Automated handling system and method for operating an automated handling system

Abstract

The invention relates to an automated handling system, comprising: a robot arm (2) having a plurality of members (3) and a plurality of joints (4) which connect the members (3) adjustably with respect to one another, wherein a proximal end member of the robot arm (2) forms a base frame (3a) via which the robot arm (2) is fixed or mounted with respect to a foundation (5), and a distal end member of the robot arm (2) has a connection flange (3b) to which a load body (6) is fastened, which load body is to be moved (6) by the robot arm (2); a gravity compensation device (7) which is separate from the robot arm (7), said gravity compensation device having a base support (8) via which the gravity compensation device (7) is fixed or mounted on a construction structure (9) arranged in a stationary manner in relation to the foundation (5), having an extension arm (10) mounted on the base support (8); and a support means (11), for the load body (6), coupled to the extension arm (10), which support means has a connection member (12) which is connected to a member (3) of the robot arm (2) or is connected directly to the load body (6), wherein the gravity compensation device (7) has at least one magnet spring (13) arranged between the support means (11) and the extension arm (10). The invention also relates to a method for operating an automated handling system (1).

Description

[0001] Automated handling system and method for

[0002] Operating an automated handling system

[0003] The invention relates to an automated handling system, comprising a robot arm with a plurality of links and a plurality of joints which connect the links in a way that is adjustable relative to one another, wherein a proximal end link of the robot arm forms a base frame, by means of which the robot arm is fixed or mounted with respect to a foundation, and a distal end link of the robot arm has a connecting flange to which a load body to be moved by the robot arm is fastened, a gravity compensation device separate from the robot arm with a base support, by means of which the gravity compensation device is fixed or mounted on a building structure arranged in a fixed position with respect to the foundation, with a boom mounted on the base support and a support means for the load body which is coupled to the boom and which has a connecting link which is connected to a link of the robot arm or directly to the load body.The invention also relates to a method for operating an automated handling system.

[0004] EP 2 508 308 B1 describes an automated handling system, comprising a gravity compensation device for a load body, which is provided on the load side with a connecting member, a load body holding means and a robot for the automated movement of the gravity-compensated load body, which robot has an end effector flange, wherein the connecting member of the gravity compensation device is connected by means of an articulated coupling to a robot member, in particular to the end effector flange forming a distal robot end member, wherein the articulated coupling has a connecting member rotatably connected to the robot member, which has an annular body rotatably mounted on the robot member about a first axis of rotation, which is rotatably mounted on a partially annular and / or bow-shaped holding member by means of two opposite rotary joints lying on a common second axis of rotation,which in turn is connected to the connecting member of the gravity compensation device so that it can rotate about a third axis of rotation.

[0005] The object of the invention is to provide an automated handling system and a method for operating an automated handling system in which a load body can be positioned particularly precisely by an automatically controlled robot arm.

[0006] The task is solved by an automated handling system comprising:

[0007] - a robot arm with several links and several joints which connect the links adjustably to each other, wherein a proximal end link of the robot arm forms a base frame, by means of which the robot arm is fixed or mounted with respect to a foundation, and a distal end link of the robot arm has a connecting flange to which a load body to be moved by the robot arm is attached,

[0008] - a gravity compensation device separate from the robot arm, comprising a base support via which the gravity compensation device is fixed or mounted on a building structure arranged in a fixed position with respect to the foundation, with a boom mounted on the base support and a support means for the load body which is coupled to the boom and which has a connecting member which is connected to a member of the robot arm or directly to the load body, wherein the gravity compensation device has at least one magnetic spring arranged between the support means and the boom.

[0009] In the gravity compensation devices known from the prior art, a cable is usually used as a support means, guided over deflection pulleys that are rotatably mounted on a support arm of the gravity compensation device. The cable only forms a deflection means that is guided to a compensation device of the gravity compensation device. The compensation device is generally formed by mechanical springs or by hydraulic or pneumatic springs. A disadvantage of the known compensation devices, however, is that they each have an increasing, in particular linearly increasing, displacement-force characteristic curve. This means that depending on the extension length of the spring, a greater or smaller force acts that corresponds to the displacement-force characteristic curve. If the spring is extended relatively far, the extended spring causes a correspondingly greater retraction force.If, however, the spring is not extended as far, the less extended spring also results in a correspondingly smaller retraction force.

[0010] If a load body is moved by a robot arm with gravity compensation using such a known gravity compensation device, the gravity-compensating tensile force of the gravity compensation device is different at different positions of the load body in space. This has the consequence that constant gravity compensation cannot take place and the load body is therefore compensated to different degrees in terms of gravity at its different positions in space. In particular, if the automatically adjusting robot arm raises or lowers the load body, the tensile force with which the gravity compensation device acts on the load body changes. If the load body is lowered by a movement of the robot arm, for example, the mechanical spring or the hydraulic or.pneumatic spring of the known gravity compensation device is extended, which leads to an increase in the tensile force of the gravity compensation device. This results in the weight of the load body being overcompensated and the load body being pulled upwards. However, if the load body is lifted by a movement of the robot arm, the mechanical spring or the hydraulic or pneumatic spring of the known gravity compensation device is contracted, which leads to a reduction in the tensile force of the gravity compensation device. This results in the weight of the load body no longer being fully compensated and the load body would sink due to the uncompensated weight force components.In order for the load body to assume its desired position, the robot arm must ultimately absorb the weight force components that are not compensated for or overcompensated by the gravity compensation device. On the robot arm, which is automatically controlled by a control device, such a change in the uncompensated or overcompensated weight force components on the load body acts like an external force that pushes or pulls on the robot arm depending on the direction of the force. Such disruptive forces can negatively influence the positioning accuracy of the robot arm. In order to prevent such disruptive forces from occurring in the first place, the invention proposes that the gravity compensation device have at least one magnetic spring arranged between the support means and the boom. Accordingly, the mechanical springs or hydraulic or pneumatic springs known from the prior art are to be replaced by magnetic springs.

[0011] Magnetic springs exhibit a constant displacement-force characteristic curve across their operating range. This means that, regardless of the extension length of the magnetic spring, a constant force corresponding to the constant displacement-force characteristic curve is always exerted. If the magnetic spring is extended relatively far, the extended magnetic spring exerts the same retraction force as if the magnetic spring were extended less far. Thus, the magnetic spring exerts a constant retraction force regardless of its current extension length.

[0012] If a load body is moved by a robot arm with gravity compensation using a gravity compensation device according to the invention, the gravity-compensating tensile force of the gravity compensation device is always the same at different positions of the load body in space. This has the consequence that constant gravity compensation can always take place and thus the load body is always compensated in the same way with regard to its gravity at its different positions in space. In particular, when the automatically adjusting robot arm raises or lowers the load body, the tensile force with which the gravity compensation device according to the invention acts on the load body does not change.If the load body is lowered by a movement of the robot arm, for example, the magnetic spring is extended, but this does not lead to an increase in the tensile force of the gravity compensation device according to the invention. This has the effect that the weight of the load body is always correctly compensated and the load body remains suspended, for example. If, on the other hand, the load body is raised by a movement of the robot arm, the magnetic spring is contracted, which also does not lead to any change in the tensile force of the gravity compensation device according to the invention. This has the effect that the weight of the load body is always evenly, in particular completely compensated, and the load body would not rise or fall differently at different positions in space due to uncompensated weight forces.As a result, the robot arm does not have to absorb any weight force components uncompensated by the gravity compensation device, which would change depending on the position of the load body. The robot arm, which is automatically controlled by a control device, is then not subjected to any unplanned external forces that would push or pull the robot arm in different ways depending on the force direction. Such variable disturbance forces can thus be prevented using magnetic springs, which improves the positioning accuracy of the robot arm.

[0013] The robot arm can be moved automatically by a control device, in particular a robot controller. For this purpose, the control device can, for example, control electric drives connected to the joints of the robot arm in order to be able to adjust them automatically, so that the links of the robot arm move accordingly and the robot arm assumes a desired pose, also referred to as a joint configuration, in which the load body moved by the robot arm assumes a specific position and orientation in space.

[0014] The gravity compensation device is connected directly or indirectly to the load body. For this purpose, the gravity compensation device comprises a support means which acts either on a link of the robot arm, in particular on a connecting flange of the robot arm or on a link immediately upstream of the connecting flange in the kinematic chain of several links and joints of the robot arm, or on the load body itself. The support means can comprise fastening means which is connected to a link of the robot arm or to the load body itself. The fastening means in turn can be connected, for example, to a coupling means, such as a cable or a rod, which is connected to the magnetic spring of the gravity compensation device. The support means can therefore comprise the coupling means and the fastening means.

[0015] The robot arm can have, for example, a base frame as a distal end element, which is attached to a floor as a foundation. Alternatively, the robot arm can also be mounted, for example, on a carriage of a linear axis, so that the entire robot arm can be adjusted automatically. In such a case, the robot arm is still mounted with respect to a floor as a foundation. If necessary, the robot arm can also be attached or mounted to a vertical wall or ceiling of a room.

[0016] Similarly, the gravity compensation device is attached or supported to a building structure. The building structure may accordingly be a vertical wall or a ceiling of a room. Alternatively, the gravity compensation device may also be attached to a floor, for example, if the gravity compensation device is mounted on a support column that is fixed to the floor.

[0017] By having the gravity compensation device at least one magnetic spring arranged between the support means and the boom, an automated handling system and a method for operating an automated handling system are created in which a load body can be positioned particularly precisely by an automatically controlled robot arm.

[0018] In all embodiments, the gravity compensation device can be moved passively, in particular without its own drive, solely as a result of an active movement of the robot and / or the load body. The gravity compensation device therefore does not need to have its own drives, but can be designed as a predominantly or exclusively mechanical joint arrangement. In one exemplary embodiment, the gravity compensation device can be formed by a mechanical articulated boom with two degrees of freedom, the boom end of which can be freely adjusted within a horizontal plane.

[0019] In one embodiment, the gravity compensation device can compensate exclusively for the gravity caused by the mass of the load body. The gravity compensation device can be configured to fully compensate for the gravity caused by the mass of the load body. Alternatively, the gravity compensation device can be configured to only partially compensate for the gravity caused by the mass of the load body.

[0020] In this case, the robot must still exert a certain load-bearing force, for example, to lift the load-bearing device and / or the end-effector flange and / or due to the additional moments that arise when the load is tilted about the horizontal axes. The force does not necessarily have to pass through the load's center of gravity. Furthermore, dynamic forces can or must also be absorbed, at least partially or completely.

[0021] If necessary, it may even be provided that the gravity compensation device is designed to more than completely compensate, i.e. overcompensate, the gravity caused by the mass of the load body, if this is desired or considered appropriate in a specific application.

[0022] In an alternative embodiment, the gravity compensation device can compensate for the gravity caused by the mass of the load body, as well as the gravity caused by the mass of the load body support and / or the mass of the end effector flange and / or one or more of the robot's links. Thus, the robot arm can also be relieved of the weight forces from the masses of the load body support and / or individual links, in particular the end effector flange, by the gravity compensation device.

[0023] The load body as such can, for example, be a workpiece and / or tool to be handled by the robot arm. For example, the tool can be a gripper that is attached to the connection flange of the robot arm and that is designed and configured to grip and move a workpiece. In this case, the load body can be formed not only by the gripped workpiece, but also by the combination of the gripper and the gripped workpiece.

[0024] The at least one magnetic spring can have at least one permanent magnet.

[0025] The at least one magnetic spring can have at least one pair of permanent magnets.

[0026] Such a magnetic spring can, for example, have a tubular housing in which at least one stator permanent magnet is located, which is fastened in the housing. The stator permanent magnet, or several segments of stator permanent magnets, can be arranged around an inner cavity in which a rotor rod is mounted so as to be axially adjustably. The rotor rod, in turn, can have at least one rotor permanent magnet arranged inside the rotor rod. Iron-neodymium magnets, for example, can be used as stator permanent magnets and / or rotor permanent magnets.

[0027] The at least one magnetic spring can have at least one electromagnet as an alternative or in addition to at least one permanent magnet.

[0028] In one embodiment, the electromagnet can be designed as a stator electromagnet that is attached in the housing or to the housing of the magnetic spring.

[0029] One or more electromagnets can be combined with one or more permanent magnets on the magnetic spring. For example, the rotor rod can have one or more rotor permanent magnets, and the housing can have one or more stator electromagnets.

[0030] The at least one electromagnet can be controlled by a control device which is designed and configured to control the electromagnet in order to adjust and / or change the spring stiffness and / or the stroke length of the magnetic spring.

[0031] The advantage of using electromagnets over permanent magnets is that the magnetic field strength can be varied. This means that by electrically controlling the electromagnets, the magnitude of the constant force provided by the magnetic spring can be easily changed. The constant force provided by the magnetic spring therefore determines the load-bearing capacity of the magnetic spring. In order to fully compensate for the force of gravity in a load, the load-bearing capacity of the magnetic spring must be matched to the mass of the load body. When using electromagnets, the magnetic spring can therefore be easily adjusted in terms of control technology to suit different load bodies of different masses.

[0032] A constructive adaptation of the load-bearing capacity of the magnetic spring or of a set of several magnetic springs, however, can be achieved by suitable selection of magnetic springs of different sizes and / or by varying the arrangement of several magnetic springs.

[0033] The gravity compensation device may comprise at least one first magnetic spring and at least one second magnetic spring arranged parallel to the first magnetic spring.

[0034] By using two or more magnetic springs, the load-bearing capacity can be scaled. In particular, several magnetic springs of identical design and size can be combined. Due to the parallel arrangement, each magnetic spring can assume a portion of the total load-bearing capacity corresponding to the number of magnetic springs provided.

[0035] Each of the plurality of magnetic springs can comprise a housing and a rotor rod that is linearly adjustable within the housing. The plurality of housings can be fastened in the parallel arrangement to a common stator support. The plurality of rotor rods can be fastened by their distal ends to a common rotor support. The stator support and the rotor support form the connecting bodies of the magnetic spring set in order to be able to couple it between the boom of the gravity compensation device and the support means of the gravity compensation device.

[0036] The gravity compensation device may comprise at least one first magnetic spring and at least one second magnetic spring arranged in series with the first magnetic spring.

[0037] By using two or more magnetic springs, the stroke length can also be scaled. In particular, several magnetic springs of identical design and size can be combined. The serial arrangement allows each magnetic spring to assume a portion of the total stroke corresponding to the number of magnetic springs provided. Each of the several magnetic springs can comprise a housing and a rotor rod that is linearly adjustable within the housing. The respective housing of one magnetic spring can be attached to the rotor rod of the other magnetic spring in the serial arrangement.In order to be able to couple such a serial magnetic spring set between the boom of the gravity compensation device and the support means of the gravity compensation device, the housing of the magnetic spring can form a first connection means at one end of the serial magnetic spring set and the rotor rod of the magnetic spring can form a second connection means at the other end of the serial magnetic spring set, wherein the serial magnetic spring set can be coupled between the boom of the gravity compensation device and the support means of the gravity compensation device by means of the two connection means.

[0038] The gravity compensation device can comprise a trolley which can be moved along the boom and on which at least one magnetic spring is arranged.

[0039] The gravity compensation device can be designed in the form of a crane. For example, the gravity compensation device can be designed in the form of a jib crane, slewing crane, gantry crane, or column-mounted slewing crane.

[0040] For this purpose, the gravity compensation device can have a base support which can be fastened to a wall of a building, for example. An at least substantially horizontally extending boom can be pivotally mounted on the base support about an at least substantially vertical axis of rotation. The trolley can be movably mounted on the boom. Both the pivoting of the boom about the vertical axis of rotation and the travel of the trolley on the boom can take place passively, i.e., in such an embodiment, the gravity compensation device has no drives. Pivoting the boom and traveling of the trolley on the boom can take place by moving the load body suspended from the gravity compensation device in space in a horizontal plane.

[0041] The magnetic spring or the magnetic spring set can be attached to a trolley or to a chassis of the trolley's trolley.

[0042] At least one magnetic spring can have a magnetic spring base body on which a magnetic spring rotor that determines the spring travel of the magnetic spring is adjustably mounted, wherein the magnetic spring with its magnetic spring base body is arranged on the boom or on the trolley in such a way that the magnetic spring rotor is adjustably mounted in a vertical direction.

[0043] The magnetic spring base body can be formed by the housing of a single magnetic spring or by a stator carrier as a connecting body of a magnetic spring set.

[0044] The magnetic spring rotor can be formed by the rotor rod of a single magnetic spring or by a rotor carrier as a connecting body of a magnetic spring set.

[0045] The magnetic spring can be arranged with its magnetic spring base body laterally of the boom and / or laterally of the trolley, so that the magnetic spring runner can be adjusted in a vertical direction past the boom or the trolley. The magnetic spring base body can accordingly be attached laterally to the trolley, so that the magnetic spring runner, in particular the runner rod or the runner support, can project vertically downwards laterally at a distance from the trolley and at a distance from the boom.

[0046] Alternatively, the boom can have two rails running parallel to one another on which the trolley travels, wherein the magnetic spring base body can be fastened to the trolley in such a way that the magnetic spring rotor, in particular the rotor rod or the rotor carrier, can project vertically downwards between the two rails of the boom.

[0047] The object is also achieved by a method for operating an automated handling system, in particular an automated handling system according to one of the described embodiments, the method comprising the following steps:

[0048] - connecting a load body to a connecting flange of a distal end member of a robot arm having a plurality of members and a plurality of joints which connect the members adjustably to one another,

[0049] - automatic adjustment of the joints of the robot arm, so that the load body connected to the connection flange of the robot arm is automatically moved in space, during the automatic movement of the load body by automatically adjusting the joints of the robot arm, at least partially or completely compensating the weight of the load body by a constant counterforce to the weight of the load body.

[0050] In the method, it is provided according to the invention that the counterforce, which at least partially or completely compensates for the weight of the load body, is always kept constant, and in particular independently of the position of the load body in space, in particular independently of the vertical height of the load body in space.

[0051] In this way, a method for operating an automated handling system can be created in which a load body can be positioned particularly precisely by an automatically controlled robot arm.

[0052] If necessary, a gravity compensation device that can be actively moved can be used to carry out the method. Thus, the gravity compensation device can optionally have drives that generate such moments on the gravity compensation device that, in every position of the load body, the gravity compensation device provides the same constant counterforce to the weight of the load body. For this purpose, the drives of such an active gravity compensation device can be automatically controlled by a control device.

[0053] In the case of a variant in which the gravity compensation device is still to operate without drives, such a passive gravity compensation device can, as already described, have at least one magnetic spring which can provide a constant spring force over its spring travel.

[0054] A specific embodiment of the invention is 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 this exemplary embodiment may, if appropriate, also represent general features of the invention, whether considered individually or in further combinations.

[0055] It shows :

[0056] Fig. 1 is a perspective view of an automated handling system according to the invention with a robot arm, a gravity compensation device and a magnetic spring,

[0057] Fig. 2 is a side view of an automated handling system according to the invention with a robot arm, a gravity compensation device and a magnetic spring according to Fig. 1 in isolation,

[0058] Fig. 3 is a side view of an automated handling system according to the invention with a robot arm, a gravity compensation device and a magnetic spring according to Fig. 1, in which the robot arm is fixed to a foundation and the gravity compensation device is fixed to a building structure, such as a wall of a building, and

[0059] Fig. 4 is a flowchart of the steps in the basic method according to the invention.

[0060] Fig. 1 shows an exemplary automated handling system 1 according to the invention.

[0061] The automated handling system 1 comprises a robot arm 2 with a plurality of links 3 and a plurality of joints 4 which connect the links 3 in a mutually adjustable manner, wherein a proximal end link of the robot arm 2 forms a base frame 3a via which the robot arm 2 is fixed or mounted with respect to a foundation 5 (Fig. 3), and a distal end link of the robot arm 2 has a connecting flange 3b to which a load body 6 to be moved by the robot arm 2 is fastened.

[0062] The automated handling system 1 also comprises a gravity compensation device 7 which is separate from the robot arm 2 and has a base support 8, via which the gravity compensation device 7 is fixed or mounted on a structural structure 9 (Fig. 3) which is arranged in a fixed position with respect to the foundation 5 (Fig. 3), with a boom 10 mounted on the base support 8 and a support means 11 for the load body 6 which is coupled to the boom 10 and has a connecting member 12 which is connected to a member 3 of the robot arm 2 or directly to the load body 6. In the automated handling system 1 shown, the gravity compensation device 7 has at least one magnetic spring 13 arranged between the support means 11 and the boom 10.

[0063] The magnetic spring 13 has a housing 14 and a rotor rod 15.

[0064] The at least one magnetic spring 13 can have at least one permanent magnet.

[0065] Such a magnetic spring 13 can, as shown, have a tubular housing 14 in which at least one stator permanent magnet is located, which is secured in the housing 14. The stator permanent magnet, or several segments of stator permanent magnets, can be arranged around an inner cavity in which a rotor rod 15 is mounted for axial adjustment. The rotor rod 15, in turn, can have at least one rotor permanent magnet arranged inside the rotor rod 15. Iron neodymium magnets, for example, can be used as stator permanent magnets and / or rotor permanent magnets.

[0066] As shown in Fig. 2, the gravity compensation device 7 may comprise at least one first magnetic spring 13.1 and at least one second magnetic spring 13.2 arranged parallel to the first magnetic spring 13.1.

[0067] By using these two magnetic springs (13.1 and 13.2, for example), the load-bearing capacity can be scaled. In particular, several magnetic springs (13.1 and 13.2) of identical design and size can be combined. Due to the parallel arrangement, each magnetic spring (13.1 and 13.2) can assume a portion of the total load-bearing capacity corresponding to the number of magnetic springs (13.1 and 13.2) provided. In the case of two magnetic springs (13.1 and 13.2), this means 50% of the total load-bearing capacity each.

[0068] Each magnetic spring 13.1, 13.2 can comprise a housing 14.1, 14.2 and a linearly adjustable rotor rod 15.1, 15.2 within the housing 14.1, 14.2. The housings 14.1, 14.2 can be mounted in a parallel arrangement on a common stator support 16. The rotor rods 15.1, 15.2 can be mounted with their distal ends on a common rotor support 17. The stator support 16 and the rotor support 17 form the connecting bodies of the magnetic spring set, enabling it to be coupled between the boom 10 of the gravity compensation device 7 and the support means 11 of the gravity compensation device 7.

[0069] As shown in Fig. 3, the gravity compensation device 7 may comprise at least a first magnetic spring

[0070] 13.1 and at least one second magnetic spring 13.2 which is arranged in series with the first magnetic spring 13.1.

[0071] By using, for example, two magnetic springs in series, the stroke length can be scaled. In particular, several magnetic springs 13.1 and 13.2 of identical design and size can be combined. Due to the serial arrangement, each magnetic spring 13.1, 13.2 can assume a portion of the total stroke corresponding to the number of magnetic springs 13.1, 13.2 provided.

[0072] Each magnetic spring 13.1, 13.2 may comprise a housing 14.1, 14.2 and a linearly adjustable runner rod 15.1, 15.2 within the housing 14.1, 14.2. The housing 14.2 of the second magnetic spring

[0073] 13.2 can be fastened in the serial arrangement to the rotor rod 15.1 of the first magnetic spring 13.1. In order to be able to couple such a serial magnetic spring set between the boom 10 of the gravity compensation device 7 and the support means 11 of the gravity compensation device 7, the housing 14.1 of the first magnetic spring 13.1 can form a first connection means 18.1 at one end of the serial magnetic spring set and the rotor rod 15.2 of the second magnetic spring 13.2 can form a second connection means 18.2 at the other end of the serial magnetic spring set, wherein the two connection means 18.1, 18. 2 the serial magnetic spring set is coupled between the boom 10 of the gravity compensation device 7 and the support means 11 of the gravity compensation device 7.

[0074] As shown in particular in Fig. 1, the gravity compensation device 7 can have a trolley 19 which can be moved along the boom 10 and on which at least one magnetic spring 13, 13. 1, 13. 2 is arranged.

[0075] The at least one magnetic spring 13 can have a magnetic spring base body 14a on which a magnetic spring rotor 15a determining the spring travel of the magnetic spring 13 is adjustably mounted, wherein the magnetic spring 13 can be fastened with its magnetic spring base body 14a to the trolley 19 in such a way that the magnetic spring 13 is mounted on the boom 10 so as to be movable via the trolley 19, wherein the magnetic spring rotor 15a is adjustably mounted in a vertical direction.

[0076] As is also shown in Fig. 1, the magnetic spring 13 with its magnetic spring base body 14a can be arranged laterally of the boom 10 and / or laterally of the trolley 19, so that the magnetic spring rotor 15a can be adjusted in a vertical direction past the boom 10 or the trolley 19.

[0077] In Fig. 4 the steps in the basic method according to the invention are shown in the form of a flow chart.

[0078] The method is designed to operate an automated handling system 1, in particular an automated handling system 1 according to one of the described embodiments.

[0079] In a first step S 1 of the method, a load body 6 is connected to a connecting flange 3b of a distal end member of a robot arm 2, which has a plurality of members 3 and a plurality of joints 4, which connect the members 3 in a mutually adjustable manner.

[0080] In a second step S2 of the method, the joints 4 of the robot arm 2 are automatically adjusted so that the load body 6 connected to the connecting flange 3b of the robot arm 2 is automatically moved in space.

[0081] In a third step S3 of the method, during the automatic movement of the load body 6 by automatically adjusting the joints 4 of the robot arm 2, the weight force of the load body 6 is at least partially or completely compensated by a constant counterforce to the weight force of the load body 6.

[0082] In the method, it is provided according to the invention that the counterforce, which at least partially or completely compensates for the weight of the load body 6, is always kept constant, and in particular independently of the position of the load body 6 in space, in particular independently of the vertical height of the load body 6 in space.

[0083] This creates a method for operating an automated handling system in which a load body can be positioned particularly precisely by an automatically controlled robot arm.

[0084] If necessary, a gravity compensation device 7 that can be actively moved can be used to carry out the method. Thus, the gravity compensation device 7 can optionally have drives that generate such moments on the gravity compensation device 7 that, in every position of the load body 6, the gravity compensation device 7 provides the same constant counterforce to the weight of the load body 6. For this purpose, the drives of such an active gravity compensation device 7 can be automatically controlled by a control device.

[0085] In the case of the embodiment variant shown, in which the gravity compensation device 7 does not require any drives, such a passive gravity compensation device 7 can, as already described, have at least one magnetic spring 13 which can provide a constant spring force over its spring travel.

Claims

Patent claims 1. Automated handling system, comprising: - a robot arm (2) with several links (3) and several joints (4) which connect the links (3) adjustably to one another, wherein a proximal end link of the robot arm (2) forms a base frame (3a) by means of which the robot arm (2) is fixed or mounted with respect to a foundation (5), and a distal end link of the robot arm (2) has a connecting flange (3b) to which a load body (6) to be moved by the robot arm (2) is fastened, - a gravity compensation device (7) separate from the robot arm (2) with a base support (8) via which the gravity compensation device (7) is fixed or mounted on a building structure (9) arranged in a stationary manner with respect to the foundation (5), with a boom (10) mounted on the base support (8) and a support means (11) for the load body (6) which is coupled to the boom (10) and has a connecting member (12) which is connected to a member (3) of the robot arm (2) or directly to the load body (6), characterized in that the gravity compensation device (7) has at least one magnetic spring (13) arranged between the support means (11) and the boom (10).

2. Automated handling system according to claim 1, characterized in that the at least one magnetic spring (13) has at least one permanent magnet.

3. Automated handling system according to claim 1 or 2, characterized in that the at least one magnetic spring (13) has at least one electromagnet.

4. Automated handling system according to claim 3, characterized in that the at least one electromagnet is controlled by a control device which is designed and configured to control the electromagnet in order to adjust and / or change the spring stiffness and / or the stroke length of the magnetic spring (13).

5. Automated handling system according to one of claims 1 to 4, characterized in that the gravity compensation device (7) has at least one first magnetic spring (13.1) and at least one second magnetic spring (13.2) which is arranged parallel to the first magnetic spring (13.1).

6. Automated handling system according to one of claims 1 to 4, characterized in that the gravity compensation device (7) has at least one first magnetic spring (13.1) and at least one second magnetic spring (13.2) which is arranged in series with the first magnetic spring (13.1).

7. Automated handling system according to one of claims 1 to 6, characterized in that the gravity force compensation device (7) has a trolley (19) which can be moved along the boom (10) and on which at least one magnetic spring (13) is arranged.

8. Automated handling system according to one of claims 1 to 7, characterized in that the at least one magnetic spring (13) has a magnetic spring base body (14a) on which a magnetic spring rotor (15a) determining the spring travel of the magnetic spring (13) is adjustably mounted, wherein the magnetic spring (13) with its magnetic spring base body (14a) is arranged on the boom (10) or on the trolley (19) in such a way that the magnetic spring rotor (15a) is adjustably mounted in a vertical direction.

9. Automated handling system according to claim 8, characterized in that the magnetic spring (13) with its magnetic spring base body (14a) is arranged laterally of the boom (10) and / or laterally of the trolley (19), so that the magnetic spring rotor (15a) can be adjusted in a vertical direction past the boom (10) or the trolley (19).

10. A method for operating an automated handling system (1), in particular an automated handling system (1) according to one of claims 1 to 9, characterized by the steps: Connecting a load body (6) to a connecting flange (6b) of a distal end member of a robot arm (2) having several members (3) and several joints (4) which connect the links (3) adjustable relative to each other, - automatic adjustment of the joints (4) of the robot arm (2) so that the load body (6) connected to the connecting flange (3b) of the robot arm (2) is automatically moved in space, - during automatic movement of the load body (6) by automatically adjusting the joints (4) of the robot arm (2), at least partially or completely compensating the weight of the load body (6) by a constant counterforce to the weight of the load body (6).

Images