Robot add-on part, control device, robot, and associated method
Patent Information
- Application Number
- EP2023716305
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-04-06
- Filing Date
- 2023-03-31
- Publication Date
- 2025-02-19
AI Technical Summary
Existing robot attachments, such as handles and electrical input means, are permanently attached to robot arms and cannot be easily removed or reattached, which can hinder movement and pose challenges in tight spaces due to their projections, requiring multiple geometric models for programming and increasing complexity.
A robot attachment with a housing featuring a positively connectable coupling means for releasable attachment to a robot's surface, a control component with data memory for physical data storage, and a control interface to transmit data to the robot's control device, allowing for flexible attachment and automatic adaptation of the robot's model without manual reconfiguration.
Enables the robot attachment to be easily added or removed from the robot arm, simplifying configuration by automatically adapting the robot's model based on the attachment's physical data, ensuring accurate positioning and reducing the need for multiple geometric models, thus enhancing operational flexibility and reducing collision risks.
Smart Images
Figure 1.1
Abstract
Description
[0001] Robot attachment and control device and robot, and associated method
[0002] The invention relates to a robot attachment, comprising a housing and a positively connectable coupling means arranged on the housing, which is designed for releasably coupling to a counter-coupling means on an outer surface of a member of a robot. The invention also relates to an associated control device, a robot and a corresponding method
[0003] DE 10 2015 206 575 A1 describes a robot hand-held operating device, comprising a housing which has a handle-like grip section, a safety basic control device arranged in the housing and at least one holder connected to the housing, which is designed for the manually releasable mechanical coupling of the housing to a device which is different from the robot hand-held operating device and which communicates electronically with the safety basic control device, wherein the holder has a plug-in connection means which is designed for manual connection to a mating plug-in connection means of the device.
[0004] The object of the invention is to create a robot attachment which can be attached to a robot arm in a flexible configuration and removed again without the robot having to be manually reconfigured in terms of programming.
[0005] The object is achieved by a robot attachment, comprising: a housing, - a positively connectable coupling means arranged on the housing, which is designed for releasable coupling to at least one counter-coupling means on an outer surface of a member of a robot,
[0006] - wherein the coupling means is designed, in a state coupled to the robot member, in cooperation with the respective counter-coupling means of the robot member, to arrange the robot attachment with regard to its position and location relative to the robot member to which the robot attachment is coupled in the coupled state, in a position and location accuracy sufficient for the positioning accuracy of the robot,
[0007] - at least one control component arranged on the housing or in the housing, which comprises a data memory in which physical data of the robot attachment are stored, and
[0008] - a control interface which is designed and configured to transmit the physical data of the robot attachment present in the data memory to a control device of the robot when the robot attachment is coupled to the limb of the robot.
[0009] The robot attachment is completely housed within its own housing. The robot attachment can be a device or device component that fulfills a specific technical function and is connected to the control system of the robot to which the robot attachment is to be attached. The robot attachment can be, for example, a handheld control unit, an emergency safety switch, a sensor, and / or a camera.
[0010] Robots that are designed to collaborate with humans in particular often have the functionality of a compliance control with the help of which the robot arm can be moved manually by pushing and / or pulling and its joint position configuration can be adjusted. This means that the robot can be programmed by demonstration. It is known that such robots have handles and / or electrical input devices, for example on a link immediately upstream of the tool flange in the kinematic chain of links and joints of the robot arm, which are structurally designed as a unit with this link of the robot arm. This component is therefore part of the robot arm and therefore not an add-on part that can be removed or reattached at will.
[0011] For ergonomic reasons, the aforementioned handles and / or electrical input devices are often designed to protrude from the basic contour of the robot arm, i.e., to project from the base surface of the link. Such projections or projections increase the overall geometric contour of the robot arm and must therefore be taken into account when modeling the robot arm and when programming its movements. Since the projections or projections remain permanently unchanged in permanently attached structures, any interfering contours actually formed by the projections or projections can be taken into account in the modeling and for programming purposes at the factory during manufacture and basic configuration of the robot arm.The disadvantage here, however, is that the projections or cantilevers can potentially become a hindrance to further use of the robot, for example when movements of the robot arm are to be programmed from the execution of a work task in which, for example, the space conditions are very tight and the fixed projections or cantilevers of the robot arm may make it impossible to achieve a desired pose of the robot arm, since the fixed projections or cantilevers of the robot arm would collide with walls, tools or workpieces, or other devices of the robotic workplace.
[0012] According to the invention, the housing of the robot attachment comprises at least one positively connectable coupling means, which is designed for releasable coupling to at least one counter-coupling means on an outer surface of a robot member. The robot attachment in question can be removed from the robot arm when it is not needed and / or when it would prevent a desired movement of the robot arm. Thus, the robot attachment can be removed from the robot arm, and the corresponding projection or protrusion can be removed.
[0013] Optionally, one link, several specific links, or each of the links of the robot can have one or more counter-coupling means. Accordingly, at least one counter-coupling means is provided on the robot. If several counter-coupling means are provided on the robot, in particular several counter-coupling means on different links of the robot or on a specific link of the robot, the robot attachment can be optionally attached at different locations, in particular in different positions and / or orientations on the robot, i.e. the respective link of the robot.
[0014] This optional ability to attach or remove the robot attachment to the robot arm changes the overall contour of the robot arm. However, this must be taken into account when modeling the robot arm and programming its movements. Accordingly, when modeling the robot arm, at least two different geometric models of the robot arm must be created or kept ready for programming. If two different robot attachments or several different robot attachments are possible, a corresponding number of geometric models of the robot arm must be provided.
[0015] According to the invention, in order to simplify the configuration of the robot arm, it is provided that the adaptation of the model should be possible automatically. This is achieved in that at least one control component arranged on the housing or in the housing of the robot attachment comprises a data memory in which physical data of the robot attachment is stored, and a control interface is provided which is designed and configured to transmit the physical data of the robot attachment present in the data memory to a control device of the robot when the robot attachment is coupled to the member of the robot. In this way, on the basis of the physical data of the robot attachment automatically read out from the robot attachment, the robot model can be adapted accordingly or an associated specific robot model that is already available can be selected for use.The robot model can be a geometric model of the robot arm, or the robot model can include a geometric model as a component. In addition to a geometric model, the robot model can also include a kinematic model and / or a kinetic model.
[0016] In order that after coupling the robot attachment to a link of the robot arm the exact position and location of the robot attachment with respect to the link of the robot arm is determined and thus known, the coupling means must be designed, in a state coupled to the link of the robot, in cooperation with the counter-coupling means of the link of the robot, to arrange the robot attachment with regard to its position and location relative to the link of the robot to which the robot attachment is coupled in the coupled state, in a position and location accuracy sufficient for the positioning accuracy of the robot.
[0017] Thus, the coupling means of the robot attachment and accordingly also the counter-coupling means of the robot link to which it is coupled must be manufactured with sufficient geometric accuracy and, for example, have corresponding fits and / or locking means. Position and orientation accuracy sufficient for the positioning accuracy of the robot is achieved when the maximum deviations in the position and orientation of the robot attachment with respect to the robot link to which it is coupled are smaller than, or at most equal to, the maximum tolerances of the positioning accuracy of the robot. Positioning accuracy of the robot is understood to mean, in particular, absolute accuracy and repeatability according to ISO 9283. For example, a usual absolute accuracy, such as path accuracy, can be in the range from 0.1 to 0.6 millimeters.For example, repeatability can be in a range of 0.03 to 0.1 millimeters.
[0018] To form a detachable and form-fitting coupling means, the coupling means and the counter-coupling means on the robot arm can have corresponding, i.e., form-fitting projections, recesses, undercuts, and locking means. The respective projections, recesses, undercuts, and locking means can have fitting surfaces or fitting bodies that are manufactured to the required accuracy.
[0019] The coupling means and the counter-coupling means on the robot arm are designed to be detachable. A detachable design of the coupling means and the counter-coupling means means that the coupling means can be separated from the counter-coupling means without the coupling means and / or the counter-coupling means being damaged or destroyed. A detachable design of the coupling means and the counter-coupling means also means that the coupling means and the counter-coupling means can be separated easily, in particular manually with the hands of a person or at most with the aid of simple hand tools such as screwdrivers, wrenches or pliers.
[0020] The control component arranged in the robot attachment can, for example, be an electronic circuit board or comprise a plurality of electronic sub-circuit boards. In addition to the data memory in which the physical data of the robot attachment is stored, the control component can comprise further electronic components or assemblies which are required in particular for the respective technical functionality of the robot attachment. For example, in the case of a robot attachment in the form of a handheld control device, the control component of the robot attachment can have electrical switches, buttons, circuits and / or manual control elements, such as joysticks, which serve as input means. In this case, the control component can also comprise display means such as lamps and / or electronic displays.
[0021] In the case of a robot attachment in the form of a safety emergency switching device, this can have an emergency stop button, an enabling button and / or an operating mode selector switch and correspondingly assigned electrical circuits.
[0022] In an alternative or additional embodiment, the robot attachment can have one or more sensors. The at least one sensor can include, in addition to the actual sensor element, an associated electronic sensor data evaluation unit.
[0023] Another type of safety emergency switching device can also be implemented by a robot attachment which only or exclusively has an emergency switching device which is designed and configured to do so in an emergency situation in which, as part of a human-robot collaboration, a person is inadvertently trapped between two links of the robot arm or between the robot arm and another object in the workplace and such a clamping situation needs to be resolved, i.e. eliminated. To do this, the robot arm's control system must be brought into a safe state, for example the motors of the robot arm must be switched off, which means that the trapped person can push the robot arm aside or away in order to free the respective trapped body part from the clamping situation.Such release from the clamping situation can be triggered by manually actuating a dedicated emergency switch. This can be designed as a robot attachment.
[0024] The robot attachment can in particular be a camera or comprise a camera which has an imaging sensor and optionally comprises an image evaluation circuit associated with the imaging sensor.
[0025] Finally, the robot attachment has a control interface which is designed and configured to transmit the physical data of the robot attachment present in the data memory to a control device of the robot when the robot attachment is coupled to the limb of the robot.
[0026] The control interface can be wired or wireless. In the case of a wired interface, it can be integrated into the coupling device.
[0027] Accordingly, the wired interface can comprise electrical contacts which make contact with electrical mating contacts on the link of the robot arm when the robot attachment is coupled to the counter-coupling means of the link of the robot arm by means of its coupling means. The electrical contacts of the wired interface can be combined in a plug connector. Analogously, the electrical mating contacts on the link of the robot arm can be combined in a corresponding mating connector. The plug connectors and mating connectors can be designed such that they correspond to a plug standard which supports a specific interface standard. For example, the plug connectors and mating connectors can be designed as plugs according to the USB standard and configured, for example, according to the well-known Thunderbolt (in particular Thunderbolt 4) interface protocol.
[0028] A radio connection (e.g., WPAN) can serve as the wireless interface. This can be configured according to the Bluetooth standard, for example.
[0029] The physical data can be geometry data, center of gravity data, load data and / or machine data of the robot attachment.
[0030] The geometric data can describe the overall contour of the robot attachment. Alternatively or additionally, the geometric data can be formed from a reduced data set. The reduced data set can, for example, include a central point within the overall contour of the robot attachment and at least the length of a radius starting from this central point. In this way, an envelope sphere can be determined mathematically using only the position or location of the central point and the radius. The envelope sphere must be defined in such a way that it completely encloses the robot attachment. In this way, such a reduced data set can be used to determine a complete envelope curve of the robot arm including the robot attachment.Such a complete envelope of the robot arm can be used by the control device to automatically detect a collision situation when planning a movement of the robot arm in a predetermined environment.
[0031] The center of gravity data can contain information about the position or location of the center of gravity or the center of mass of the robot attachment. The center of gravity data can be used to automatically determine forces and moments induced by the mass of the robot attachment attached to the robot arm when the robot arm is moved together with the attached robot attachment, in particular when it is accelerated or decelerated. These forces and moments can be taken into account within the framework of a kinetic model of the robot arm.
[0032] In particular, when the robot attachment is uncoupled from an end member of the robot arm, i.e., uncoupled from a tool flange of the robot arm, the physical data of the robot attachment can be used as load data. This additional load data is required by the control device, for example, in order to be able to adapt the kinetic model of the robot arm to the variable loads that occur when a specific tool, which is to be recorded by the control system using first load data, is uncoupled from the tool flange of the robot arm, or when another tool, which is to be recorded by the control system using second load data, is uncoupled from the tool flange of the robot arm.
[0033] If the robot attachment is coupled to a link of the robot arm other than the end link, i.e., the tool flange, the physical data of the robot attachment must be recorded as machine data rather than load data. By transmitting the physical data stored in the robot attachment's data memory to the robot's control device via the control interface when the robot attachment is coupled to the robot link, the machine data can be automatically adapted to the new physical configuration of the robot arm that arises when the robot attachment is coupled to the robot link.
[0034] The robot attachment can have a sensor assigned to the coupling means, which is designed to detect a correct coupling state of the coupling means of the robot attachment to the counter-coupling means of the member of the robot, wherein the sensor is set up to allow a transmission of the physical data from the memory of the robot attachment to a control device assigned to the robot when a correct coupling state of the coupling means of the robot attachment to the counter-coupling means of the member of the robot is detected by the sensor.
[0035] The sensor associated with the coupling means can have a button that detects whether the coupling means is properly coupled, i.e., functionally correctly, to the counter-coupling means on the relevant link of the robot arm, in particular whether it is locked in place. The sensor can then electronically transmit a signal to the control device containing information about whether the coupling means is properly coupled, i.e., functionally correctly, to the counter-coupling means on the relevant link of the robot arm.
[0036] The sensor, or a control component of the robot attachment assigned to the sensor, can thus supply a signal which permits or initiates a transmission of the physical data from the memory of the robot attachment to a control device assigned to the robot if the signal signals a proper coupling state of the coupling means of the robot attachment to the counter-coupling means of the robot limb. The control interface of the robot attachment can be an electrical connector integrated into the coupling means, via which the physical data stored in the memory are passed to the control device by means of an electrical connection routed via the electrical connector when the robot attachment is coupled to the robot limb.
[0037] The electrical connector integrated into the coupling means can, in particular, be an electrical plug-in connector. The electrical plug-in connector can be designed as a plug, a socket, or a plug / socket combination. The electrical plug-in connector can comprise at least one electrical contact or comprise a plurality of electrical contacts.
[0038] The control interface can thus comprise electrical contacts which make contact with electrical mating contacts on the link of the robot arm when the robot attachment is coupled to the counter-coupling means of the link of the robot arm by means of its coupling means. The electrical contacts of the wired interface can be combined in a plug connector. In a similar way, the electrical mating contacts on the link of the robot arm can be combined in a corresponding mating connector. The plug connectors and mating connectors can be designed such that they correspond to a plug standard which supports a specific interface standard. For example, the plug connectors and mating connectors can be designed as plugs according to the USB standard and configured, for example, according to the well-known Thunderbolt (in particular Thunderbolt 4) interface protocol.The control interface of the robot attachment can comprise a transmitting device which is part of a wireless connection which connects the control component of the robot attachment to the control device of the robot.
[0039] A radio connection (e.g., WPAN) can serve as the wireless interface. This can be configured according to the Bluetooth standard, for example.
[0040] The control interface of the robot attachment can comprise a first data line which is designed using non-safe technology and is set up, when the robot attachment is coupled to the robot limb, to transmit data to the control device using non-safe technology in order to register the robot attachment with the control device in terms of control technology and to transmit the physical data to the control device, and the control interface of the robot attachment can comprise a second data line which is designed using safe technology and is set up, when the robot attachment is coupled to the robot limb, to connect the control component with at least one of its respective functionalities to the control device using safe technology.
[0041] When the robot attachment is coupled to a link of the robot arm, the robot attachment can automatically register with the control device via the non-safety-relevant data connection, i.e. the first data line. This registration can trigger a control routine which configures the function assigned to the robot attachment. To do this, the robot attachment can transmit all of the necessary physical data from its data memory to the control device. If the robot attachment has safety-relevant functionalities, such as a safety emergency switch, an emergency stop button, an enabling button and / or an operating mode selector switch, this safety-related functionality can then be set up via the safety-relevant data connection, i.e. the second data line.
[0042] The robot attachment can be designed as a hand-held control device, a safety emergency switch, a sensor and / or a camera, as already explained in more detail.
[0043] The object is also achieved by a control device which is designed and configured to control electric motors of a robot arm which move joints of the robot arm in order to adjust members of the robot arm against one another either automatically according to a robot program implemented on the control device or in a manual mode by manual control in order to move the robot arm into different poses, having an input interface to which a control interface of a robot attachment according to one of the described embodiments is connected in such a way that physical data can be transferred from the data memory of the robot attachment to the control device.
[0044] In general, the control device can form a central controller, such as a robot controller, which contains all the control components necessary for operating the robot arm, its modeling, connecting the robot attachment, and / or carrying out the method. Alternatively, the control device can have two or more decentralized control modules, which are then configured to interact for control purposes, for example, by allowing the control modules to exchange signals, data, and / or information via communication connections.
[0045] The robot attachment can thus be considered as part of the control device, or as a separate control device from the control device.
[0046] The object is also achieved by a robot having a robot arm with a plurality of joints and a plurality of members which can be adjusted relative to one another by moving the joints, wherein the joints are moved by means of electric motors of the robot arm and are controlled by a control device as described, wherein at least one of the members has at least one counter-coupling means to which a robot attachment according to one of the described embodiments is coupled.
[0047] The counter-coupling means can have a control interface corresponding to the robot attachment. This can be integrated into the counter-coupling means and, in particular, comprise at least one electrical connector via which, when the robot attachment is coupled to the robot limb, the physical data stored in the memory of the robot attachment are transmitted to the control device by means of an electrical connection routed via the electrical connector.
[0048] The electrical connector integrated into the counter-coupling means can in particular be an electrical plug-in connector. The electrical plug-in connector can be designed as a plug, as a socket or as a plug / socket combination. The electrical plug-in connector can comprise at least one electrical contact or a plurality of electrical contacts. The electrical plug-in connector or the electrical contacts can be designed to correspond to those of the robot attachment, i.e. when the robot attachment is coupled to the relevant member of the robot arm, they can make electrical contact with the latter when the coupling means and the counter-coupling means are connected.
[0049] The object is also achieved by a method for controlling electric motors of a robot arm, which move joints of the robot arm in order to adjust links of the robot arm against each other either automatically according to a robot program implemented on the control device or in a manual driving mode by manual control in order to move the robot arm into different poses, comprising the steps:
[0050] - Attaching a robot attachment according to one of the described embodiments to a member of a multi-member robot arm by positively connecting the coupling means of the robot attachment to a counter-coupling means of one of the members of the robot arm,
[0051] - automatic transfer of physical data from a data memory of the robot attachment into a control device which is designed and set up to control a robot arm to which the robot attachment is coupled, - controlling the electric motors of the robot arm by means of the control device automatically in accordance with a robot program implemented on the control device or in a manual driving mode by manual control, wherein during a controlled execution of movements of the robot arm the physical data obtained from the robot attachment are included in the planning of the movements of the robot arm.
[0052] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Regardless of the specific context in which they are mentioned, specific features of these exemplary embodiments may, if appropriate, also represent general features of the invention, whether considered individually or in further combinations.
[0053] It shows :
[0054] Fig. 1 is a perspective view of an exemplary robot arm,
[0055] Fig. 2 is a perspective view of an exemplary robot arm designed for human-robot collaboration, wherein a flange member of the robot arm has a robot attachment according to the invention,
[0056] Fig . 3 is a perspective view of an exemplary robot arm used for
[0057] Human-robot collaboration is formed, wherein another member of the robot arm has a robot attachment according to the invention,
[0058] Fig. 4 is a schematic representation of a robot attachment according to the invention on a member of the robot arm in isolation, and
[0059] Fig. 5 is a flow chart of the basic method according to the invention.
[0060] Fig. 1 shows an example of a robot 1 with a robot controller 2 and a robot arm 3. The robot arm 3 has a base frame 5 as the first link G1, on which a carousel 7 as the second link G2 is mounted so as to be rotatable about a first vertical axis A1 and is rotationally driven by a first drive motor M1. The axes A1-A6 of the robot arm 3 can also be referred to as joints L1-L6 of the robot arm 3. A rocker arm 8 as the third link G3 is mounted on the carousel 7 so as to be pivotable up and down about a second horizontal axis A2 and is rotationally driven by a second drive motor M2. The rocker arm 8 carries an arm boom 9 which is mounted so as to be pivotable up and down about a third horizontal axis A3 and is rotationally driven by a third drive motor M3.On the arm extension 9, the base arm 10 of which forms a fourth link G4, a fourth axis A4 is provided which runs in the longitudinal extent of the arm extension 9 and, via a fourth drive motor (not shown), drives a front arm 11 in rotation, which forms a fifth link G5. A first leg 12a and a second leg 12b extend forward from the front arm 11 in a fork-like manner. The two legs 12a, 12b carry a bearing for a hand 13, which forms a sixth link G6. The bearing defines a fifth axis A5 of the robot arm 3, about which the hand 13 can be pivoted by means of a fifth drive motor (not shown). In addition, the hand 13 has a sixth axis A6 in order to be able to drive a fastening flange 14, which forms a seventh member G7, in a rotatable manner by means of a sixth drive motor (not shown).Each axis A1 to A6 is assigned a joint L1 to L6, which, in the case of the exemplary embodiment shown, connect the links G1 to G7 in the manner of a serial kinematics of a kick-arm robot. A robot attachment 20 according to the invention can, as shown, be coupled to one of the links G1 to G7 of the robot arm 3, in the present case of Fig. 1 to the fifth link G5 of the robot arm 3, i.e., to the forearm 11.
[0061] In the case of the embodiment according to Fig. 2, the robot arm 3 is designed as a robot arm 3 capable of human-robot collaboration, wherein a flange member 21 of the robot arm 3 has the coupled robot attachment 20. The robot arm 3 is designed, for example, as a so-called lightweight robot. The robot arm 3 has a total of seven joints. The robot arm 3 is controlled by force / torque control and can also be operated in a compliance control mode. In a compliance control mode, the robot arm 3 can be moved manually by pushing and / or pulling on at least one member of the robot arm 3 and can also be changed in its current joint position configuration. In the example type of coupling shown in Fig. 2, the robot attachment 20 is coupled to the flange member 21 of the robot arm 3. In another exemplary embodiment according to Fig. 3, the robot 1 is designed as a mobile robot 1a.It comprises, as components, an automatically controllable vehicle 22 and the robot arm 3, which is mounted on the vehicle 22. The vehicle 22 can be an autonomous vehicle. By means of the vehicle 22, the robot arm 3 can be used at various locations. The robot attachment 20 is coupled, for example, to a member of the robot arm 3 that is different from the flange member 21.
[0062] Fig. 4 shows schematically the robot attachment 20 in an arrangement coupled to one of the links G1 to G7 on the robot arm 3.
[0063] The robot attachment 20 has a housing 26 within which all components of the robot attachment 20 are accommodated.
[0064] A positively connectable coupling means 23 is arranged on the outside of the housing 26, which is designed for releasable coupling to at least one counter-coupling means 24 on an outer surface of a member G1 to G7 of the robot 3.
[0065] The coupling means 23 is designed, in a state coupled to the member Gl to G7 of the robot 3, as shown in Fig. 4, in cooperation with the respective counter-coupling means 24 of the member Gl to G7 of the robot 3, to arrange the robot attachment 20 with regard to its position and location relative to the member Gl to G7 of the robot 3 to which the robot attachment 20 is coupled in the coupled state, with a position and location accuracy sufficient for the positioning accuracy of the robot 3. At least one control component 27 arranged in the housing 26 comprises a data memory 25 in which physical data of the robot attachment 20 are stored.
[0066] A control interface 28 of the robot attachment 20 is designed and configured to transmit the physical data of the robot attachment 20 present in the data memory 25 to the control device 2 of the robot arm 3 when the robot attachment 20 is coupled to the member of the robot arm 3.
[0067] The physical data can be geometry data, center of gravity data, load data and / or machine data of the robot attachment.
[0068] The robot attachment 20 has a sensor 29 assigned to the coupling means 23, which is designed to detect a correct coupling state of the coupling means 23 of the robot attachment 20 to the counter-coupling means 24 of the member G1 to G7 of the robot 3, wherein the sensor 29 is set up to allow transmission of the physical data from the memory 25 of the robot attachment 20 to the control device 2 assigned to the robot 3 when a correct coupling state of the coupling means 23 of the robot attachment 20 to the counter-coupling means 24 of the member G1 to G7 of the robot 3 is detected by the sensor 29.
[0069] The control interface 28 of the robot attachment 20 can be an electrical connector integrated in the coupling means 23, via which, in a coupled state of the robot attachment 20 to the member G1 to G7 of the robot 3, the physical data stored in the memory 25 are passed to the control device 2 by means of an electrical connection led via the electrical connector.
[0070] The control interface 28 of the robot attachment 20 can comprise a transmitting device 30, which is part of a wireless connection that connects the control component 27 of the robot attachment 20 to the control device 2 of the robot 1.
[0071] The control interface 28 of the robot attachment 20 can comprise a first data line 31.1, which is designed using non-safe technology and is configured, when the robot attachment 20 is coupled to the link G1 to G7 of the robot 3, to transmit data using non-safe technology to the control device 2 in order to register the robot attachment 20 with the control device 2 and to transmit the physical data to the control device 2.
[0072] The control interface 28 of the robot attachment 20 can further comprise a second data line 31.2, which is designed using safe technology and is configured, in a coupled state of the robot attachment 20 to the member G1 to G7 of the robot 3, to connect the control component 27 with at least one of its respective functionalities to the control device 2 using safe technology.
[0073] The robot attachment 20 can be designed, for example, as a handheld control device, a safety emergency switch, a sensor and / or a camera 32.
[0074] The control device 2 can be designed and configured to control electric motors M1 to M6 of the robot arm 3, which move the joints L2 to L6 of the robot arm 3 in order to adjust the links G1 to G7 of the robot arm 3 against each other either automatically according to a robot program implemented on the control device 2 or in a manual operation by manual control in order to move the robot arm 3 into different poses.
[0075] The control device 2 can have an input interface 33 to which the control interface 28 of the robot attachment 20 is connected in the coupled state, such that physical data can be transferred from the data memory 25 of the robot attachment 20 to the control device 2.
[0076] Fig. 5 illustrates the basic method according to the invention. The method serves to control electric motors M1 to M6 of the robot arm 3, which move the joints L1 to L6 of the robot arm 3 in order to adjust the links G1 to G7 of the robot arm 3 relative to one another, either automatically according to a robot program implemented on the control device 2 or in a manual mode by manual control, in order to move the robot arm 3 into different poses.
[0077] In a first step S 1, the robot attachment 20 is attached to a link Gl to G7 of the robot arm 2 having a plurality of links Gl to G7 by positively connecting the coupling means 23 of the robot attachment 20 to the counter-coupling means 24 of one of the links Gl to G7 of the robot arm 3.
[0078] In a second step S2, physical data are automatically transferred from a data memory 25 of the robot attachment 20 to the control device 2, which is designed and configured to control the robot arm 3 to which the robot attachment 20 is coupled.
[0079] In a second step S2, the electric motors M1 to M6 of the robot arm 3 are controlled automatically by means of the control device 2 in accordance with a robot program implemented on the control device 2 or in a manual driving mode by manual control, wherein during a controlled execution of movements of the robot arm 3, the physical data obtained from the robot attachment 20 are included in the planning of the movements of the robot arm 3.
Claims
Patent claims 1. Robot attachment, comprising: - a case (26) , - a positively interlocking coupling means (23) arranged on the housing (26), which is designed for detachable coupling to at least one negative feedback means (24) on an outer surface of a link (G1-G7) of a robot (1) , - wherein the coupling means (23) is configured, in a state coupled to the link (G1-G7) of the robot (1) in conjunction with the respective feedback means (24) of the link (G1-G7) of the robot (1), to position the robot attachment (20) with respect to its position and orientation relative to the link (G1-G7) of the robot (1) to which the robot attachment (20) is coupled in the coupled state, with a position and orientation accuracy sufficient for the positioning accuracy of the robot (1), - at least one control component (27) arranged on or in the housing (26), which includes a data storage (25) in which physical data of the robot attachment (20) are stored, and - a control engineering interface (28) which is designed and configured to transmit the physical data of the robot attachment (20) present in the data storage (25) to a control device (2) of the robot (1) when the robot attachment (20) is coupled to the link (G1-G7) of the robot (1). Robot attachment according to claim 1, characterized in that the physical data are geometry data, center of gravity data, load data and / or machine data of the robot attachment (20). Robot attachment according to claim 1 or 2, characterized in that the robot attachment (20) has a sensor (29) associated with the coupling means (23), which is configured to detect a proper coupling state of the coupling means (23) of the robot attachment (20) on the feedback means (24) of the link (G1-G7) of the robot (1), and the sensor (29) is configured to allow the transmission of physical data from the memory (25) of the robot attachment (20) to a control device (2) associated with the robot (1) when a proper coupling state of the coupling means (23) of the robot attachment (20) on the feedback means (24) of the link (G1-G7) of the robot (1) is detected by the sensor (29).Robot attachment according to one of claims 1 to 3, characterized in that the control interface (28) of the robot attachment (20) is an electrical connector integrated into the coupling means (23), via which, in a coupled state of the robot attachment (20) on the link (G1-G7) of the robot (1), the physical data stored in the memory (25) are transmitted to the control device (2) by means of an electrical connection led via the electrical connector. Robot attachment according to one of claims 1 to 3, characterized in that the control interface (28) is integrated into the coupling means (23). The interface (28) of the robot attachment (20) comprises a transmitting device (30) which is part of a wireless connection that connects the control component (27) of the robot attachment (20) to the control device (2) of the robot (1). Robot attachment according to claim 4 or 5, characterized in that the control interface (28) of the robot attachment (20) comprises a first data line (31.1) which is designed and configured in a non-safety-based state of the robot attachment (20) on the link (G1-G7) of the robot (1) to transmit data in a non-safety-based manner to the control device (2) in order to register the robot attachment (20) with the control device (2) and to transmit the physical data to the control device (2), and the control interface (28) of the robot attachment (20) comprises a second data line (31.2) comprises a robot attachment (20) designed and configured to safely connect the control component (27) with at least one of its respective functionalities to the control device (2) when the robot attachment is coupled to the link (G1-G7) of the robot (1). Robot attachment according to one of claims 1 to 6, characterized in that the robot attachment (20) is designed as a hand-held operating device, a safety emergency switch, a sensor and / or a camera (32). Control device (2) which is designed and configured for controlling electric motors (M1-M6) of a robot arm (3) which move joints (L1-L6) of the robot arm (3) in order to adjust links (G1-G7) of the robot arm (3) either automatically according to a robot program implemented on the control device (2) or in manual operation by control in order to move the robot arm (3) into different poses, comprising an input interface (33) to which a control interface (28) of a robot attachment (20) according to one of claims 1 to 7 is connected, such that data from the data storage (25) of the robot attachment (20) can be physically transferred to the control device (2).A robot comprising a robot arm (3) with multiple joints (L1-L6) and multiple links (G1-G7) which are adjustable relative to each other by moving the joints (L1-L6), wherein the joints (L1-L6) are moved by means of electric motors (M1-M6) of the robot arm (3) controlled by a control device (2) according to claim 8, wherein at least one of the links (G1-G7) has at least one feedback element (24) to which a robot attachment (20) according to any one of claims 1 to 7 is coupled. A method for controlling electric motors (M1-M6) of a robot arm (3) which move joints (L1-L6) of the robot arm (3) in order to move links (G1-G7) of the robot arm (3) either automatically according to a robot program implemented on the control device (2) or in manual operation by manual control. to adjust each other in order to move the robot arm (3) into different poses, comprising the steps: - Attaching a robot attachment (20) according to one of claims 1 to 7 to a link (G1-G7) of a robot arm (3) having several links (G1-G7) by positively connecting the coupling means (23) of the robot attachment (20) with a counter-coupling means (24) of one of the links (G1-G7) of the robot arm (3 ) , - automatic transfer of physical data from a data storage device (25) of the robot attachment (20) to a control device (2) which is designed and configured to control a robot arm (3) to which the robot attachment (20) is coupled, - Controlling the electric motors (M1-M6) of the robot arm (3) by means of the control device (2) automatically according to a robot program implemented on the control device (2) or in manual operation by manual control, wherein during a controlled execution of movements of the robot arm (3) the physical data obtained from the robot attachment (20) are included in the planning of the movements of the robot arm (3).