Portable robot teaching device and method for manually teaching-in work points, path points and / or trajectories

Abstract

The invention relates to a portable robot teaching device (13) for manually teaching-in work points, path points and / or trajectories of a work process to be carried out automatically by a robot (1) after the teaching-in, specifically on the basis of a robot program in which the work points, path points and / or trajectories learnt by means of the portable robot teaching device (13) in the teach-in method are recorded, inter alia having a sensor apparatus (20) for detecting at least one state of an actuator (17) of the portable robot teaching device (13) synchronously to the recorded work points, path points and / or trajectories. The invention also relates to an associated method for manually teaching-in, by means of a portable robot teaching device (13), work points, path points and / or trajectories of a work process to be carried out automatically by a robot (1) after the teaching-in.

Description

[0001] Portable robot teaching device and method for manual teaching of operating points, path points and / or trajectories

[0002] The invention relates to a portable robot teaching device for the manual teaching of operating points, path points and / or trajectories of a work sequence to be automatically executed by a robot after teaching, based on a robot program in which the operating points, path points and / or trajectories learned in the teach-in process by means of the portable robot teaching device are recorded. The invention also relates to a method for the manual teaching of operating points, path points and / or trajectories of a work sequence to be automatically executed by a robot after teaching, using a portable robot teaching device.

[0003] WO 2017 / 036521 A1 describes a handheld position vector teaching device for robot programming, comprising a handheld base body, a mechanical interaction device attached to the handheld base body, which extends along a reference axis and defines a reference tool center point on the reference axis, a position and orientation determination device integrated into the handheld base body, which is intended to determine the position of the reference tool center point and the orientation of the reference axis relative to a reference coordinate system that is aligned with the mechanical interaction device, a communication interface for data exchange with a computing device, in particular with a robot controller, wherein the handheld position vector teaching device is intended to provide data to its communication interface,which describe the current position of the reference tool center and the orientation of the reference axis relative to the aligned reference coordinate system.

[0004] The object of the invention is to provide a portable robot teaching device and an associated method which have an extended utility so that work sequences to be carried out automatically by means of a robot can be taught manually with higher precision and / or a greater range of functions.

[0005] The problem is solved by a portable robot teaching device for manually teaching working points, path points and / or trajectories of a work sequence to be automatically executed by a robot after teaching, based on a robot program in which the working points, path points and / or trajectories taught in the teach-in process by means of the portable robot teaching device are recorded, comprising:

[0006] - a base body with a handle portion designed to manually hold and manually guide the portable robot teaching device,

[0007] - a tool representation connected to the base body, which has at least one controllable actuator designed to control a tool function, at least one manual actuating means for

[0008] Controlling the actuator,

[0009] - a detection device for recording operating points, path points and / or trajectories, and

[0010] - a sensor device for detecting at least one state of the actuator synchronously with the recorded operating points, path points and / or trajectories.

[0011] The portable robot teaching device is used to manually record the work points, path points and / or trajectories required for the subsequent automatic execution of a robot program by a robot during the creation of a robot program. Such teaching of work points, path points and / or trajectories can, instead of or in addition to creation, also include correcting work points, path points and / or trajectories of an existing robot program that have already been taught in. To do this, a person holds and guides the portable robot teaching device within a work space in which the robot is to carry out the programmed work task. During the automatic execution of the robot program, the robot moves a tool in order to carry out the desired work task, for example on a workpiece.The tool can, for example, be a gripper which grasps, transports, sets down and / or handles workpieces in some other way. The tool can, however, also be a processing tool which is guided by the robot and which carries out certain processing on workpieces. For example, the processing tool can be welding tongs which apply welding spots to a workpiece. The processing tool can, however, also be, for example, a drill or a milling cutter which, for example, machines the workpiece by cutting it. Another non-exhaustive example of a processing tool can be, for example, a spray device which, for example, sprays paint or varnish so that a surface of a workpiece can be painted automatically.

[0012] In many cases, in order to create a robot program, it is necessary to teach at least one tool function in addition to the positions and / or orientations of the tool to be guided by the robot, so that the robot program not only specifies the working points, path points and / or trajectories along which the tool should move automatically under the guidance of the robot, but also how the tool function should behave during the automatic handling of the tool by the robot.

[0013] For example, when creating a robot program for the robot-guided handling of a gripper, it is also necessary to program at which operating points, path points and / or points on the trajectory the gripper should open or close. In the case of a machining tool, such as a drill or milling cutter, it is necessary to program at which operating points, path points and / or points on the trajectory the drill or milling cutter should rotate or remain stationary. If necessary, a feed force or feed rate must also be programmed. In the case of a spray nozzle as a tool, for example, it must be programmed when the spray nozzle is to be opened and when the spray nozzle is to be closed again. The spray pressure or the application quantity can also be changed depending on the position and / or orientation.In the case of a suction gripper, for example, it is necessary to program when a negative pressure is to be created on the at least one suction element of the suction gripper, when a negative pressure is to be removed again and / or when, if necessary, an overpressure is to be applied to the at least one suction element, for example when an object sucked up by the suction element is to be released, in particular is to be actively repelled, i.e. is to be thrown off.

[0014] The grip portion of the base body can have a handle, which can be ergonomically designed so that the portable robot teaching device can be held, carried, and handled, or moved in space, using a person's hand. The base body can have a flange to which different types of tool representations can be optionally coupled. Thus, the base body, which can also be equipped with the necessary electronics or control devices, can be used in conjunction with different tool representations.

[0015] A tool representation can be understood to be either the actual functional tool to be attached to the robot and to actually carry out the programmed work sequence, or a dummy of a tool to be attached to the robot. The dummy can have a reduced range of functions and / or be made from simpler, lighter, cheaper components and / or components made of different materials than is the case with fully functional tools. The tool representation does not necessarily have to have a tool function for the mechanical processing of a workpiece. The tool representation can also be a contactless measuring instrument, for example.In a simple form, this could be just the base body with an integrated camera, which forms the tool representation itself for a specific application, for example, to demonstrate a purely visual inspection task without mechanical contact. Processes with non-contact inspection in a variable process are also possible, for example, to check the temperature with a temperature sensor, to check for leaks with a leakage sensor, or to check for material defects with a camera sensor.

[0016] By means of the manual actuation means, a person who manually carries and handles the portable robot teaching device can also manually control the actuator of the portable robot teaching device, in particular simultaneously, i.e. synchronously, while the person moves the portable robot teaching device in space from one working point or one trajectory point to another working point or another trajectory point, changes its orientation or records a trajectory in space by means of a continuous movement.

[0017] The detection device for recording operating points, path points, and / or trajectories can be designed analogously to the known detection devices already used in portable robot training devices according to the prior art. Thus, the detection of operating points, path points, and / or trajectories, and / or the detection of the positions and / or orientations of the portable robot training device in space can be carried out using internal sensors, such as gyroscopes or inertial measurement systems. Alternatively or additionally, external sensors can be used, such as tracking sensors or motion capture sensors. The detection device can be designed and configured to enable the detection of further sensor data and / or actuator data in addition to the detection of operating points, path points, and / or trajectories.

[0018] In the case of state-of-the-art portable robot teaching devices, it is known that, in addition to the positions and orientation of the portable robot teaching device or its defined operating point, additional forces can also be taught. However, such forces cannot provide precise conclusions about the actual state of actuators that represent the actual behavior of the tool to be programmed. It can therefore be assumed that purely mechanical mobility of gripper fingers on the portable robot teaching device cannot represent an actuator for the gripper fingers and the associated actuators that a functional tool would need to have in order to carry out the actual work task, particularly if the movements of the gripper fingers, i.e. opening and / or closing of the gripper fingers, are carried out by the robot or the associated tool during the later execution of the taught robot program.are to be carried out automatically by the robot controller. The functional tool must then have actively drivable gripper fingers, and the gripper fingers of the functional tool must no longer be adjustable purely manually by the fingers of a person's hand. The solution according to the invention therefore provides that the tool representation connected to the base body of the portable robot teaching device has at least one controllable actuator which controls an associated tool function, and a sensor device is provided for detecting at least one state of the actuator synchronously with the recorded operating points, path points and / or trajectories.

[0019] The state of the actuator can be its position, in particular its position and / or orientation. A fixed location on the tool representation or on the base body of the portable robot teaching device can serve as a reference point. The state of the actuator can also be a functional state. For example, in the case of a valve as the actuator, the detected state can be a "valve open" state or a "valve closed" state. In another case, in which the tool function is, for example, a machining tool such as a drill or a milling cutter, the state of the actuator, which in this case can be the drill or milling cutter itself, or a drill chuck carrying the drill or milling cutter, can be, for example, the rotational speed.

[0020] In the case of a gripper with gripping jaws or gripping fingers that can be opened and closed, in addition to the "gripper open" and "gripper closed" states, states can also be recorded that include the speed and / or acceleration with which the gripping jaws or gripping fingers are opened or closed. This can be important, for example, in case designs in which a gripper grasps an object and the object is to be thrown by means of the gripper, so that this object follows an expected trajectory at a predetermined speed after the gripper is opened.

[0021] In general, this actuator of the tool representation can be a purely mechanical actuator. For example, in the case of a gripper, this can also be a mechanical component of a gripper jaw itself, or a mechanical coupling element for moving the gripper jaw, or an active drive, such as a motor, in particular an electric motor, which can actively move at least one connected gripper jaw.

[0022] It is particularly advantageous if at least the actuator is not a replacement component or dummy component, but is exactly such a functional actuator as is installed on the later real tool in automatic operation, in which the robot handles the functional tool during the automatic execution of the programmed work sequence.

[0023] For example, it can be provided that the tool that is capable of functioning for the work sequence to be carried out automatically according to the trained robot program is connected to the base body of the portable robot teaching device as a tool representation, which tool is later also attached to the robot in automatic operation.

[0024] Thus, the tool representation connected to the base body can be formed by a functional tool which is suitable for use in the automatic execution of the work sequence to be carried out by the robot, wherein this functional tool is connected to the base body, the controllable actuator is formed by an actuator of the functional tool designed to carry out a tool function, and the sensor device is designed to detect at least one state of the actuator of the functional tool synchronously with the recorded working points, path points and / or trajectories.

[0025] In many cases, however, the functional tool is so heavy that it either cannot be carried by a person at all, cannot be carried with just one hand, or can be carried for a short time but not for long enough to fully learn a work sequence. In such a case, the person would become exhausted too quickly if they had to handle the heavy tool manually. In such cases, the invention proposes not to use the functional tool for manual learning, but rather to use a not fully functional model of the tool, i.e. a dummy tool. In these cases, however, the invention can still allow the tool function to be taught to correspond to the functional tool function or be identical to it.the not fully functional model of the tool, i.e. the dummy tool can have exactly such a functional actuator as is used on the later real tool in automatic operation.

[0026] Accordingly, the tool representation connected to the base body can be formed as an alternative to a real, original tool, instead by a dummy which, with regard to at least one function, is modeled on a functional tool which is suitable for use in the automatic execution of the work sequence to be carried out by the robot, but is not sufficiently suitable in terms of structure and materials for use in the automatic execution of the work sequence to be carried out by the robot, wherein this dummy is connected to the base body, the controllable actuator is a dummy actuator,which corresponds to an actuator of the functional tool designed to perform a tool function or is modeled, with regard to its functionality, on an actuator designed to perform a tool function, at least with regard to its kinematic mobility, and the sensor device is designed to detect at least one state of the dummy actuator synchronously with the recorded operating points, path points and / or trajectories.

[0027] In an easily understandable embodiment of such a not fully functional model of the tool, i.e. a dummy tool, this can, for example, be the two gun arms of a welding gun made of plastic, whereas the electric drive which is supposed to move the gun arms is a functional gun drive, as is also used in the fully functional tool.

[0028] On the one hand, the portable robot teaching device can be designed to be significantly lighter than a functional tool would be, and on the other hand, the tool function to be taught can be taught in a way that is close to reality or even identical to reality.

[0029] In a first embodiment, the manual

[0030] The actuating means must be coupled to the actuator by means of a mechanical coupling, so that the actuator can be adjusted by mechanically adjusting the actuating means.

[0031] In such a simple embodiment, no drives, motors, and / or power supplies are necessary. The actuator can be, for example, a coupling with which, for example, a gripper jaw can be opened and / or closed. By providing a sensor device that detects, for example, the position and / or orientation of the actuator, the position of the actuated gripper jaw, in particular an opening state of the gripper and / or a closing state of the gripper, and possibly also intermediate gripper jaw positions, can be detected.

[0032] In addition to the gripper's opening and / or closing states, applied contact forces can also be recorded. For example, the force with which the gripper jaws are compressed can be recorded.

[0033] In a similar way, for example, the currently applied overpressure and / or negative pressure can be recorded in a suction gripper.

[0034] In general, both user input, i.e. a command, and sensor values, in particular internal sensor values ​​of the tool, can be saved. Such data, in particular time-dependent data, can be made available via a communication interface, possibly also encrypted, by the portable robot teaching device. In a second embodiment, the manual

[0035] The actuating means may be an electrical first input means which is coupled by means of an electrical or electronic connection to the actuator, which is designed as an electro-mechanical actuator, so that the electro-mechanical actuator can be adjusted by manually actuating the electrical first input means.

[0036] The electro-mechanical actuator can therefore have at least one mechanical component which is structurally assigned to a tool function. For example, it can be a mechanical valve which opens or closes a pneumatic or hydraulic line or another fluid line. The mechanical valve can be connected to an electrical actuator, such as a motor. By supplying the electrical actuator with electrical energy, the coupled valve can be controlled, i.e. moved. The person wearing and handling the portable robot teaching device can thus electrically control and actuate the valve by actuating an electrical actuating means.

[0037] In a third embodiment, the manual actuating means can comprise a pneumatic or hydraulic valve which is coupled by means of a pneumatic or hydraulic line to the actuator, which is designed as a pneumatic or hydraulic actuator, so that the pneumatic or hydraulic actuator can be adjusted by manually actuating the pneumatic or hydraulic valve. In this embodiment, it can therefore certainly be provided that the valve is only actuated or moved mechanically or manually, although the position of the valve can be detected by means of suitable sensors, in particular electrical sensors, so that this sensor device can detect the state of the mechanical valve synchronously with the recorded operating points, path points and / or trajectories.

[0038] In a further development, the portable robot teaching device can have a further, in particular optical, detection device, in particular a camera, which is designed to capture an image of the environment in which the portable robot teaching device is manually handled during manual handling of the portable robot teaching device synchronously with the recorded operating points, path points and / or trajectories and / or synchronously with the at least one state of the actuator detected by the sensor device. The further detection device can be a camera, a radar sensor, a lidar sensor, a microphone sensor, a capacitive sensor or another sensor.

[0039] In this development, not only the state of the actuator is detected, but also an image of the environment in which the portable robot teaching device is manually handled. Thus, the optical detection device can optically detect the behavior and / or state of the actuator or other components of the tool function, such as the gripper jaws of a gripper. The state of the actuator can be detected, in particular, with respect to variably shaped, i.e., flexible workpieces, such as hoses or cables.The advantages of such an additional, in particular optical, detection device, which detects an image of the environment in which the portable robot teaching device is manually handled during manual handling of the portable robot teaching device synchronously with the recorded operating points, path points and / or trajectories and / or synchronously with the at least one state of the actuator detected by the sensor device, are briefly explained in more detail below using a representative application example.

[0040] For example, a fruit farmer wants to teach his mobile robot system, through manual demonstration, how to pick apples with a suction cup and place them in a container. It is important that the stem remains on the apple. However, an entire branch or twig of the apple tree must not break off. Since apples all differ in shape, color, weight and ripeness, and hang from the tree in various positions, locations and / or angles, numerous picking movements must be recorded and learned in order to train an apple picking system, for example. The fruit farmer could then use a mobile robot and pull the mobile robot system with the suction cup and camera screwed on behind it in his orchard, which would be very time-consuming and cumbersome.With known, simple pointing pens, however, it is neither possible to suck up the apples in order to pick them, nor is it possible to blow the apples away in order to forcefully throw them into the container, for example to save time compared to carefully placing the apples down. This can be useful, for example, if apples to be sorted, such as damaged or rotten apples, are to be sorted into a separate container. It is therefore proposed to optionally mount an optical detection device or a camera on the portable robot teaching device and to record camera images during the teach-in process in addition to the movement data and force data, in particular with the associated time stamp. The functional robot tool is then also equipped with a camera, analogous to the portable robot teaching device.The robot controller can then control the robot based on the stored motion data, force data, and camera images, particularly in comparison with currently recorded camera images. This enables, for example, even more precise positioning of the tool. Alternatively or in addition to a camera, radar sensors and / or lidar sensors can also be integrated into the portable robot training device.

[0041] The optical detection device, in particular the camera, can be designed and configured to detect the tool representation or at least a part of the tool representation in interaction with an object to be influenced by the tool representation.

[0042] The object is also achieved by an associated method for manually teaching working points, path points and / or trajectories of a work sequence to be automatically executed by a robot after teaching by means of a portable robot teaching device, in particular a portable robot teaching device according to one of the described embodiments, comprising the steps:

[0043] - Carrying and moving a portable robot teaching device by a person by carrying and moving the portable robot teaching device by a handle portion of the portable robot teaching device with at least one hand,

[0044] - Moving a predetermined reference point of a tool representation of the portable robot teaching device from at least one first working point or from at least one first path point of a trajectory to at least one second working point or to at least one second path point of a trajectory,

[0045] - Detecting the at least one first working point or the at least one first path point of the trajectory and the at least one second working point or the at least one second path point of the trajectory by means of a detection device of the portable robot teaching device, in that the person actuates a second input means of the portable robot teaching device when the person has moved the portable robot teaching device into a position and / or orientation in which the predetermined reference point of the tool representation is located at the first working point, at the first path point, at the second working point or at the second path point,

[0046] - while the person is carrying and / or moving the portable robot teaching device, manually actuating at least one first input means or one manual actuating means of the portable robot teaching device to adjust at least one actuator of the portable robot teaching device, and

[0047] - Detecting at least one state of the actuator synchronously with the recorded operating points, path points and / or trajectories by means of a sensor device of the portable robot teaching device.

[0048] In a first development, the procedure may include the following additional steps:

[0049] - carrying and moving a first portable robot teaching device by a person by carrying and moving the first portable robot teaching device by a handle portion of the first portable robot teaching device with one hand,

[0050] - carrying and moving a second portable robot teaching device by the person or by another person by carrying and moving the second portable robot teaching device by a handle portion of the second portable robot teaching device with his or her other hand,

[0051] - directly detecting a relative difference in the position and / or orientation of the first portable robot teaching device with respect to the second portable robot teaching device synchronously with detecting at least one state of an actuator of the first and / or second portable robot teaching device and / or synchronously with the recorded operating points, path points and / or trajectories of the first and / or second portable robot teaching device.

[0052] Example applications would be filling a test tube or a beer glass, or screwing on a bottle or a container with a screw cap. For this purpose, two portable robot teaching devices are used according to the invention, one for the operator's left hand and one for the operator's right hand. This means that during teaching by demonstration the relative position, relative movement and / or the relative force of the two robot teaching devices can be recorded, determined and / or saved. Subsequently, for example, a dual robot system or two separate cooperating robots can imitate the demonstrated bi-manual movement. The advantage is that the relative movement data can be transformed to any position and into any orientation within the shared workspace of the two robots.This is important because the shared workspace of the dual-robot system or the two separate, cooperating robots usually differs greatly from the shared "workspace" of a human's hands.

[0053] More than two portable robotic teaching devices controlled by more than one person are also possible. One example is minimally invasive surgery, where multiple surgical tools and cameras are moved and controlled simultaneously within the patient's body. Such a process can be performed automatically by multiple robots after data acquisition. In a second development, the method can include the following additional steps:

[0054] - electronically detecting the at least one state of the actuator of the first and / or second portable robot teaching device synchronously with the recorded operating points, path points and / or trajectories by means of a sensor device of the first and / or second portable robot teaching device, as first training data, and / or

[0055] - electronically capturing image data from an optical capturing device, in particular a camera of the first and / or second portable robot teaching device, wherein the optical capturing device, in particular the camera, is designed and configured to capture the tool representation or at least a part of the tool representation in interaction with an object to be influenced by the tool representation, as second training data,

[0056] - Providing the first training data and / or the second training data to a machine learning model l .

[0057] Within the machine learning model, which can be implemented in an electronic computer, statistical models can be automatically constructed from the provided first training data and / or second training data using known machine learning algorithms, or existing statistical models can be corrected, adapted and / or expanded, which can then be used in the subsequent automated execution of a work task by the robot and by the tool handled and controlled by the robot in order to be able to process specific individual tasks, even if these have not yet been separately learned using a teach-in process.

[0058] 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 when considered individually or in further combinations.

[0059] It shows :

[0060] Fig . 1 a schematic representation of the

[0061] Components of an exemplary portable robot teaching device according to the invention,

[0062] Fig. 2 is a schematic representation of a first exemplary embodiment of a portable robot teaching device with a gripper,

[0063] Fig. 3 is a schematic representation of a second exemplary embodiment of a portable robot teaching device with a spot welding gun,

[0064] Fig. 4 is a schematic representation of a third exemplary embodiment of a portable robot teaching device with a suction gripper,

[0065] Fig . 5 an exemplary robot

[0066] workplace, and

[0067] Fig. 6 is a flow chart of the steps in the basic inventive

[0068] Procedure .

[0069] In Fig. 1, a portable robot teaching device 13 is shown schematically.

[0070] The portable robot teaching device 13 is used for the manual teaching of operating points, path points and / or trajectories of a work sequence to be carried out automatically by a robot 1 after teaching, on the basis of a robot program in which the operating points, path points and / or trajectories taught in the teach-in process by means of the portable robot teaching device 13 are recorded.

[0071] The portable robot teaching device 13 has a base body 14 with a handle portion 15 which is designed to manually hold and manually guide the portable robot teaching device 13.

[0072] The portable robot teaching device 13 has a tool representation 16 connected to the base body 14, which has at least one controllable actuator 17 designed to control a tool function. The portable robot teaching device 13 also has at least one manual actuating means 18 for controlling the actuator 17.

[0073] In addition, the portable robot teaching device 13 has a detection device 19 for recording operating points, path points, and / or trajectories. The detection device 19 for recording operating points, path points, and / or trajectories can be designed analogously to the known detection devices already used in portable robot teaching devices 13 according to the prior art. Thus, the portable robot teaching device 13 can have at least one button 23, in particular in the vicinity of or directly on the handle section 15, so that by pressing the button 23 with the finger of one hand of the person holding the portable robot teaching device 13, a "touch-up" can be performed at any desired spatial location, i.e., saving the positions and / or orientations of a reference point of the portable robot teaching device 13.

[0074] In addition, the detection of operating points, path points, and / or trajectories, and / or the detection of the positions and / or orientations of the portable robot teaching device 13 in space can be achieved using internal sensors, such as gyroscopes or inertial measurement systems. Alternatively or additionally, external sensors can be used, such as tracking sensors or motion capture sensors.

[0075] The portable robot teaching device 13 can have a communication interface 30 known per se, through which detected states, sensor values ​​and / or other data can be sent, in particular wirelessly, to a control device, such as the robot controller 10, for further use or evaluation.

[0076] According to the invention, the portable robot teaching device 13 also comprises a sensor device 20 for detecting at least one state of the actuator 17 synchronously with the operating points, path points and / or trajectories recorded by the detection device 19. In the case of the present embodiment, the base body 14 has a flange 21 to which different types of tool representations 16 can be coupled. Thus, the base body 14, which can also be provided with the necessary electronics or control devices, can be used in conjunction with different tool representations

[0077] 16 can be used .

[0078] The tool representation 16 connected to the base body 14 can be formed by a functional tool which is suitable for use in the automatic execution of the work sequence to be carried out by the robot 1, wherein this functional tool is connected to the base body 14, the controllable actuator

[0079] 17 is formed by an actuator of the functional tool designed to carry out a tool function and the sensor device 20 is designed to detect at least one state of the actuator of the functional tool synchronously with the operating points, path points and / or trajectories recorded by the detection device 19.

[0080] The tool representation 16 connected to the base body 14 can alternatively be formed by a dummy which, with regard to at least one function, is modeled on a functional tool which is suitable for use in the automatic execution of the work sequence to be carried out by the robot 1, but is not sufficiently suitable in terms of structure and materials for use in the automatic execution of the work sequence to be carried out by the robot 1, wherein this dummy is connected to the base body 14, the controllable actuator 17 can be a dummy actuator which corresponds to an actuator of the functional tool designed to carry out a tool function or, with regard to its functionality, is modeled on an actuator designed to carry out a tool function, at least with regard to its kinematic mobility, and the sensor device 20 is designed,to detect at least one state of the dummy actuator synchronously with the operating points, path points and / or trajectories recorded by the detection device 19.

[0081] The manual actuating means 18 can be coupled to the actuator 17 by means of a mechanical coupling, so that the actuator 17 can be adjusted by mechanically adjusting the actuating means 18.

[0082] Alternatively, the manual actuating means 18 can be an electrical first input means 18a which is coupled by means of an electrical or electronic connection to the actuator 17, which can be designed as an electro-mechanical actuator 17a, so that the electro-mechanical actuator 17a can be adjusted by manually actuating the electrical first input means 18a.

[0083] The manual actuating means 18 can also be designed as a pneumatic or hydraulic valve 18b, which is coupled by means of a pneumatic or hydraulic line to the actuator 17, which can be designed as a pneumatic or hydraulic actuator 17b, so that the pneumatic or hydraulic actuator 17b can be adjusted by manually actuating the pneumatic or hydraulic valve 18b.

[0084] In the case of the exemplary embodiment shown in Fig. 1, the portable robot teaching device 13 has an optical detection device 22, in particular a camera 22a, which is designed to capture an image of the environment in which the portable robot teaching device 13 is manually handled during manual handling of the portable robot teaching device 13, synchronously with the recorded operating points, path points and / or trajectories and / or synchronously with the at least one state of the actuator 17 detected by the sensor device 20.

[0085] By means of the optical detection device 22, in particular the camera 22a, camera images can also be recorded during the movement execution during teach-in in addition to the movement data and, if applicable, force data. The, for example, functional robot tool 16 is then also equipped with a camera, analogous to the portable robot teaching device 13. The robot controller 10 can then control the robot 1 on the basis of the stored movement data, force data and camera images, in particular in comparison with currently recorded camera images. This enables, for example, an even more precise positioning of the tool. Alternatively or in addition to a camera 22a, radar sensors and / or lidar sensors can also be integrated into the portable robot teaching device. The optical detection device 22, in particular the

[0086] Camera 22a can accordingly be designed and configured to capture the tool representation 16 or at least a part of the tool representation 16 in interaction with an object to be influenced by the tool representation 16.

[0087] Fig. 2 schematically shows a first exemplary embodiment of a portable robot teaching device 13, in which a gripper 16.1 is coupled to the flange 21 as a concrete tool representation 16. The gripper 16.1 has a first gripper finger 24.1 and a second gripper finger 24.2. The first gripper finger 24.1 and the second gripper finger 24.2 can be moved towards and away from each other in order to selectively close or open the gripper 16.1, so that an object can be grasped by the gripper 16.1, i.e. picked up and released again. The two gripper fingers 24.1, 24.2 are automatically adjustable by means of an electric motor 25. As actuator 17, for example, the electric motor 25, in particular its motor shaft, the cable pulls 26, the coupling points 27 and / or the first gripper finger 24.1 or the second gripper finger

[0088] 24.2 apply directly. In this respect, it is an electromechanical actuator 17a. Such a gripper 16.1 can be used, for example, in the described task of apple picking.

[0089] In Fig. 3, a second exemplary embodiment of a portable robot teaching device 13 is shown schematically, in which a spot welding gun is mounted on the flange 21

[0090] 16.2 is coupled as a concrete tool representation 16. The spot welding gun 16.2 has, for example, a stationary first gun half 28.1 and a movable second gun half 28.2. The movable second gun half 28.2 can be automatically or actively adjusted by a gun motor 29. The gun motor 29 can be controlled by the electrical first input means 18a.

[0091] Figure 4 schematically illustrates a third exemplary embodiment of a portable robot teaching device 13, in which a suction gripper 16.3 is coupled to the flange 21 as a concrete tool representation 16. The suction gripper 16.3 can, for example, be used as an alternative to the gripper 16.1 in order to be able to handle the exemplary apples.

[0092] Fig. 5 shows a robot 1 having a robot arm 2 and a robot controller 10. In the present embodiment, the robot arm 2 comprises several successively arranged links G1 to G7 that are rotatably connected to one another by means of joints L1 to L6.

[0093] The robot 1 has the robot controller 10, which is designed to execute a robot program, and the robot arm 2 with a plurality of links G1-G7, which are connected via joints L1-L6, which are designed to automatically adjust the links G1-G7 relative to one another according to the robot program, wherein one of the plurality of links G1-G7 forms an end link (G7) of the robot arm 2, which has a tool flange 8.

[0094] The robot controller 10 of the robot 1 is designed or configured to execute a robot program by which the joints LI to L6 of the robot arm 2 can be adjusted or rotated automatically or manually according to the robot program. For this purpose, the robot controller 10 is connected to controllable electric drives M1 to M6, which are designed to adjust the joints LI to L6 of the robot 1.

[0095] In the case of the present exemplary embodiment, the links G1 to G7 are a frame 3 and a carousel 4 which is mounted so as to be rotatable about a vertical axis A1 relative to the frame 3. Further links of the robot arm 2 are a rocker arm 5, an arm extension 6 and a preferably multi-axis robot hand 7 with a fastening device designed as a tool flange 8 for fastening a tool 11. The rocker arm 5 is mounted on the carousel 4 at its lower end, i.e. at the joint L2 of the rocker arm 5, which can also be referred to as the rocker arm bearing head, so as to be pivotable about a preferably horizontal axis of rotation A2. In the case of the exemplary embodiment shown, the tool 11 is designed as a suction gripper, which is representative of any other type of robot tool. The tool 11 or The suction gripper has a fastening flange 12.

[0096] At the upper end of the rocker arm 5, the arm extension 6 is pivotally mounted about a preferably horizontal axis A3 at the first joint L3 of the rocker arm 5. This arm extension carries the robot hand 7 at its end, with its preferably three rotational axes A4, A5, and A6. The joints L1 to L6 can each be driven in a program-controlled manner by one of the electric drives M1 to M6 via the robot controller 10.

[0097] Fig. 6 illustrates the method for manually teaching operating points, path points and / or trajectories of a work sequence to be automatically executed by the robot 1 after teaching by means of the portable robot teaching device 13, in particular a portable robot teaching device 13 according to one of the described embodiments.

[0098] In a first step S 1, the portable robot teaching device 13 is carried or held and moved by a person in that the person carries and moves the portable robot teaching device 13 by a handle portion 15 of the portable robot teaching device 13 with at least one hand.

[0099] In a second step S2, a predetermined reference point of the tool representation 16 of the portable robot teaching device 13 is moved from at least one first working point or from at least one first path point of a trajectory to at least one second working point or to at least one second path point of a trajectory.

[0100] In a third step S3, the at least one first working point or the at least one first path point of the trajectory and the at least one second working point or the at least one second path point of the trajectory are detected by means of a detection device 19 of the portable robot teaching device 13, in that the person actuates a second input means (button 23) of the portable robot teaching device 13 when the person has moved the portable robot teaching device 13 into a position and / or orientation in which the predetermined reference point of the tool representation 16 is located at the first working point, at the first path point, at the second working point or at the second path point.In a fourth step S4, while the person is carrying and / or moving the portable robot teaching device 13, the first input means 18 of the portable robot teaching device 13 is manually actuated in order to adjust at least one actuator 17 of the portable robot teaching device 13.

[0101] In a fifth step S5, at least one state of the actuator 17 is detected synchronously with the recorded operating points, path points and / or trajectories by means of a sensor device 20 of the portable robot teaching device 13.

Claims

Patent claims 1. Portable robot teaching device for manually teaching working points, path points and / or trajectories of a work sequence to be automatically executed by a robot (1) after teaching, based on a robot program in which the working points, path points and / or trajectories taught in the teach-in process by means of the portable robot teaching device (13) are recorded, comprising: - a base body (14) with a handle portion (15) designed to manually hold and manually guide the portable robot teaching device (13), - a tool representative (16) connected to the base body (14), which has at least one controllable actuator (17) designed to control a tool function, - at least one manual actuating means (16) for controlling the actuator (17), - a detection device (19) for recording operating points, path points and / or trajectories, and - a sensor device (20) for detecting at least one state of the actuator (17) synchronously with the recorded operating points, path points and / or trajectories.

2. Portable robot teaching device according to claim 1, characterized in that the tool representation (16) connected to the base body (14) is formed by a functional tool which is suitable for use in the automatic execution of the work sequence to be carried out by the robot (1), wherein this functional tool is connected to the base body (14), the controllable actuator (17) is formed by an actuator of the functional tool designed to carry out a tool function and the sensor device (19) is designed to detect at least one state of the actuator of the functional tool synchronously with the recorded working points, path points and / or trajectories.

3. Portable robot teaching device according to claim 1, characterized in that the tool representation (16) connected to the base body (14) is formed by a dummy which, with regard to at least one function, is modeled on a functional tool which is suitable for use in the automatic execution of the work sequence to be carried out by the robot (1), but with regard to structure and materials is not sufficiently suitable for use in the automatic execution of the work sequence to be carried out by the robot (1), wherein this dummy is connected to the base body (14), the controllable actuator (17) is a dummy actuator which is Tool function trained actuator of the functional tool corresponds or with regard to its functionality is modeled on an actuator designed to carry out a tool function at least with regard to its kinematic mobility and the sensor device (20) is designed to detect at least one state of the dummy actuator synchronously with the recorded operating points, path points and / or trajectories.

4. Portable robot teaching device according to one of claims 1 to 3, characterized in that the manual actuating means (18) is coupled to the actuator (17) by means of a mechanical coupling, so that the actuator (17) can be adjusted by mechanically adjusting the actuating means (18).

5. Portable robot teaching device according to one of claims 1 to 3, characterized in that the manual actuating means (18) is an electrical first input means (18a) which is coupled by means of an electrical or electronic connection to the actuator (17), which is designed as an electro-mechanical actuator (17a), so that the electro-mechanical actuator (17a) can be adjusted by manually actuating the electrical first input means (18a).

6. Portable robot teaching device according to one of claims 1 to 3, characterized in that the manual actuating means (18) is a pneumatic or hydraulic valve (18b) which is connected to the Actuator (17), which is designed as a pneumatic or hydraulic actuator (17b), is coupled so that the pneumatic or hydraulic actuator (17b) can be adjusted by manually actuating the pneumatic or hydraulic valve (18b).

7. Portable robot teaching device according to one of claims 1 to 6, characterized by an optical detection device (22), in particular a camera (22a), which is designed to capture an image of the environment in which the portable robot teaching device (13) is manually handled during manual handling of the portable robot teaching device (13) synchronously with the recorded operating points, path points and / or trajectories and / or synchronously with the at least one state of the actuator (17) detected by the sensor device (20).

8. Portable robot teaching device according to claim 7, characterized in that the optical detection device (22), in particular the camera (22a), is designed and configured to detect the tool representation (16) or at least a part of the tool representation (16) in interaction with an object to be influenced by the tool representation (16).

9. Method for manually teaching working points, path points and / or trajectories of a robot (1) automatically after teaching the work process to be carried out using a portable Robot teaching device (13), in particular a portable robot teaching device (13) according to one of claims 1 to 8, comprising the steps: - carrying and moving a portable robot teaching device (13) by a person, in that the person carries and moves the portable robot teaching device (13) on a handle portion (15) of the portable robot teaching device (13) with at least one hand, - moving a predetermined reference point of a tool representation (16) of the portable robot teaching device (13) from at least one first working point or from at least one first path point of a trajectory to at least one second working point or to at least one second path point of a trajectory, - detecting the at least one first working point or the at least one first path point of the trajectory and the at least one second working point or the at least one second path point of the trajectory by means of a detection device (20) of the portable robot teaching device (13), in that the person actuates a second input means (23) of the portable robot teaching device (13) when the person has moved the portable robot teaching device (13) into a position and / or orientation in which the predetermined reference point of the tool representation (16) is located at the first working point, at the first path point, at the second working point or at the second path point, - while the person is carrying and / or moving the portable robot teaching device (13), manually actuating at least one first input means (18) or one manual actuating means of the portable robot teaching device (13) to adjust at least one actuator (17) of the portable robot teaching device (13), and - Detecting at least one state of the actuator (17) synchronously with the recorded operating points, path points and / or trajectories by means of a sensor device (20) of the portable robot teaching device (13).

10. The method according to claim 9, characterized by the additional steps: - carrying and moving a first portable robot teaching device (13) by a person by carrying and moving the first portable robot teaching device (13) at a handle portion (15) of the first portable robot teaching device (13) with one hand, - carrying and moving a second portable robot teaching device (13) by the person or by another person by this person cutting off the second portable robot teaching device (13) at a handle (15) of the second portable robot teaching device (13) carries and moves with her other hand, - directly detecting a relative difference in the position and / or orientation of the first portable robot teaching device (13) with respect to the second portable robot teaching device (13) synchronously with detecting at least one state of an actuator (17) of the first and / or second portable robot teaching device (13) and / or synchronously with the recorded operating points, path points and / or trajectories of the first and / or second portable robot teaching device (13).

11. Method according to claim 9 or 10, characterized by the additional steps: - electronically detecting the at least one state of the actuator (17) of the first and / or second portable robot teaching device (13) synchronously with the recorded operating points, path points and / or trajectories by means of a sensor device (20) of the first and / or second portable robot teaching device (13), as first training data, and / or - electronically capturing image data of an optical capturing device (22), in particular a camera (22a) of the first and / or second portable robot teaching device (13), wherein the optical capturing device (22), in particular the camera (22a), is designed and configured to capture the tool Representation (16) or at least a part of the tool representation (16) in interaction with an object to be influenced by the tool representation (16), as second training data, - Providing the first training data and / or the second training data to a machine learning model.

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