Robot setup

Abstract

The invention relates to a robot arrangement (1) with at least one movable gripper arm (10), which has at least one joint (12) and at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom, at least one end effector (16), which is arranged at the distal end of the at least one movable gripper arm (10) and has at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom, and at least one evaluation and control unit (20), which is communicatively coupled and designed to the at least one movable gripper arm (10) and the at least one end effector (16), in a learning mode to individually switch the at least one movable gripper arm (10) and / or the at least one end effector (16),so that the at least one end effector (16) can be manually moved to at least one specific position in the soft-switched state, and thereby at least one coordinated movement sequence can be learned.

Description

[0001] The invention relates to a robot arrangement with at least one movable gripper arm and at least one end effector.

[0002] Robot configurations with at least one movable gripper arm and at least one end effector are known in numerous variations. The ever-increasing variety of variants necessitates greater flexibility in production. For example, there can be over 100 different versions of certain vehicle components. Each version requires its own individual end effector for assembling the components. This means that a worker manually assembles the corresponding end effector for each version. This can lead to longer cycle times due to the end effector changes. Furthermore, it can also result in increased space requirements and higher costs. Implementing automation presents greater challenges due to the required flexibility.

[0003] From DE 10 2016 111 521 A1, a device for manufacturing a cable harness is known, comprising a board holder for receiving a board and a processing machine with at least one robot arm. The board holder is mounted on a frame such that the board is fixed or fixable in a defined position relative to the frame. The processing machine is mounted or mountable on the frame, and the processing machine and the board holder are positioned or positionable in a defined position relative to each other such that one end of the at least one robot arm can repeatedly reach any or substantially any point in at least a partial area on a surface of the board.

[0004] From DE 10 2014 017 899 A1, a method for operating a robot is known in which a trajectory is defined and an end effector of the robot is moved to a collision point located on the trajectory. At this point, a collision of the end effector with an obstacle is detected, and the end effector is then moved away from the obstacle. After the collision is detected, the end effector is moved back a predetermined distance along the previously traversed trajectory from the collision point and, after a predetermined duration, is repeatedly moved forward along the trajectory. Alternatively, at least one drive axis of the robot is soft-shifted after the collision is detected, causing the end effector to move away from the obstacle, leaving the trajectory, and then, after a predetermined duration, returning to the trajectory.

[0005] The invention is based on the objective of providing a robot arrangement with at least one movable gripper arm and at least one end effector, which can be easily and quickly taught to perform at least one coordinated movement sequence.

[0006] This problem is solved by a robot arrangement with the features of claim 1. Advantageous embodiments with expedient further developments of the invention are specified in the dependent claims.

[0007] To provide a robot arrangement with at least one movable gripper arm, which has at least one joint and at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom, and at least one end effector, which is arranged at the distal end of the at least one movable gripper arm and has at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom, which can be easily and quickly taught to execute at least one coordinated movement sequence, at least one evaluation and control unit is provided, which is communicatively coupled with the at least one movable gripper arm and the at least one end effector, and which, in a teaching mode, individually switches the at least one movable gripper arm and / or the at least one end effector.so that at least one end effector can be manually moved to at least one specific position in the soft-switched state, and thereby at least one coordinated movement sequence can be learned.

[0008] This allows the individually coordinated motion sequences required for process automation to be taught quickly and easily for a wide variety of product variants. This also includes teaching end effectors with complex geometries, such as grippers. Since the individual components can be individually controlled, even highly complex motion sequences or simultaneous motion sequences involving multiple components can be taught quickly and easily.

[0009] Embodiments of the robot arrangement according to the invention can be used, for example, for the assembly of vehicle components, such as shielding plates, which have a wide variety of variants.

[0010] In embodiments of the invention, the at least one gripper arm can, for example, be statically mounted in space, for instance on a base. Alternatively, the at least one gripper arm can be arranged on a movable base robot arm.

[0011] In an advantageous embodiment of the robot arrangement, at least one specific position can be approached and stored as a single point. Additionally or alternatively, several consecutive specific positions can be approached and stored as a trajectory. This allows combined, coordinated motion sequences for multiple gripper arms and multiple end effectors to be taught easily and quickly.

[0012] In a further advantageous embodiment of the robot arrangement, the at least one evaluation and control unit can be further designed to generate, in normal operation, at least one coordinated movement sequence by controlling the at least one drive of the at least one movable gripper arm and / or the at least one drive of the at least one end effector, so that the at least one end effector moves to the learned single point and / or the several specific positions of the learned path curve one after the other.

[0013] In a particularly advantageous embodiment of the robot arrangement, the at least one end effector can be designed as a gripping tool with at least two movable gripping fingers, which can be moved between a closed gripping position and an open release position via at least one drive.In this context, at least one evaluation and control unit can be further configured to soften the gripping fingers in the learning mode, allowing a manual closing movement (in which the at least two movable gripping fingers move from the open release position to the closed gripping position) or a manual opening movement (in which the at least two movable gripping fingers move from the closed gripping position to the open release position) to be performed and learned at at least one specific position. In normal operation, the learned coordinated closing movement or opening movement can be executed at at least one specific position by activating the at least one drive of the at least two movable gripping fingers. This means that the individual gripping fingers of the gripping tool can also be individually learned.The geometry of the gripping tool can be designed such that the same gripping tool can grasp as many different versions as possible, preferably all versions of a corresponding vehicle component. This reduces the number of different end effectors used, for example, to assemble different versions of the vehicle component, and thus also reduces changeover times. The end effector can be designed as a gripping tool with preferably three movable gripping fingers. Of course, the gripping tool can also have more than three movable gripping fingers.

[0014] In a further advantageous embodiment of the robot arrangement, two movable gripping arms, each with an end effector, can be arranged at a distal end of a movably mounted base robot arm, which has at least one joint and at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom. Preferably, the two movable gripping arms can be symmetrical to each other.

[0015] In a further advantageous embodiment of the robot arrangement, the at least one evaluation and control unit can be further designed to individually switch the base robot arm and / or at least one of the two movable gripper arms and / or the corresponding end effector in the learning mode, so that the corresponding end effector can be manually moved to at least one specific position in the switched state and thereby at least one coordinated movement sequence can be learned, and in normal operation to execute the learned at least one coordinated movement sequence by controlling the at least one drive of the base robot arm and / or the at least one drive of the corresponding movable gripper arm and / or the at least one drive of the corresponding end effector, so that the corresponding end effector moves to the learned single point and / or the several specific positions of the learned path one after the other.Furthermore, the at least one evaluation and control unit can be further configured to soften the gripping fingers of the corresponding end effector (designed as a gripping tool) of at least one of the two movable gripping arms in the learning mode, so that the manual closing or opening movement can be performed and learned at at least one specific position. In normal operation, the learned closing or opening movement is executed at at least one specific position by controlling the at least one drive of the at least two movable gripping fingers. This allows the coordinated movement sequences for the two gripping arms and the two end effectors to be combined in order to grip and assemble the various embodiments of the vehicle component.

[0016] The features and combinations of features mentioned above in the description, as well as those subsequently mentioned in the figure description and / or shown in the figures alone, can be used not only in the combinations specified, but also in other combinations or on their own, without departing from the scope of the invention. Thus, embodiments that are not explicitly shown or explained in the figures, but which can be derived and generated from the explained embodiments by separate combinations of features, are also to be considered as encompassed and disclosed by the invention.

[0017] An embodiment of the invention is shown in the drawings and is explained in more detail in the following description. Here, the drawings show: Fig. 1 A schematic representation of an embodiment of a robot arrangement according to the invention.

[0018] As from Fig. As can be seen in Figure 1, the illustrated embodiment of a robot arrangement 1 according to the invention comprises at least one movable gripper arm 10, which has at least one joint 12 and at least two degrees of freedom and at least one drive (not shown in detail) for performing the at least two degrees of freedom, at least one end effector 16, which is arranged at the distal end of the at least one movable gripper arm 10 and has at least two degrees of freedom and at least one drive (not shown in detail) for performing the at least two degrees of freedom, and at least one evaluation and control unit 20, which is communicatively coupled with the at least one movable gripper arm 10 and the at least one end effector 16.The at least one evaluation and control unit 20 is designed to individually soft-switch the at least one movable gripper arm 10 and / or the at least one end effector 16 in a learning mode, so that the at least one end effector 16 can be manually moved to at least one specific position in the soft-switched state and thereby at least one coordinated movement sequence can be learned.

[0019] In the illustrated embodiment, at least one specific position can be approached and stored as a single point. Furthermore, in the illustrated embodiment, several consecutive specific positions can be approached and stored as a trajectory.

[0020] In the illustrated embodiment, the robot arrangement 1 comprises only one evaluation and control unit 20, which is further designed to generate at least one coordinated movement sequence in normal operation by controlling the at least one drive of the at least one movable gripper arm 10 and / or the at least one drive of the at least one end effector 16, so that the at least one end effector 16 moves to the learned single point and / or the several specific positions of the learned path curve one after the other.

[0021] As from Fig. As can be seen further in Figure 1, in the illustrated embodiment of the robot arrangement 1, two movable gripping arms 10, each with an end effector 16, are arranged at a distal end of a movably mounted base robot arm 3, which has at least one arm section 7, at least one joint 5, and at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom. A first end effector 16A is arranged at a distal end of a first movable gripping arm 10A, and a second end effector 16B is arranged at a distal end of a second movable gripping arm 10B.

[0022] In the illustrated embodiment, the basic robot arm 3 comprises three arm sections 7 and four joints 5. A first arm section 7A is movably attached at one end to a base 9 via a first joint 5A. This first joint 5A allows a first rotational movement of the first arm section 7A about a vertical axis HA perpendicular to the base 9 and a second rotational movement about a first transverse axis perpendicular to the vertical axis HA of the base 9. At a second end, the first arm section 7A is movably connected to the first end of a second arm section 7B via a second joint 5B. This second joint 5B allows a rotational movement of the second arm section 7B about a second transverse axis perpendicular to the vertical axis HA of the base 9. At a third end, the second arm section 7B is movably connected to the first end of a third arm section 7C via a third joint 5C.Here, the third joint 5C allows a rotational movement of the third arm section 7C about a third transverse axis running perpendicular to the vertical axis HA of the base 9. A second end of the third arm section 7C corresponds to a distal end of the base robot arm 3 and is designed as the fourth joint 5D.

[0023] As from Fig. As can be seen further in Figure 1, the two movable gripper arms 10 are symmetrically constructed and each comprises three joints 12 and three arm sections 14. The first end of a first arm section 14A of the first movable gripper arm 10A is rotatably connected to the fourth joint 5D of the base robot arm 3 about a fourth transverse axis perpendicular to a longitudinal axis LA of the third arm section 7C of the base robot arm 3. The first end of a first arm section 14A of the second movable gripper arm 10B is rotatably connected to the fourth joint 5D of the base robot arm 3 about a fifth transverse axis perpendicular to the longitudinal axis LA of the third arm section 7C of the base robot arm 3 and parallel to the fourth transverse axis. Furthermore, the fourth joint 5D of the base robot arm 3 enables a joint rotational movement of the first arm sections 14A of both movable gripper arms 10 about the longitudinal axis LA of the third arm section 7C of the base robot arm.

[0024] At a second end, the first arm section 14A of the first movable gripper arm 10A is movably connected via a first joint 12A to the first end of a second arm section 14B. The first joint 12A allows the second arm section 14B of the first movable gripper arm 10A to rotate about a sixth transverse axis perpendicular to the longitudinal axis LA of the third arm section 7C of the base robot arm 3. At a second end, the second arm section 14B is rotatably connected via a second joint 12B to the first end of a third arm section 12C. The second joint 12B allows the third arm section 12C to rotate about a seventh transverse axis perpendicular to the longitudinal axis LA of the third arm section 7C of the base robot arm 3. A second end of the third arm section 12C corresponds to a distal end of the first movable gripper arm 10A and is configured as a third joint 12C.Here, the first end effector 16A of the first movable gripper arm 10A is rotatably connected to the third joint 12C of the first movable gripper arm 10A about an eighth transverse axis extending perpendicular to a longitudinal axis LA1 of the third arm section 14C of the first movable gripper arm 10A. Furthermore, the third joint 12C of the first movable gripper arm 10A enables a rotational movement of the first end effector 16A about the longitudinal axis LA1 of the third arm section 14C of the first movable gripper arm 10A.

[0025] At a second end, the first arm section 14A of the second movable gripper arm 10B is movably connected to the first end of a second arm section 14B via a first joint 12A. The first joint 12A allows the second arm section 14B of the second movable gripper arm 10B to rotate about a ninth transverse axis perpendicular to the longitudinal axis LA of the third arm section 7C of the base robot arm 3. At a second end, the second arm section 14B is rotatably connected to the first end of a third arm section 12C via a second joint 12B. The second joint 12B allows the third arm section 12C to rotate about a tenth transverse axis perpendicular to the longitudinal axis LA of the third arm section 7C of the base robot arm 3. A second end of the third arm section 12C corresponds to a distal end of the second movable gripper arm 10B and is configured as a third joint 12C.Here, the second end effector 16B of the second movable gripper arm 10B is rotatably connected to the third joint 12C of the second movable gripper arm 10B about an eleventh transverse axis perpendicular to a longitudinal axis LA2 of the third arm section 14C of the second movable gripper arm 10B. Furthermore, the third joint 12C of the second movable gripper arm 10B enables a rotational movement of the second end effector 16B about the longitudinal axis LA2 of the third arm section 14C of the second movable gripper arm 10B.

[0026] As from Fig. As can be seen further in Figure 1, the two end effectors 16 in the illustrated embodiment of the robot arrangement 1 are each designed as a gripping tool with at least two movable gripping fingers 18, which can be moved between a closed gripping position and an open release position shown via at least one drive. In the illustrated embodiment of the robot arrangement 1, the two end effectors 16 designed as gripping tools each comprise two gripping fingers 18.

[0027] In alternative embodiments of the robot arrangement 1 not shown, the at least one end effector 16 designed as a gripping tool comprises more than two, preferably three or more gripping fingers 18.

[0028] In the illustrated embodiment, the evaluation and control unit 20 is further designed to soften the gripping fingers 18 of the two end effectors 16 in the learning mode, so that a manual closing movement, in which the two movable gripping fingers 18 of the respective end effector 16 are moved from the open release position to the closed gripping position, or a manual opening movement, in which the two movable gripping fingers 18 of the respective end effector 16 are moved from the closed gripping position to the open release position, can be performed and learned at at least one specific position, and in normal operation, the learned coordinated closing movement or the learned coordinated opening movement can be performed at at least one specific position by controlling the at least one drive of the two movable gripping fingers 18 of the respective end effector 16.

[0029] In this process, a first gripping finger 18A and a second gripping finger 18B of the two end effectors 16 can each be moved separately from each other.

[0030] Furthermore, the evaluation and control unit 20 is designed to individually switch the base robot arm 3 and / or at least one of the two movable gripper arms 10 and / or the corresponding end effector 16 in the learning mode, so that the corresponding end effector 16 can be manually moved to at least one specific position in the switched state and thus at least one coordinated movement sequence can be learned, and in normal operation to execute the learned at least one coordinated movement sequence by controlling the at least one drive of the base robot arm 3 and / or the at least one drive of the corresponding movable gripper arm 10 and / or the at least one drive of the corresponding end effector 16, so that the corresponding end effector 16 moves to the learned single point and / or the several specific positions of the learned path one after the other.Furthermore, the evaluation and control unit 20 is designed to soften the gripper fingers 18 of the corresponding end effector 16, which is designed as a gripping tool, of at least one of the two movable gripper arms 10 in the learning mode, so that the manual closing or opening movement can be performed and taught at at least one specific position. In normal operation, the learned closing or opening movement is executed at at least one specific position by controlling the at least one drive of the at least two movable gripper fingers 18. This allows the base robot arm 3, the two movable gripper arms 10, the two end effectors 16, and the corresponding movable gripper fingers 18 to be softened individually and independently of each other in the learning mode.

[0031] The communicative coupling of the evaluation and control unit 20 with the two movable gripping arms 10, the two end effectors 16 and the corresponding movable gripping fingers 18 is in Fig. 1 is shown as a dashed line and can be wired and / or wireless. REFERENCE MARK LIST 1 Robot setup 3 Basic robot arm 5, 5A, 5B, 5C, 5D joint 7, 7A, 7B, 7C Armrest 9 sockets 10, 10A, 10B Gripper arm 12, 12A, 12B, 12C joint 14, 14A, 14B, 14C Arm section 16, 16A, 16B End effector 18, 18A, 18B Gripping fingers 20 Evaluation and control unit HA High axis LA, LA1, LA2 Longitudinal axis 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] DE 10 2016 111 521 A1

[0003] DE 10 2014 017 899 A1

[0004]

Claims

[1] Robot arrangement (1) comprising at least one movable gripper arm (10) having at least one joint (12) and at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom, at least one end effector (16) arranged at the distal end of the at least one movable gripper arm (10) having at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom, and at least one evaluation and control unit (20) which is communicatively coupled and designed with the at least one movable gripper arm (10) and the at least one end effector (16), in a learning mode individually switching the at least one movable gripper arm (10) and / or the at least one end effector (16),so that the at least one end effector (16) can be manually moved to at least one specific position in the soft-switched state, and thereby at least one coordinated movement sequence can be learned. [2] Robot arrangement (1) according to claim 1, characterized by that at least one specific position can be approached and saved as a single point. [3] Robot arrangement (1) according to claim 1 or 2, characterized by that several consecutive specific positions can be approached and stored as a trajectory curve. [4] Robot arrangement (1) according to any one of claims 1 to 3, characterized by, that the at least one evaluation and control unit (20) is further designed to generate, in normal operation, the at least one coordinated movement sequence by controlling the at least one drive of the at least one movable gripper arm (10) and / or the at least one drive of the at least one end effector (16), so that the at least one end effector (16) moves to the learned single point and / or the several specific positions of the learned trajectory one after the other. [5] Robot arrangement (1) according to any one of claims 1 to 4, characterized by , that the at least one end effector (16) is designed as a gripping tool with at least two movable gripping fingers (18) which can be moved between a closed gripping position and an open release position via at least one drive. [6] Robot arrangement (1) according to claim 5, characterized by, that the at least one evaluation and control unit (20) is further designed to soften the gripping fingers (18) in the learning mode, so that a manual closing movement, in which the at least two movable gripping fingers (18) are moved from the open release position to the closed gripping position, or a manual opening movement, in which the at least two movable gripping fingers (18) are moved from the closed gripping position to the open release position, can be performed and learned at the at least one specific position, and in normal operation the learned coordinated closing movement or the learned coordinated opening movement can be performed at the at least one specific position by controlling the at least one drive of the at least two movable gripping fingers (18). [7] Robot arrangement (1) according to any one of claims 1 to 6, characterized by, that two movable gripping arms (10) each with an end effector (16) are arranged at a distal end of a movably mounted base robot arm (3), which has at least one joint (5) and at least two degrees of freedom and at least one drive for performing the at least two degrees of freedom. [8] Robot arrangement (1) according to claim 7, characterized by , that the two movable gripping arms (10) are symmetrically arranged relative to each other. [9] Robot arrangement (1) according to claim 7 or 8, characterized by, that the at least one evaluation and control unit (20) is further designed to individually switch the basic robot arm (3) and / or at least one of the two movable gripper arms (10) and / or the corresponding end effector (16) in the learning mode, so that the corresponding end effector (16) can be manually moved to at least one specific position in the switched state and thereby at least one coordinated movement sequence can be learned, and in normal operation to execute the learned at least one coordinated movement sequence by controlling the at least one drive of the basic robot arm (3) and / or the at least one drive of the corresponding movable gripper arm (10) and / or the at least one drive of the corresponding end effector (16), so that the corresponding end effector (16) moves to the learned single point and / or the several specific positions of the learned path one after the other. [10] Robot arrangement (1) according to claim 9, characterized by , that the at least one evaluation and control unit (20) is further designed to soften the gripping fingers (18) of the corresponding end effector (16) designed as a gripping tool of at least one of the two movable gripping arms (10) in the learning mode, so that the manual closing movement or the manual opening movement can be performed and learned with these at the at least one specific position, and in normal operation to perform the learned closing movement or the learned opening movement at the at least one specific position by controlling the at least one drive of the at least two movable gripping fingers (18).

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