 20. The third parameterization device 44 can be configured as a mobile device, in particular a laptop, tablet, or smartphone. The third parameterization device 44 has third software 48, which is configured to parameterize the end effector 10 via the wireless communication interface 20.

[0057] Preferably, the second parameterization device 38 and / or the third parameterization device 44 includes a second software 42 and / or a third software 48, by means of which the end effectors 10 can retrieve parameters, in particular from the SCHUNK Control Center, in order to prepare for or execute an application change. For this purpose, a database is preferably stored in the SCHUNK Control Center, which contains the parameters required for the specific application for the specific end effector 10. The third software 48 can preferably be installed on the mobile device in the form of an app, so that the user can easily and quickly parameterize the control device 12 of the end effector 10 in an application-specific manner. It is conceivable that individual parameter sets for individual applications or extended functions can be provided in the software and / or app. It is conceivable that the second software 42 and the third software 48 are identical.

[0058] Preferably, the communication interfaces 16, 18, 20 are designed in such a way that they can send and / or receive data, in particular parameter data.

[0059] According to Fig. Figure 2 illustrates the basic process flow of firmware 14 within the control unit 12 of an end effector 10. In step S10, the end effector 10 is started or booted. This is followed by the boot process or initialization according to step S12. Next, the sensors are evaluated according to step S14, and the actuators of the end effector 10 are controlled according to step S16. Following this, a communication timeout of the end effector 10 is monitored according to step S18. Finally, according to step S20, a command from the first parameterization unit 30, the second parameterization unit 38, or the third parameterization unit 44 can be processed. Step S20 is described in detail in Fig. Figure 3 shows the individual communication interfaces 30, 38, 44, in particular fieldbus, CAN and Bluetooth, represented by the dashed blocks.

[0060] Accordingly, in step S22, a command is issued by the first parameterization unit 30, which is sent via the fourth communication interface 32, specifically assigned to a fieldbus. When a command from the first parameterization unit 30 is received at the communication interface 16 of the end effector 10, a distinction is made between a read and a write command according to step S22A. For a read command, the command is processed according to step S22B, and the requested information is transmitted to the first parameterization unit 30. For a write command, it is first additionally checked according to step S22C whether the first parameterization unit 30 has control authority. If control authority exists, the command is processed according to S22B, and the data sent by the first parameterization unit 30 is written to the control unit 12, thereby modifying, in particular, the parameters of the firmware 14 of the control unit 12.Furthermore, it can be provided that the first parameterization unit 30 requests data from the control unit 12, in particular the firmware 14. If the first parameterization unit 30 has read authorization, the data is sent to the first parameterization unit 30. Depending on this data, the data intended for parameterization can then be adjusted.

[0061] If control authority is not granted, the command is rejected according to step S22D. If control authority is not granted, the command is rejected and not processed.

[0062] In case of an error, firmware 14 assigns control authority to the second parameterization unit 38. However, this requires that the second parameterization unit 38 has previously requested control authority and thus declared its readiness for parameterization and / or data transmission.

[0063] An error can occur if no command from the first parameterization unit 30 is received by the control unit 12 according to step S22, or if the parameterization was incomplete. In this case, a command is issued in step S24 by the second parameterization unit 38, which is assigned to the fifth communication interface 40, which can, in particular, be a CAN interface.

[0064] When a command is issued to the second parameterization unit 38, a distinction is made between a read and a write command according to step S24A. For a read command, the command is processed according to step S24B, and the requested data and / or parameters are transferred to the second parameterization unit 38. For a write command, it is first additionally checked according to step S24C whether the second parameterization unit 38 has control authority. If the second parameterization unit 38 has control authority, the command is also processed according to S24B, and the data sent by the second parameterization unit 38 is written to the control unit 12, thereby modifying, in particular, the parameters of the firmware 14 of the control unit 12. Furthermore, it may be provided that the second parameterization unit 38 requests data from the control unit 12, in particular from the firmware 14.If the second parameterization device 38 has read access, the data is sent to the second parameterization device 38. Depending on this data, the data intended for parameterization can then be adjusted.

[0065] If control authority is not present, the command is rejected according to step S24D. This can occur if the cascaded hierarchy of the individual parameterization devices 30, 38, 44 changes. If control authority is not present, the command is rejected and not processed.

[0066] If control authority is not granted, the command is rejected according to step S22D. If control authority is not granted, the command is rejected and not processed.

[0067] In the event of an error, firmware 14 assigns control authority to the third parameterization unit 44. However, this is conditional upon the third parameterization unit 44 having previously requested control authority, thereby declaring its readiness for parameterization and / or data transmission.

[0068] An error can occur if no command from the second parameterization unit 38 is received by the control unit 12 according to step S24, or if the parameterization was incomplete. In this case, a command is issued in step S26 by the second parameterization unit 38, which is assigned to the sixth communication interface 46, which is specifically designed as a Bluetooth module.

[0069] When a command is received from the third parameterization unit 44, a distinction is made between a read and a write command according to step S26A. For a read command, the command is processed according to step S26B, and the requested data and / or parameters are transferred to the third parameterization unit 44. For a write command, it is first additionally checked according to step S26C whether the third parameterization unit 44 has control authority. If the third parameterization unit 44 has control authority, the command is also processed according to S26B, and the data sent by the third parameterization unit 44 is written to the control unit 12, thereby modifying, in particular, the parameters of the firmware 14 of the control unit 12. Furthermore, it may be provided that the third parameterization unit 44 requests data from the control unit 12, in particular from the firmware 14.If the third parameterization unit 44 has read access, the data is sent to the third parameterization unit 44. Depending on this data, the data intended for parameterization can then be adjusted.

[0070] If control authority is not present, the command is rejected according to step S26D. This can occur if the cascaded hierarchy of the individual parameterization devices 30, 38, 44 changes. If control authority is not present, the command is rejected and not processed.

[0071] According to Fig. 3. It is evident that the control device 12 is configured such that the right to parameterize the control device 12 is exercised hierarchically and / or in a cascade manner by means of the control authority. Through the in Fig. The structure shown in Figure 3 defines the prioritization of control authority. Parameterization unit 30, via fieldbus 28, has the highest priority, while parameterization unit 44, via radio link or Bluetooth, has the lowest. Parameterization units 30, 38, and 44 feature configuration and commissioning software. The multiple communication devices or levels ensure greater flexibility compared to the state of the art during initial or operational parameterization, particularly for the end effector. Furthermore, the wireless communication interface 20 allows parameterization of the end effector 10 from a safe distance from the robot and / or handling device.

[0072] Following steps S22B and / or S22D and / or S24B and / or S24D and / or S26B and / or S26D and / or S42, step S12 can be repeated according to Fig.2 will follow.

[0073] Preferably, in addition to parameter values, data about the process can also be transmitted between the end effector 10 and an external controller (robot controller, PLC) or to a database (SCHUNK Control Center) via the wireless communication interface 20.

Claims

[1] Computer-implemented method for parameterizing an end effector (10), in particular a gripper, by means of several parameterizing devices (30, 38, 44), wherein the end effector (10) has a firmware (14) for controlling the end effector (10), wherein the end effector (10) communicates with at least one parameterizing device (30, 38) by cable and with at least one further parameterizing device (44) wirelessly, and wherein the end effector (10) can be parameterized by means of the parameterization device (30, 38, 44) to which control sovereignty is assigned, The procedure comprises the following steps: a) Assigning control sovereignty by the firmware (14) to a primary parameterization device (30, 38, 44), b) in the event of an error, assigning control sovereignty by the firmware (14) to a requesting secondary parameterization device (30, 38, 44), c) parameterizing the end effector (10) by means of the secondary parameterizing device (30, 38, 44). [2] Method according to claim 1, wherein the secondary parameterization device (30, 38, 44) requests the control sovereignty according to b) only and / or the control sovereignty is only assigned to it if the parameterization by means of the primary parameterization device (30, 38, 44) was faulty. [3] Method according to claim 1 or 2, wherein the end effector (10) and a first parameterization device (30) communicate by means of a first wired communication interface (16), in particular a fieldbus. [4] Method according to one of the preceding claims, wherein the end effector (10) and a second parameterization device (38) communicate by means of a second wired communication interface (18), in particular a controller area network. [5] Method according to one of the preceding claims, wherein the end effector (10) and a third parameterization device (44) communicate by means of a third wireless communication interface (20), in particular Bluetooth. [6] Method according to one of the preceding claims, wherein the control authority for the parameterization of the end effector (10) is transferred in a cascade manner from the first parameterization device (30) to the second parameterization device (38) and / or then to the third parameterization device (44). [7] Method according to one of the preceding claims, wherein the method comprises the following method steps after method step c): c1) in the event of a further error, assigning control sovereignty by the firmware (14) to a requesting tertiary parameterization device (30, 38, 44), c2) parameterizing the end effector (10) by means of the tertiary parameterizing device (30, 38, 44). [8] Method according to one of the preceding claims, wherein the end effector and at least two parameterization devices communicate simultaneously, wherein one communication comprises the transmission of parameterization data and at least one further communication comprises the transmission of further data. [9] Computer program or computer programs comprising instructions which, when executed by a computer, cause the computer to carry out the computer-implemented method according to any one of the preceding claims. [10] End effector (10), in particular gripper, for arrangement on a handling device, wherein the end effector (10) can be parameterized by means of at least one parameterizing device (30, 38, 44), the end effector (10) comprising: - a basic housing; - at least one effector element movably mounted in the base housing; - a control device (12) arranged in the base housing, the control device (12) comprising: - a firmware (14) for controlling the at least one effector element, - a first communication interface (16) for wired communication with a first parameterization device (30, 38), and / or - a second communication interface (18) for wired communication with a second parameterization device (30, 38), and - at least one further communication interface (20) for wireless communication with a third parameterization device (44). [11] End effector (10), in particular according to the previous claim, arranged to be parameterized by means of the method according to one of claims 1 to 8. [12] Parameterization system with an end effector (10) according to one of claims 10 or 11, and at least one parameterization device (30, 38, 44) for parameterizing a control device (12) of the end effector (10), wherein the control device (12) can be parameterized by means of at least one communication interface (16, 18, 20) of the end effector (10). [13] Robot system with a parameterization system according to claim 12, wherein the end effector (10) is arranged on a handling device and / or robot device.

Images