Operating system with external control assembly

Abstract

The invention relates to a manipulation system with an industrial robot supporting at least one manipulation device and an industrial robot control, each of which comprises a manipulation tool and an electronic assembly with at least one calculation unit and at least one radio module, the invention further relates to a method for operating such a manipulation system. The industrial robot control is connected to an external control assembly by a binary signal interface for two-way communication. The external control assembly has, together with the manipulation device, a two-way radio serial interface configured as a signal and data interface. The manipulation device and / or the external control assembly have at least one interface shore of a temporary data interface, which data interface is lockable with respect to the signal interface at least for the incoming data. In the manipulation device, the calculation unit is hardwired to at least one force-dependent sensor system and / or at least one stroke-dependent sensor system. According to the invention, a manipulation system with a drive control of a manipulation device is developed, which can be used universally over a wide range.

Description

[Technical Field]

[0001] The present invention relates to a manipulation system comprising an industrial robot supporting at least one manipulation device and an industrial robot control, each manipulation device comprising a manipulation tool and an electronic assembly comprising at least one computing unit and at least one wireless module, the invention further relates to a method for operating such a manipulation system.

[0002] From DE 10 2018 008 648 A1 an operating system is known which comprises a wireless master which is arranged remotely from the industrial robot control and which controls the operating device.

[0003] The problem underlying the present invention is to develop an operating system with a drive control for an operating device that can be used universally over a wide range of applications.

[0004] This problem is solved by the features of the main claim. To this end, the industrial robot controller is connected to an external control assembly via a binary signal interface for bidirectional communication. The external control assembly, together with the operating device, has a bidirectional wireless serial interface configured as a signal and data interface. The operating device and / or the external control assembly have at least one interface shore of a temporary data interface, which is lockable to the signal interface, at least for incoming data. In the operating device, a computing unit is hardwired to at least one force-dependent sensor system and / or at least one stroke-dependent sensor system.

[0005] In a method for operating a manipulation system, an industrial robot controller transmits a command signal to an external control assembly via a signal interface when the manipulation device is located at a predetermined spatial position. The external control assembly transmits application data from a data storage device to the manipulation device via the signal and data interface. The manipulation device sets at least one actuating member of a controlled object using a control device. The calculation unit compares a value collection consisting of actual values ​​of the controlled object with a predetermined target value field. When the actual value is located within the target value field, the wireless module transmits a status signal to the external control assembly via the signal and data interface.

[0006] The external control assembly transmits this status signal as an enable signal to the industrial robot controller via a signal interface.

[0007] The industrial robot control unit of the operating device and the external control assembly are two control units that communicate with each other via a binary bidirectional signal interface. Via this signal interface, only command signals are transmitted by the industrial robot control unit, and only status signals of the operating device are transmitted by the external control assembly. The external control assembly and the operating device have a wireless bidirectional data and signal interface. Via this serial signal and data interface, on the one hand, parameters and commands of the operating device-specific sequence program are transmitted. On the other hand, process data and status signals are transmitted from the operating device to the external control assembly. A temporary wireless data interface is used as a user interface to the external control assembly and / or the operating device. Via this bidirectional data interface, sequence programs can be transmitted to the external control assembly, and compressed data can be read from the external control assembly. While the industrial robot control unit and / or the external control assembly are operating, only data can be read via the user interface. Reading data to the external control assembly is locked during this period. Due to the low interface requirements for the binary signal interface, the external control assembly can be connected to industrial robot control units from different manufacturers.

[0008] The external control assembly and the operating device operate while the axes of the industrial robot are stationary. A start signal transmitted by the industrial robot controller initiates a sequence program in the external control assembly. After the sequence program has completed successfully, a status signal is output by the operating device, which is transmitted as an enable signal to the industrial robot controller via the external control assembly. After receiving the enable signal, the industrial robot controller continues to control the axis motion of the industrial robot.

[0009] Further details of the invention will become apparent from the dependent claims and the subsequent description of schematically illustrated embodiments. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 illustrates an operation system. [Figure 2] FIG. [Figure 3] FIG. 2 shows the operating device with the casing partially removed. [Figure 4] FIG. 1 shows a casing shell with an electronic assembly. [Figure 5] 1 is a schematic diagram of an operating system.

[0011] 1 to 5 show an operating system 10 and some of its components. The operating system 10 includes an industrial robot 20 and an operating device 50 disposed thereon. An industrial robot controller 40 is used to control the industrial robot 20. The operating device 50, such as the gripping device 50, the turning unit, the rotation unit, the mini-spindle, etc., is controlled by an external control assembly 110. The industrial robot controller 40 communicates with the external control assembly 110 via a signal interface 41.

[0012] The illustrated industrial robot (20) is a six-axis robot with a vertical articulated robot structure. This robot has a serial kinematic structure with an RRR kinematic structure. It includes three main rotation axes (21-23). ​​The main axes of this industrial robot (20) are the A-axis (21), B-axis (22), and C-axis (23). The A-axis (21) includes a rotary table (24) with a vertical rotation axis that is disposed on a base (25). The rotary table (24) supports a foot lever (26) that can rotate, for example, 210 degrees around the horizontal B-axis (22) as a first kinematic link. At the end of the foot lever (26) is a C-axis (23) that supports a knee lever (27), also as a joint with a horizontal rotation axis. The knee lever (27) can rotate, for example, 270 degrees relative to the foot lever (26).

[0013] In this embodiment, the three secondary axes (31-33) of the industrial robot (20) are also configured as rotation axes. The first secondary axis (31), the D-axis (31), includes a support arm (34) rotatable about its longitudinal axis, and this support arm (34) is supported on the free end of the knee lever (27). The second secondary axis (32) is the E-axis (32), around which a hand lever (35) is supported so as to be rotatable, for example, 270 degrees. The hand lever (35) supports a rotating plate (36) rotatable 360 ​​degrees, and this rotating plate (36) is supported so as to be rotatable about the F-axis (33). An operating device (50) is arranged on the rotating plate (36). In this embodiment, the operating device (50) can be supported on the rotating plate (36) directly or by using an adapter. The above-mentioned secondary axes (31-33) are used, inter alia, to determine the orientation of the operating device (50).

[0014] During operation of the industrial robot 20, the operating device 50 can move along almost any straight or curved line in the workspace by correspondingly driving and controlling the individual axes 21-23, 31-33 of the industrial robot 20. Other configurations of the industrial robot 20 are also possible, such as gantry robots, post robots, polar coordinate robots, SCARA robots, etc. These industrial robots 20 may have translational motion axes. For example, these industrial robots 20 have TTT kinematics, RTT kinematics, and RRT kinematics. The industrial robot 20 can also have two-dimensional kinematics. It is also conceivable to configure the industrial robot 20 as a tripod, pentapod, or hexapod, which may have, for example, parallel kinematics.

[0015] The industrial robot control unit 40 is, for example, a programmable logic controller. It is, for example, modularly configured and arranged in a control unit casing 42, for example, a control cabinet. The control unit casing 42 may have one or more free slots for, for example, additional control modules or additional function modules. A programmable logic controller is an electronic control unit having internal wiring configured independently of the control task. Programming of the programmable logic controller can be performed online or offline. Online programming can be performed, for example, by teaching. Offline programming can be, for example, graphical interactive programming. In this programming, a sequence program for the industrial robot 20 is created or stored in the programmable logic controller. This sequence program controls, for example, the movement of individual joints of the main and secondary axes of the industrial robot 20. In this embodiment, the sequence program of the industrial robot control unit 40 is designed, for example, as continuous path control.

[0016] The industrial robot 20 is hardwired to the industrial robot controller 40, for example. Via this wiring, for example, data and signals are exchanged bidirectionally between the industrial robot 20 and the industrial robot controller 40. Hereinafter, data is understood to mean a formal type of reinterpretable information representation suitable for communication and processing. These are, for example, information packets transmitted as a set that describe or control a program sequence. Hereinafter, signals are understood to mean binary signals. Binary signals are digital signals in which all signal elements can take two discrete values. Such signals, for example, command signals or status signals, consist of a maximum of four bytes in this embodiment. For example, these data are used to control the power supply of the industrial robot 20. This power supply is, for example, a 24- or 48-volt DC power supply. For example, the power supply of the industrial robot 20 powers all of the drive motors of the industrial robot 20. Furthermore, for example, the rotary plate (36) is provided with a power terminal for the operating device (50).

[0017] The industrial robot control unit 40 is provided with an interface shore 43. This interface shore 43 is part of the signal interface 41. Via this interface shore 43, binary signals can be transmitted bidirectionally between the industrial robot control unit 40 and the external control assembly 110. The two states of the signal elements of the binary signal are, for example, "zero" and "one." For example, signal exchange is performed at the machine language level. In this embodiment, up to 12 different binary signals are exchanged between the industrial robot control unit 40 and the external control assembly 110.

[0018] 2 illustrates a gripping device 50 as an operating device 50, and FIG. 3 shows the gripping device 50 in a plan view in a partially cutaway casing 51. The gripping device 50 includes an electronic assembly 61 and an operating tool 71. In this embodiment, the electronic assembly 61 and the operating tool 71, which may be configured as a gripping tool 71, for example, are arranged and housed in the gripper casing 51. The gripping device 50 can also be implemented in such a way that a portion of the electronic assembly 61 is arranged in a separate casing, for example, adjacent to the gripping tool 71.

[0019] In this embodiment, the electronic assembly 61 is arranged in a lateral region of the gripper casing 51. Figure 4 shows the casing shell 52 of the gripper casing 51 and the electronic assembly 61 arranged therein. The casing shell 52 has a cable opening 53. Through this cable opening 53, the electronic assembly 61 can be connected to the industrial robot 20 by a DC cable 54. Via this DC cable 54, the electronic assembly 61 is supplied by the industrial robot 20 with an unmodulated DC voltage, for example of the voltage value mentioned above.

[0020] In this embodiment, the electronic assembly 61 includes an energy accumulator 62, a computing unit 63, a memory unit 64, and a wireless module 65. The electronic assembly 61 may include multiple energy accumulators 62, computing units 63, memory units 64, and / or wireless modules 65. The computing unit 63 and wireless module 65 are part of the control element 101 of the gripping device 50 in this embodiment. The energy accumulator 62 is formed, for example, by a capacitor used in a DC circuit. During high accelerations of the gripping tool 71, the energy accumulator 62 can supply additional energy to the drive motor 72 of the gripping tool 71. This can reduce the recoil of power consumption peaks, for example, in the industrial robot 20.

[0021] In some cases, the operating voltage of the electronic assembly (61) or its individual components (62-65) may be lower than the voltage transmitted over the DC cable (54). In this case, the electronic assembly may include, for example, an additional voltage converter.

[0022] The computing unit 63 is hardwired to the wireless module 65, to the electric motor 72, and to the sensor systems 73, 74 of the gripping device 50 by cables that conduct signals and / or data. The computing unit 63 and the storage unit 64 can, for example, evaluate and compress data detected by the sensor systems 73, 74 of the gripping device 50. From the compressed data, for example, data can be generated about wear of the gripping device 50 or its components.

[0023] In this embodiment, the wireless module (65) includes a transmitter and a receiver. Both the transmitter and receiver are designed for frequencies in the 2.4 GHz range, for example. Other frequency ranges, such as 5.8 GHz, are also possible. Here, the respective receiving frequencies are compatible with the transmitting frequencies of the other stations within this range. The voltage applied to the wireless module (65) is, for example, 3.1 to 4.2 volts. The bidirectional interface (66) formed by the wireless module (65) is configured as an asynchronous serial interface. The transmission protocol may be, for example, a transmission protocol used in UART, Bluetooth, WLAN, IO-Link (registered trademark), or other wireless technologies. The cycle time of data transmitted to the external control assembly (110) via the signal and data interface (111), configured as a point-to-point connection, is, for example, less than 5 milliseconds. In this case, the error rate is, for example, 10 -9 Therefore, the delay time or latency of data transmitted through the signal and data interface (111) is small.

[0024] In the signal and data interface 111, the radio module 65 has antennas suitable for transmission, for example, horizontally polarized, vertically polarized, or orthogonally polarized, etc. In this case, the radio module 65 may have only one antenna used for both transmission and reception. It is also possible to provide one or more separate antennas for transmission and reception. It is also conceivable to configure a single antenna to be rotatable and / or pivotable. In this case, the orientation of the antenna can be maintained at a fixed point in space when the industrial robot 20 and / or the gripping device 50 move through the space. It is also conceivable to rotate the antennas as a group.

[0025] The grip device 50 may have multiple wireless modules 65. These wireless modules may have, for example, different transmission parameters. One wireless module may transmit, for example, via IO-Link® Wireless, and another wireless module may transmit, for example, via WLAN. For example, the grip device 50 may be configured with two different wireless interface shores 66, for example, one interface shore 66 facing the control unit and the second interface shore facing the user.

[0026] The wall 55 of the casing shell 52 may be configured to be transparent to radio frequency beams at least in the area of ​​the radio module 65. This wall 55 may be made of, for example, a non-metallic material, such as plastic, glass, composite material, etc. It is also conceivable to arrange the antenna of the radio module 65 on the outer surface of the gripper casing 51.

[0027] The control element (101) is electrically connected to an actuator (102) arranged on the gripping device (50). Together with the actuator (102), the control element (101) forms a control device (103) for the gripping device (50). In this embodiment, the actuator (102) is the drive motor (72). This is an electric motor (72) in the form of a servomotor. The electric motor (72) used in this embodiment may have an attached rotation sensor in the form of a resolver. It is also conceivable to use an absolute value sensor, for example, with a multi-turn configuration. The absolute value sensor is, for example, configured as a combination sensor with an asynchronous output interface. Such a sensor can output both the rotation speed of the electric motor (72) and the absolute angular position of the motor shaft relative to a reference point. The output signal of this sensor is, for example, a digital signal with, for example, 4096 incremental values. It is also conceivable to output an analog signal, for example, in the range of 4 mA to 20 mA.

[0028] In this embodiment, the current transmitted to the actuator 102 is monitored by a force-dependent sensor system 73, e.g., a grip force-dependent sensor system 73. This sensor system 73 is, for example, a current switch 73. If the transmitted current exceeds a preset threshold, the power supply to the actuator 102 is limited or cut off. At the same time, the current switch 73 transmits this status signal to the computing unit 63.

[0029] Depending on the design of the gripping device 50, the actuator 102 may be a pneumatic or hydraulic valve, a throttle, a magnetic drive control, etc. In the case of a pneumatic or hydraulic valve as the actuator 102, for example, the pressure in the line leading to the valve is checked by a pressure switch configured as a sensor. If a threshold value is exceeded, for example, the drive control valve is closed and a corresponding status signal is output. When the actuator 102 is implemented as a throttle, for example, a pressure sensor can be used as a leakage sensor. If the leakage falls below a threshold value, a status signal is output to the calculation unit 63.

[0030] In the illustration of FIG. 3, the electric motor 72 is disposed laterally in the gripper casing 51. The electric motor 72 has a drive pinion 75 that meshes with an input gear 76 of an intermediate shaft 77. An output gear 78 is also disposed on the intermediate shaft 77. This output gear 78 drives a worm shaft gear 79 disposed on a worm shaft 81. In this embodiment, the drive pinion 75, input gear 76, output gear 78, and worm shaft gear 79 are spur cylindrical gears. These allow the rotation of the drive pinion 75 to be converted to a low speed in multiple stages.

[0031] The worm shaft 81 supports a worm 82 that meshes with a worm wheel 83 located in the center of the gripper casing 51. The worm wheel 83 is located on a common shaft 84 equipped with a spur-gear-type synchronous gear 85. The synchronous gear 85 meshes with two opposite racks 86, which are part of the carriages 87. The carriages 87 are thereby connected to the actuator 102 in a rail-guided manner. For example, due to the high overall transmission ratio of the transmission stages and the transmission structure, the transmission of the gripping tool 71 is self-locking. The two carriages 87 can slide parallel to each other on a sliding support in the gripper casing 51. It is also possible to roll the carriages 87 on the gripper casing 51. Each carriage 87 can be driven by a dedicated electric motor 72. In this case, the electric motors 72 are controlled so that their rotational speed information and position information are evaluated individually and jointly. By supporting the carriage 87 in such a floating manner, for example, the industrial robot 20 can grip an article 1 that is positioned eccentrically relative to the gripping device 50 without changing the positions of the axes 21-23, 31-33.

[0032] A stroke-dependent sensor system 74, e.g., a gripper stroke-dependent sensor system 74, can be arranged on at least one carriage 87 and on the gripper casing 51. This can be, for example, an absolute displacement measuring system. This absolute displacement measuring system includes, for example, a coded glass scale. This coding can be configured, for example, as a Gray code. The position of the carriage 87 relative to the gripper casing 51 is determined by a light source shining through the glass scale and an optical sensor. This absolute displacement measuring system 74 allows both the end positions of the carriage stroke and the respective intermediate positions to be repeatedly moved in both carriage stroke directions. Such a displacement measuring system can also be used, for example, for pneumatically or hydraulically actuated gripping devices 50. For vacuum- or magnetically actuated gripping devices 50, for example, inductive displacement measuring systems, laser measuring systems, etc. can be used. In the latter application, for example, the use of inductive or capacitive proximity switches is also conceivable.

[0033] Each carriage 87 supports an actuating member 104 in the views of FIGS. 1 to 3. The actuator 102, together with the actuating member 104, forms an actuating device 105 of the gripping device 50. Each actuating member 104 is a gripping element 88 in the structural form of a gripping jaw 88 in this embodiment. When the gripping elements 88 are implemented in the form of gripping jaws 88, the gripping tool 71 may have two, three, or more than three gripping jaws 88. Here, at least two gripping jaws 88 are configured to be movable relative to one another. Each gripping jaw 88, for example, configured L-shaped, has a gripping surface 91 arranged on a gripping arm 89. The two gripping surfaces 91 face, for example, toward a central cross-section of the gripping device 50. In this embodiment, each gripping surface 91 is configured U-shaped. The gripping surfaces 91 are oriented toward each other. The two gripping arms 89 of the parallel gripper 71, shown as the gripping tool 71, are oriented parallel to each other. The parallel gripper 71 described in this embodiment is configured as an outer gripper. However, the gripping tool 71 can also be configured as an angular gripper, a needle gripper, a parallelogram gripper, etc. The gripping tool 71 can also be configured as an inner gripper or an outer gripper. Here, the gripping tool 71 is designed to pick up an article 1 with a frictional and / or positive fit. The individual article 1 is, for example, a workpiece. The workpiece is transported, for example, by the handling system 10, from a magazine to a processing machine or vice versa. The article 1 can also be, for example, a machining tool, such as a milling tool, a drilling tool, or a sawing tool, transported between a tool storage unit on the machine side and a tool magazine. It is also conceivable to pick up another type of item (1).

[0034] In a gripping tool 71 with a positive grip, the position of the article 1 relative to the gripping tool 71 can be determined, for example, by optical sensors. Such sensors can also be used, for example, in a gripping tool 71 with an additional frictional grip. It is also conceivable to arrange piezoelectric sensors in the gripping arm 89 as part of a gripping force-dependent sensor system 73. These piezoelectric sensors can be configured, for example, as strain gauges. The actuating member 104, together with the article 1, forms the control object 106 of the gripping device 50.

[0035] The described actuating member 104 can also be combined with a pneumatically or hydraulically actuated actuator 102. When implementing the actuator 102 as a throttle, the actuating member 104 is configured, for example, as a suction cup. The suction cup can be applied to the object 1 to be picked up with a frictional engagement. The suction cup, actuated by the actuator 102, forms the gripping element 88 of the suction gripper.

[0036] In the magnetically actuated gripping device 50, the actuating member 104 is, for example, a lifting plate that can be actuated by the actuator 102 and that can be applied to the item 1. In this case, the actuating member 104 is, for example, frictionally coupled to the item 1 during lifting.

[0037] 1 and 5, an external control assembly 110 is arranged in addition to the industrial robot 20. The external control assembly 110 includes a control cabinet 112 in which control cards 113, 114 are arranged.

[0038] The control cards 113, 114 may be housed in the control unit casing 42 of the industrial robot control unit 40. The control cards 113, 114 are connected to the industrial robot control unit 40 by a signal interface 41. If necessary, this binary signal interface 41 may be configured wirelessly. For example, the energy supply of the external control assembly 110 is provided by the industrial robot control unit 40. However, the energy supply of the external control assembly 110 may also be configured galvanically isolated from the energy supply of the industrial robot control unit 40. The energy supply of the external control assembly 110 may be buffered using an energy storage device, for example, a battery.

[0039] FIG. 5 shows a schematic diagram of an operating system 10 including interfaces 41, 111, and 117 and a peripheral device 130. The external control assembly 110 includes at least one serial interface shore 115. The interface shore 115 allows wireless data and signal exchange with the grip device 50. This exchange occurs via the signal and data interface 111. For this purpose, the external control assembly 110 includes a wireless module. This wireless module may be configured, for example, similar to the wireless module 65 described in connection with the grip device 50. The external control assembly 110 may include another such wireless module for bidirectional communication with another grip device 50. For example, each antenna of this wireless module may be capable of tracking the direction of the associated grip device 50. The respective polarization planes may, for example, coincide with the polarization plane of the grip device 50.

[0040] In this embodiment, the external control assembly 110 has a second interface shore 116 of a wireless data interface 117. This data interface 117 differs from the wireless signal and data interface 111 between the external control assembly 110 and the grip device 50, for example, in terms of frequency range and / or the transmission protocol used. Hereinafter, the control-side interface shore 116 of the data interface 117 will be referred to as the user-facing control-side interface shore 116. The data interface 117 is the user-side interface 117. This interface 117 exists only after establishing a data connection between the user-side peripheral device 130 and the control assembly 110. When the peripheral device 130 is disconnected from the data interface 117, this temporary data interface 117 is, for example, shut down. Switching to a diagnostic mode is also conceivable, for example. The diagnostic mode may be permanent.

[0041] The external control assembly (110) includes an application calculator and a data storage unit. The application calculator, for example, has three processors. In this example, the first processor has a clock frequency of 264 MHz, the second processor has a clock frequency of 1.2 GHz, and the third processor has a clock frequency of 1.6 GHz. Here, the first processor can be used, for example, for external direct control. The application calculator board has dimensions of, for example, 30 mm x 30 mm. Its height, including the mounting portion, is, for example, 5 mm. The application calculator is connected by cables to the binary interface shore (118) of the signal interface (41) and to the wireless interface shores (115, 116) of the signal and data interface (111) and data interface (117). In the application calculator and / or in the data storage unit, for example, processing data, event data, and maintenance data are processed and collected. The external control assembly 110 is provided with a light emitting diode 119 for indicating the operating status of the application calculator, and is further provided with an additional terminal 121 for data and signal transmission via a wired connection.

[0042] The non-volatile data storage unit connected to the application calculator is electrically buffered and has a storage capacity of, for example, 2 x 512 megabytes. In this embodiment, the data storage unit has eight pins. Its dimensions are, for example, 8 mm x 5.3 mm x 2 mm.

[0043] In this embodiment, a more powerful application calculator and a larger data storage unit can be used, so that, for example, the application calculator can be installed with an operating system and / or a programmable logic controller for the gripping device 50. The operating system can be, for example, a real-time operating system.

[0044] To program the external control assembly 110 and to read the stored data, a peripheral device 130, such as a commercially available portable calculator 130, is used. This calculator 130 has an interface shore 131 of the wireless data interface 117. The data interface 117 shown between the external control assembly 110 and the peripheral device 130 can alternatively be established between the peripheral device 130 and the gripping device 50, for example. In this latter case, the calculator 130 communicates with the gripping device 50 via the interface shore on the user-facing side. During data interface 117 operation, the peripheral device 130 can block the signal interface 41. For example, a start command from the industrial robot controller 40 to the gripping device 50 can be blocked while data is being transmitted from the peripheral device 130 to the external control assembly 110.

[0045] Using the calculator 130, a sequence program for the gripping device 50 can be created, for example, during the main processing time of the manipulation system 10. The program creation can be performed, for example, graphically and interactively with a user. It is also conceivable to directly teach the gripping device 50 while the manipulation system 10 is stopped. The created sequence program is wirelessly transmitted from the calculator 130 to the external control assembly 110. Depending on the configuration of the data interface 117, this transmission can occur either directly from the calculator 130 to the external control assembly 110 or via the gripping device 50 from the calculator 130 to the external control assembly 110. Each sequence program can be created specifically for, for example, a single gripping device 50 and object 1 to be gripped.

[0046] The data interface 117 is locked to the signal interface 41 for data transmitted to the external control assembly 110. This prevents data from being passed from the peripheral device 130 to the external control assembly 110 during operation of the gripping device 50. However, during the main processing time of the gripping device 50, data stored in the external control assembly 110 can be read by the peripheral device 130 via the user-side data interface 117. For example, error logs, operating and stop times, and wear parameters can be transmitted to the peripheral device 130.

[0047] The external control assembly 110 may have network access to a data network, which allows, for example, the transmission of up-to-date data from the manufacturer of the gripping device 50 and / or the external control assembly 110 to the external control assembly 110. It is also conceivable to query, for example, operational or maintenance data via the network access.

[0048] After the gripping device 50 is attached to the industrial robot 20, the gripping device 50 transmits device-specific signals to the external control assembly 110 via the signal and data interface 111. The external control assembly 110 associates the currently active application program with this coding and loads it from the data storage unit. The application program contains, for example, all the data and instructions for carrying out the intended gripping operation of the object 1 using the gripping device 50.

[0049] During operation of the handling system 10, the industrial robot 20 moves the gripping device 50 over the item 1 to be picked up, for example, with the gripping elements 88 of the gripping device 50 open.

[0050] As soon as the gripping device 50 is moved to the intended position by the industrial robot 20, the industrial robot control unit 40 sends a command signal to the external control assembly 110 to close the gripping device 50. This command signal is transmitted as a binary signal via the signal interface 41. In the external control assembly 110, this switching command activates the program start of a specific closing program for the gripping device 50 connected to the industrial robot 20. This closing program determines, for example, parameters for the acceleration and velocity of the gripping element 88, parameters for the intended clamping force of the gripping element 88 on the article 1, and target values ​​and associated tolerances for the position of the gripping element 88 in the closed state. From these parameters, the external control assembly 110 determines the required motor current of the electric motor 72 over time, thresholds for limiting the electric motor 72's current, and tolerances for the displacement measurement system. These data are transmitted to the gripping device (50) via a wireless serial signal and data interface (111).

[0051] In the gripping device 50, the receiver of the wireless module 65 captures data coming from the external control assembly 110. The control element 101 of the control device 103 starts and controls the actuator 102, whose movement is controlled. The electric motor 72 rotates the synchronizing gear 85 using its drive pinion 75 and a downstream transmission. The synchronizing gear 85 drives the rack 86 relative to the gripping casing 51, thereby moving the gripping elements 88 closer to each other. This causes the actuator 102 to adjust the position of the actuating member 104. The absolute displacement measuring system 74 tracks the position of the actuating member 104 as it moves. The sensor system 74, for example, depends on the gripper stroke. The analog output signal, proportional to the displacement, is converted into a digital data value in the calculation unit 63. These digital values ​​are transmitted to the external control assembly 110 via the wireless module 65. If the external control assembly 110 detects, for example, a deviation in the time course of the position change, it can increase or decrease the rotation speed of the electric motor 72. This is done by means of modified data transmitted by the external control assembly 110 to the gripping device 50 via the signal and data interface 111.

[0052] As soon as the gripping element 88 contacts the article 1, the current required for further positioning of the electric motor 72 increases. If a preset limit current value is exceeded, a signal pulse is output by the gripping force-dependent sensor system 73, which may be configured, for example, as a current switch 73. The motor current is limited or interrupted. By triggering the gripping force-dependent signal, the state of the gripping device 50, which depends on the gripper stroke, is checked by the calculation unit 63. The set of actual values ​​of the controlled object 106 is compared with a target value field preset by the external control assembly 110. The dimension of the target value field and the number of values ​​in the value set correspond, for example, to the number of different physical values ​​to be checked. In this embodiment, in which force-dependent and displacement-dependent values ​​are checked, the target field has two dimensions. To close the gripping device 50, the set of test values ​​may have more than two values. In this case, the dimension of the target field is also greater than two. The dimension of the target field can then be equal to or greater than the number of interrogated sensor systems.

[0053] In the computing unit (63) of the gripping device (50), the actual value of the absolute displacement measuring system is compared with the target value and tolerance field of the gripping position in the aforementioned signal pulse. If the actual position of the absolute displacement measuring system (74) is within a predetermined tolerance field around the target position, a signal from the current switch (73) is transmitted to the external control assembly (110). This status signal can be combined with other data from the gripping device (50) in a data set. The gripping device (50) grips the item (1) with the expected gripping force. The external control assembly (110) transmits this status signal as a binary signal via the signal interface (41) to the industrial robot control (40). The gripping process is finished. After receiving this status signal, the industrial robot control (40) can continue the program sequence for the industrial robot (20).

[0054] If the actual value of the absolute displacement measuring system (74) is outside a tolerance range around the target value of the displacement position when the current switch (73) is turned off, for example, the subsequent gripping process is interrupted and an error notification is transmitted to the external control assembly (110). After checking and / or correction on the part of the user, for example, the program sequence can continue.

[0055] The grip force-dependent sensor system (73) may also output an analog output signal, e.g., between 4 mA and 20 mA. In this case, a target value, e.g., within an associated tolerance range, is also determined for this sensor system (73). For example, if the motor current increases to a value within the tolerance range, the calculation unit (63) additionally performs a target-actual comparison of the displacement position as described above. After this evaluation, a status signal about the successful completion of the pickup of the article (1) or an error notification is transmitted to the external control assembly (110). The subsequent sequence is carried out as described above.

[0056] The industrial robot 20 moves the item 1 picked up by the gripping device 50 to, for example, a discharge position, where the item 1 is placed, for example, on a platform. The industrial robot controller 40 sends a binary command signal to the external control assembly 110, which is a command to release the gripping device 50.

[0057] The external control assembly (110) calls a sequence program associated with the specific gripping device (50) for the release task. Process parameters for opening the gripping device (50) are calculated and transmitted to the gripping device (50) via the wireless signal and data interface (111). These process parameters include, for example, the speed of the electric motor (72) during start-up, operation, and braking. In addition, the target values ​​of the displacement measuring system for the open position and the associated tolerance fields are transmitted.

[0058] In the control device (103) of the gripping device (50), a control element (101) drives an actuator (102). The actuator (102) adjusts the position of the actuating member (104). The two gripping elements (88) move away from each other. The absolute displacement measuring system (74) transmits their respective positions to the external control assembly (110) via the calculation unit (63), the wireless module (65), and the signal and data interface (111). The article (1) is released. During the movement of the gripping elements (88), the calculation unit (63) of the gripping device (50) continuously compares the actual position of the absolute displacement measuring system (74) with a predetermined target value. As soon as the actual value of the absolute displacement measuring system (74) falls within the above-mentioned allowable feed around the predetermined target value, the power supply to the electric motor (72) is reduced and then cut off. The set of actual values ​​in this case includes one value. The dimension of the target field is 1. When the set of actual values ​​is located within the target field, the computing unit (63) of the gripping device (50) transmits a binary status signal to the external control assembly (110) via the wireless signal and data interface (111). This status signal is then forwarded by the external control assembly (110) via the signal interface (41) as a binary signal to the industrial robot control (40). When this signal is acknowledged by the industrial robot control (40), the sequence program of the external control assembly (110) is terminated. The gripping element (88) is opened. The industrial robot control (40) can then move the industrial robot (20) further, for example to pick up another item (1).

[0059] When using a pneumatically or hydraulically actuated gripping device (50), the outputs of, for example, two sensor systems, controlled by different physical quantities, are likewise compared during closing. This comparison is performed in the computing unit (63) of the gripping device (50). For example, a binary pressure switch sensor or an analog pressure sensor with a tolerance range and an analog absolute displacement measuring system with a tolerance range are interrogated. Only if the two interrogation results are simultaneously located within a predetermined target field is a status signal indicating successful closing transmitted to the external control assembly (110). This status signal is transmitted by the external control assembly (110) to the industrial robot control unit (40) as an enable signal. During closing, the actual value of the displacement measuring system is transmitted, for example digitally, to the external control assembly (110) via the signal and data interface (111).

[0060] Similarly, when such a gripping device (50) is released, the latest actual position of the gripping element (88) is transmitted to the external control assembly (110). The computing unit (63) of the gripping device (50) performs a target-actual comparison between the absolute displacement measuring system (74) and a preset value for the released gripping device. As soon as the actual value falls within the tolerance field, a corresponding signal is transmitted to the external control assembly (110). In this case, the controlled object (106) includes, for example, only the gripping element (88).

[0061] When using a gripping device 50 configured as a suction gripper, for example, a vacuum sensor and an absolute displacement measuring system are evaluated when picking up the item 1. The evaluation and transmission of a status signal upon successful gripping of the item 1 is carried out as described above. When the suction gripper is released, again, for example, only the result of the absolute displacement measuring system 74 is compared with the target position of the suction gripper to be released. When the suction gripper reaches this position, the movement of the industrial robot 20 is released.

[0062] When picking up an article 1 using a magnetic gripper, for example, electromagnetic currents and optical sensors are evaluated as comparative quantities. In this case, for example, optical sensors are used as the gripper stroke-dependent sensor system 74. When releasing the magnetic gripper, for example, data from the optical sensors is used to determine the release for the industrial robot 20.

[0063] The external control assembly 110 can also be configured to self-learn. For example, new setpoints can be determined from data and signal feedback from the operating device 50. In this case, the sequence program can be used with the new setpoints upon a new program call. For example, a new setpoint for the force change can be determined from the actual slope of the change in value over time of the force-dependent sensor system 73, e.g., for impact reduction. For example, for this purpose, the motor current decrease curve can be adapted before contact with the item 1.

[0064] When replacing the operating device 50, the new operating device 50 is identified by the external control assembly 80 based on its coding, and the subsequent process proceeds as described above.

[0065] Combinations of the individual embodiments are also conceivable. [Explanation of symbols]

[0066] 1 article 10. Operating System 20 Industrial Robots 21 A-axis 22 B-axis 23 C-axis 24 Rotating Table 25 Foundation 26 Foot lever 27 Knee lever 31 Secondary axis, D axis 32 Secondary axis, E axis 33 Secondary axis, F axis 34 Support arm 35 Hand lever 36 Rotating Plate 40 Industrial robot control unit 41 Signal Interface 42 Control unit casing 43 Interface Shore 50 Operating device, grip device 51 Casing, gripper casing 52 Casing shell 53 Cable opening 54 DC Cable Wall of 55 (52) 61 Electronic Assembly 62 Energy storage device 63 computing units 64 storage units 65 Wireless Module 66 Interface shore, interface shore on the operating side facing the control unit 71 Manipulation tools, gripping tools, parallel grippers 72 Drive motor, electric motor 73 Force-dependent sensor systems, current sensors, and current switches 74 Stroke-dependent sensor system, absolute displacement measurement system 75 drive pinion 76 Input gear 77 Intermediate shaft 78 Output gear 79 Worm shaft gear 81 Worm shaft 82 Warm 83 Worm Wheel 84 axes 85 Synchronous gear 86 racks 87 Carriage 88 Grip element, grip jaw 89 Grip Arm 91 Grip surface 101 Control Elements 102 Actuator 103 Control device 104 Actuating member 105 Actuator 106 Control Object 110 External Control Assembly 111 Signal and Data Interfaces 112 Control Cabinet 113 Control Card 114 Control Card Serial interface shore for 115 (111) 116 Interface Shore, Interface Shore on the control unit side facing the user 117 Data Interface, User Interface 118 Binary Interface Shore 119 Light-emitting diode 121 terminal 130 Peripheral devices, calculators 131 Interface Shore

Claims

1. A manipulation system (10) comprising an industrial robot (20) supporting at least one manipulation device (50) and an industrial robot control (40), each of said manipulation devices (50) having a manipulation tool (71) and an electronic assembly (61) comprising at least one computing unit (63) and at least one wireless module (65), - said industrial robot controller (40) is connected to an external control assembly (110) by a binary signal interface (41) for two-way communication; - said external control assembly (110) has a binary wireless serial interface configured as a signal and data interface (111) with said operating device (50); - said operating device (50) and / or said external control assembly (110) have at least one interface shore (116) of a temporary user-side data interface (117) with a peripheral device (130), said user-side data interface (117) being lockable to said binary signal interface (41) at least for incoming data; - an operating system (10), characterized in that in the operating device (50), the calculation unit (63) is hard-wired to at least one force-dependent sensor system (73) and / or at least one stroke-dependent sensor system (74).

2. 2. The operating system (10) according to claim 1, characterized in that the operating device (50) has at least one force-dependent sensor system (73) and at least one stroke-dependent sensor system (74).

3. 2. The operating system (10) according to claim 1, characterized in that the electronic assembly (61) is arranged in a casing (51) of the operating device (50).

4. The operating system (10) of claim 1, wherein the external control assembly (110) includes a data storage device for storing a plurality of operating device specific application sequences.

5. 5. The operating system (10) of claim 4, wherein the contents of the data storage device are changeable using the peripheral device (130) transmitting data to the external control assembly (110) via the temporary user-side data interface (117).

6. 2. A method of operating the operating system (10) of claim 1, comprising: - when the manipulating device (50) is located at a predetermined spatial position, the industrial robot control unit (40) transmits a command signal to the external control assembly (110) via the binary signal interface (41); - transmitting application data from a data storage device to said operating device (50) via said signal and data interface (111) by said external control assembly (110); - setting at least one actuating member (104) of a controlled object (106) by means of the control device (103) by means of said operating device (50); - said calculation unit (63) compares a set of values ​​consisting of actual values ​​of said controlled object (106) with a predetermined target value field; - transmitting a status signal by said radio module (65) to said external control assembly (110) via said signal and data interface (111) when said actual value is located within said target value field; - said external control assembly (110) transmitting said status signal as an enable signal to said industrial robot controller (40) via said binary signal interface (41);

7. - transmitting a device-specific coding to the external control assembly (110) by the operating device (50); A method according to claim 6, characterized in that said external control assembly (110) associates with said operating device (50) an application sequence that depends on the coding of said operating device (50).

8. 7. The method of claim 6, wherein all signals transmitted from the industrial robot controller (40) to the external control assembly (110) are command signals that start an application sequence.

9. 7. The method of claim 6, wherein all signals transmitted by the external control assembly (110) to the industrial robot controller (40) are status signals of the manipulation device (50).

10. - transmitting a set of values ​​consisting of said actual values ​​to said external control assembly (110) via said signal and data interface (111); - compressing the data received by said external control assembly (110); The method of claim 6, characterized in that said external control assembly (110) identifies from said data changes to setpoints for repeating an application sequence.

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