WO2017157513A1 - Système de manipulateur programmable avec un dispositif de commutation de fonction - Google Patents

Système de manipulateur programmable avec un dispositif de commutation de fonction Download PDF

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Publication number
WO2017157513A1
WO2017157513A1 PCT/EP2017/000322 EP2017000322W WO2017157513A1 WO 2017157513 A1 WO2017157513 A1 WO 2017157513A1 EP 2017000322 W EP2017000322 W EP 2017000322W WO 2017157513 A1 WO2017157513 A1 WO 2017157513A1
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WO
WIPO (PCT)
Prior art keywords
function switch
manipulator
program
data
switch device
Prior art date
Application number
PCT/EP2017/000322
Other languages
German (de)
English (en)
Inventor
Christian Scheurer
Original Assignee
Kuka Roboter Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuka Roboter Gmbh filed Critical Kuka Roboter Gmbh
Publication of WO2017157513A1 publication Critical patent/WO2017157513A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36159—Detachable or portable programming unit, display, pc, pda
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36311—Machining mode selection, pocket, grooving, raster, area, profile
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36401—Record play back, teach position and record it then play back
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36445—Mode selection between large displacement and precision work
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39435—Free movable unit has push buttons for other than position, orientation control

Definitions

  • the invention relates to a programmable manipulator system with a function switch device, and a method for at least partially creating and / or changing a manipulator program by means of at least one function switch device, and the use of at least one function switch device in a corresponding manipulator system, respectively, a corresponding method.
  • Manipulator systems typically include a manipulator and a controller that controls the manipulator in accordance with a manipulator program.
  • the manipulator is typically a device that is set up for physical interaction with the environment.
  • a manipulator may be an industrial robot.
  • Industrial robots are multipurpose manipulators that have a plurality of freely programmable axes of motion and that are configured to guide and / or manipulate end-effectors and / or workpieces.
  • manipulator program is typically created, according to which the manipulator of the manipulator system is controlled.
  • multiple manipulators can interact within a manipulator system, which are either controlled by a common manipulator program, or have separate manipulator programs.
  • Robot programming languages are typically used to create the manipulator program, for example to program a path the manipulator is to travel.
  • manipulator programs are not taught exclusively by a robot programming language, i. Offline, created, but rather are created directly on the manipulator "Online”. That is, the trajectory or the movement behavior of the manipulator is
  • CONFIRMATION COPY "Teached" For this purpose, individual points of the manipulator are specified and the manipulator then moves off the corresponding points. Alternatively or additionally, a complete manipulator track and / or a manipulator track section can be picked up, ie "geteached.” A manipulator track created in this way can be iteratively optimized.
  • the manipulator such as a LBR iiwa from Kuka, manually moved.
  • a force is applied manually to the manipulator, for example, by the programmer and the position and / or orientation of at least one axis of the manipulator is influenced accordingly.
  • the movement of the manipulator or positions traversed by the manipulator is / are recorded and stored as a manipulator program.
  • the conventional programming devices used are often very large, so that they can be used only partially mobile.
  • Other known programming devices are, for example, wired and must be connected via a control cable to the control device of the manipulator.
  • the object of the present invention to overcome the disadvantages mentioned at least partially.
  • it is the object of the present invention to provide a programmable manipulator system which, in particular, provides the creation or modification of manipulator programs with regard to functionalities which can not or only with difficulty be programmed by manual guidance, independently of location.
  • the devices for providing said functionality should be simple and intuitive to use, and the programmable manipulator system should be easily extensible and flexibly adaptable to different requirements.
  • a programmable manipulator system according to claim 1, a method for at least partially creating and / or changing a manipulator program according to claim 14 and a use of at least one function switch device according to claim 16.
  • a programmable manipulator system comprising at least one manipulator which is adapted to be controlled according to a manipulator program of the manipulator system, at least one programming device which is adapted to create and / or modify the manipulator program and at least one wireless function switch device, which is set up freely positionable and has exactly one function switch.
  • the function switch device further comprises a wireless communication interface for transmitting data to the programming device, which data information for switch position of a function switch, wherein the programming device is adapted to at least partially create and / or modify the manipulator program according to the data.
  • the manipulator used in the manipulator system is preferably an industrial robot which has a plurality of axes of movement.
  • the manipulator can be set up for manual guidance, so that a manipulator program can be at least partially created and / or changed by manually guiding the manipulator. that can.
  • a created manipulator program is used by means of a control device for controlling the manipulator.
  • the manipulator system may include a plurality of manipulators controlled according to a (common) manipulator program, or each of the manipulators may be controlled by a standalone manipulator program, wherein the standalone manipulator programs may communicate with each other to tune common behavior of the manipulators.
  • a plurality of control devices can be used, preferably a control device per manipulator program used, or a control device can be used which is set up to run a plurality of manipulator programs, preferably simultaneously.
  • the at least one programming device may include both software and hardware components.
  • the programming device may be an independent device which serves to create the manipulator program. If the manipulator program is at least partially capable of being created, then the manipulator program can be transferred to a control device and control the manipulator.
  • a programming device can be integrated into a control device, and the manipulator program, which can be at least partially readable, can be used at any time for (partially) controlling the manipulator / manipulators. This is particularly advantageous if program parts are to be optimized during the program creation / program change. For example, during programming by means of manual guiding of the manipulator, a first movement path of the manipulator can first be recorded. The programmer can then display the recorded trajectory by playing back from the manipulator. If the trajectory played does not yet correspond concretely to the result to be achieved, individual parts of the trajectory can be changed and / or supplemented to finally achieve an optimal result.
  • manipulator program creation / modification method some functions can only be programmed with considerable effort.
  • a programmer must specifically program path switching points or the change of a control mode on an operating device or the programming device.
  • manipulators having more than six axes may have to tende redundancies are overcome by targeted programming.
  • the operator panel and / or the programmer itself must be portable, or the programmer must leave his current location.
  • a change in the control mode may include, for example, switching the manipulator operation from a force-controlled manipulator operation to a position-controlled manipulator operation or an impedance-controlled manipulator operation or the like.
  • specific functions of the manipulator or of the end effector can be switched on or off at train switching points or other switching times.
  • a gripper can be actuated or a tool can be switched on or off, which leads the manipulator.
  • the function switch device comprises exactly one function switch, which sends data to the programming device in accordance with a switch position of the function switch. The data includes information regarding the switch position of the function switch.
  • the function switch comprises two switch positions. If one of the two switch positions is switched, the corresponding data is sent to the programming device. The programmer can then use the data to decide how the function switch has been switched.
  • the switch position can correspond to a simple click, a double-click or a certain switching duration.
  • the function switch device may have further operating elements, such as, in particular, an on / off switch, or a button for checking the battery status of the function switch device or the like.
  • it has only one function switch, the switch position of which can influence the manipulator program, in that the data for the switch position are capable of at least partially creating and / or changing the manipulator program.
  • the programming device can then modify and / or supplement the manipulator program. For example, with a simple click, a gripper can be closed in a touch position. He- If a double click is made, the gripper closes with a predetermined gripping force so that the gripped object can be moved. Pressing for a predefined switching duration, such as at least one second, could correspond to opening the gripper. Thus, different functionalities can be commanded, respectively programmed, with only one function switch device.
  • either the function switch device itself can send data indicating the switch position, i.
  • simple click, double-click or switch duration include or the function switch device sends only data that indicate a change in the switch position.
  • the programmer may itself interpret the data to select the appropriate switch position and programming command.
  • the communication interface used to send the data may be, for example, a Bluetooth interface, or another known wireless interface (WiFi, Zigbee, ).
  • the communication interface is in particular dependent on how many communication users are to be provided in the manipulator system, and what amount of data is to be exchanged. Another aspect to consider when selecting the communication device is the maximum range of the communication device.
  • the function switch device is set up freely positionable.
  • the function switch device can be portable portable carried by the programmer, or the function switch device can be fastened, such as on the manipulator, in the vicinity of the gripper, on a control device, on a protection device of the manipulator system and the like.
  • the function switch device may be provided in the vicinity of the programmable component. If, for example, a gripper position is to be programmed by means of the function switch device, as described above, the relevant function switch device can be positioned in the vicinity of the gripper, and is preferably moved by the manipulator. Thus, especially when programming by means of manual guidance, the option of programming the gripper position is always provided at the location of the gripper. This simplifies programming. Since only one function switch is provided in the function switch device, the function switch device can be made very small. For example, the function switch device in Be made substantially flat, having a height in the range of 2 mm to 10 mm, preferably in the range of 4 mm to 8 mm and most preferably in the range of 5 mm to 6 mm.
  • the areal extent of the function switch device may be in the range of 1 cm 2 to 25 cm 2 , preferably in the range of 2 cm 2 to 15 cm 2 , and in particular in the range of 2 cm 2 to 4 cm 2 .
  • the function switch device may have a substantially cylindrical shape or a substantially cuboidal shape. Other forms are also possible.
  • the type of change or type of created part of the manipulator program that is executed when data is received from the specific function switch device may be freely configurable.
  • a gripper of a manipulator can be programmed with the same function switch device in a first application and the operating mode of the manipulator can be changed in another application.
  • the programming device can be set up to at least partially create and / or modify the manipulator program by manually guiding the manipulator.
  • the combination of manually guiding the manipulator in program creation / modification of the manipulator program in combination with the above-described use of function switches / function switch makes it possible to significantly improve programming since the programmer, during manual guidance, such as hand-guiding, Manipulators must not leave the manipulator to program more functions. This can be achieved by supporting the function switch devices at appropriate locations in the environment of the manipulator on the manipulator itself or portable by the programmer. Thus, corresponding predefined functionalities of programming can be provided directly on site.
  • the function switch device may comprise at least one attachment means, wherein the attachment means is adapted to fix the function switch device to a structure and wherein the attachment means is preferably adapted to provide a releasable attachment.
  • the fastening can be, for example, a magnetic fastener, which allows to attach the function switch device to magnetic or metallic structures. This is particularly advantageous in manipulator applications which have a metallic, magnetic housing, since a simple and universal mounting option is provided.
  • the attachment means may comprise mechanical attachment means such as attachment straps and the like.
  • the attachment means may comprise adhesive to adhere the function switch device to a structure.
  • the adhesive may for example be provided in the form of an adhesive strip, which may be replaced when re-attaching the function switch device.
  • a combination of different fastening means may be provided.
  • a fastening strap may be combined with a magnetic fastener to provide additional security of attachment.
  • Other fasteners may be clips, openings for attaching screws, rivets and / or the like.
  • the ability to attach the function switch device to a structure may provide the function switch device at the location where the functionality of the manipulator program programmable by the function switch device is to be programmed.
  • various function switch devices may be mounted at different locations such that, for example, a function switch device which is to program a gripper is mounted near the gripper and a function switch device intended to change a manipulator control mode is carried by the programmer, for example in shape a bracelet.
  • the fastening means can be used to combine a plurality of functional switch devices with each other, so that aginasschaltervor- direction structure can be constructed.
  • the attachment means may comprise coupling means so that two or more function switch devices may be coupled together.
  • the operator can create a bracelet formed from a plurality of functional switch devices.
  • the function switch can comprise at least one movable switching part in order to provide the operator with haptic feedback of the switch position of the function switch. Switch provide.
  • the operator can immediately upon actuation of the function switch device or the function switch feedback received whether the function switch has been pressed correctly. This is particularly advantageous in the industrial environment, since it is typically used with gloves, which reduce the sensitivity of the fingers.
  • function switches with a movable switching part can be operated safely, and the operation is not affected by contamination or by gloves, clothes, etc.
  • the function switch has at least two different switch positions, wherein the function switch is preferably a button.
  • the function switch device for example, send data to the programmer exactly when the function switch is in one of the two function switch positions. Likewise, data can also be sent when the function switch changes the switch position.
  • the first case allows continuous transmission of data when the function switch is depressed. If, for example, during the creation / modification of the manipulator program, the manipulator program is carried out by means of the manipulator, the maximum speed of the manipulator can be limited, for example, by holding down a function switch device. If the function switch device and in particular the function switch is no longer pressed, this limitation can be removed and the manipulator can travel at maximum speed.
  • buttons as a function switch further allows the operation of the function switch always causes the same switch position change, since the button returns to its original position after pressing.
  • the operation of the function switch device can be simplified.
  • the function switch device can be arranged completely in a sealing sheath, which sealing sheath preferably comprises an elastomeric material.
  • the sealing sheath may be integrally formed and molded around the function switch device.
  • the sealing sheath may comprise a multi-part housing, which provides a sealing function.
  • the sealing envelope can reduce the influence of pollution and moisture in the environment are minimized on the function switch device so that longer lifetimes can be achieved.
  • the sealing sheath allows the use of functional switch devices in harsh environmental conditions, such as in wet rooms or paint shops and the like.
  • the functional switch device may comprise at least a battery and a memory unit, wherein the memory unit preferably stores a unique function switch device identifier and wherein the function switch device is adapted to send the function switch device identifier with the data to the programmer.
  • the function switch device can be operated autonomously.
  • the battery may be a primary cell, in particular advantageously, the battery is a secondary cell, which is suitable for recharging. Recharging can be done by suitable connectors or wirelessly.
  • a memory unit and in particular a function switch device identifier provided, the programmer can uniquely decide between different function switch devices and perform corresponding programming actions that are assigned to the respective function switch devices.
  • the number of function switch devices used in the manipulator system is limited only by the number of function switch devices that can be processed by the programming device.
  • the memory unit can comprise a freely programmable memory part, which memory part can store data, and wherein the function switch device is set up to send at least part of the data to the programming device, depending on the switch position of the function switch.
  • the memory unit may include one or more memory types, such as ROM, EEPROM, RAM, flash memory, magnetic memory, and the like, or a combination of the different memory types.
  • a memory part provided freely programmable as well as data concerning the function switch device identifier and the switch position of the function switch, also deposited data can be transmitted.
  • the corresponding stored data can be, for example, explicit programming commands include, or include parameters or attributes for the programming command to be created.
  • a manipulator speed can be set.
  • the actual travel speed can be set as a function of the switching duration. Accordingly, different travel speeds can be stored in the function switch device for a certain switching duration.
  • these attributes can also be stored in the programmer.
  • the function switch device may not include a screen display device. By not using a screen display device, the function switch device can be made very small. This allows flexible attachment to different structures and free positioning.
  • the function switch device may include a simple visual display, such as a status LED indicating whether the function switch device is on or off by, for example, a power switch, and / or whether the function switch is depressed, and / or in which Switch position of the function switch is pressed, and / or whether appropriate data has been sent.
  • the user can be informed by the simple visual display whether the data sent was received correctly and / or whether a corresponding program change command and / or program completion command was executed correctly.
  • the function switch device may also include means which provide haptic feedback to the user.
  • the haptic feedback can be, for example, a vibration feedback.
  • each manipulator of the manipulator system can be assigned at least four function switch devices, preferably at least seven function switch devices, most preferably at least ten function switch devices.
  • function switch devices By assigning function switch devices to a manipulator of the manipulator system, it is made clear which part of a manipulator program or which manipulator program should be changed. If each manipulator is assigned a plurality of function switch devices, then each manipulator can be provided with corresponding functionalities for programming become.
  • a function switch device can also be assigned to a plurality of manipulators.
  • the manipulator system may comprise a plurality of function switch devices, each function switch device comprising an individual optical identifier.
  • the optical identifiers enable the programmer to distinguish the function switch devices from one another, thus avoiding the confusion and / or inadvertent incorrect programming of the manipulator program.
  • the optical identifiers can be provided as replaceable optical identifiers which can be attached to the function switch device.
  • the optical identifiers may be provided in the form of color markers which may be attached to the function switch device.
  • the optical identifiers can be provided as part of the sealing sheath, so that, for example, different function switch devices have sealing sheaths of different colors.
  • a function switch device which has, for example, a status LED can be optically marked by different colors of the LED lights.
  • the status LED is preferably designed as a multi-color LED.
  • the programming device can be set up to at least partially create and / or modify the manipulator program according to the data, such that a corresponding program change command and / or program completion command is assigned to each data, and the assignment of the program change command and / or the program supplement command to the data and / or the program change command and / or the program completion command can be changed manually by a user.
  • the programmer can be used flexibly in combination with the function switch devices that provide the data.
  • the programmer may include a list and / or database or the like having available program change commands and / or program completion commands that are used in accordance with the received data sent from a function switch device to modify and / or partially create the manipulator program.
  • the program change commands and / or the program completion commands may be supplemented by a user.
  • an individually customizable program creation or program modification is possible depending on the use of a function switch device.
  • the manipulator system may include a display device which is adapted to indicate to an operator whether the data has been received by the programmer and / or whether the manipulator program has been at least partially created and / or changed in accordance with the data.
  • the display device is provided centrally, for example on the control device or on the manipulator, so that a corresponding display by the operator is immediately apparent.
  • the display can be a visual display, an acoustic display, a haptic display or the like. Likewise, a combination of different ads is possible.
  • a display device can also be attached to a function switch or all function switches of the programmable manipulator system and be provided, for example, in the form of a status LED, a vibration alarm or the like.
  • the display device may indicate a malfunction of the manipulator system, and for example, report a fault.
  • a fault may be due, for example, to the fact that data has been sent by the function switch device but has not been received correctly and / or the data has been received correctly, but the manipulator program has not been correspondingly changed and / or at least partially created.
  • a method for at least partially creating and / or changing a manipulator program which is set up to be executed in a control device of a manipulator system in order to control a manipulator comprising the following method steps:
  • Providing a manipulator system comprising a programmer and at least one manipulator
  • the function switch device comprising a wireless communication interface for sending data to the programmer, which data includes switch position information of the function switch;
  • the function switch device which is arranged freely positionable, can be mounted almost arbitrarily on a structure of the manipulator system or a structure in the vicinity of the manipulator system.
  • the free allocation of program change commands / program supplement commands to the data or the free creation of program change commands and program supplement commands allows variable programming of the manipulator program.
  • effective programming or creation and / or modification of the manipulator program can be achieved.
  • the manipulator program may be at least partially created and / or changed in accordance with the data in such a way that different data are respectively assigned to a corresponding program change command and / or program completion command, and wherein the method further comprises the following method step:
  • either existing program change and / or program supplement commands may be associated with corresponding data and thus functionality of a function switch may be affected or new program change / program completion commands may be created to provide completely new functionality.
  • the tasks are at least partially solved by the use of at least one function switch device in a method for at least partially creating and / or changing a manipulator program, which manipulator program is adapted to be executed in a control device of a manipulator system to control a manipulator
  • the function switch device a wireless function switch device which is freely positionable is arranged and has exactly one function switch
  • the function switch device comprises a wireless communication interface for sending data to a programming device, wherein the data information for switch position of a function switch comprises, and wherein the programming device 26 is associated with a manipulator system and is adapted to a manipulator program at least partially create and / or modify according to the data sent.
  • Fig. 1 is a schematic representation of a programmable manipulator system
  • FIG. 2 is a schematic representation of a function switch device
  • Fig. 3 is a schematic representation of a method for creating / changing a manipulator program.
  • FIG. 1 shows a programmable manipulator system 1, which comprises at least one manipulator 10, which is set up to be controlled in accordance with a manipulator program 26.
  • the manipulator program 26 is typically carried out by means of a control device 28 for controlling the manipulator 10.
  • the manipulator program 26 is at least partially created and / or changed by a programming device 20.
  • the manipulator system 1 comprises at least one wireless function switch device 30.
  • the function switch devices are set up freely positionable and comprise exactly one function switch 36.
  • the function switch device 30a is attached to a base of the manipulator 10 and the Function switch device 30 b positioned on an axis of the manipulator 10.
  • the function switch device 30c is held in the hand by a programmer 60, and the function switch device 3od is attached to a workpiece supply device 90.
  • a function switch device has a fastening means 50 which serves for the preferably detachable fastening of the function switch devices to structures.
  • the function switch devices 30a to 3od can be used, for example, to integrate corresponding program supplement commands or program change commands into the manipulator system 26.
  • the function switch devices have a communication interface 34 for transmitting data 80.
  • the function switch device 30c when the function switch device 30c is operated by the function switch, the function switch device 30c sends data 80 including information on the switch position of the function switch of the function switch device 30c to the programmer 20.
  • the programming device 20 receives this data by means of a corresponding communication interface 24.
  • a communication interface for example, Bluetooth and / or known alternatives or a combination of different communication interfaces can be used.
  • the manipulator program 26 is at least partially created and / or changed.
  • the control device 20 is associated with a display device 22, which indicates, for example, whether data has been received correctly.
  • the data 80 may include information about the switch position of the function switch device 30c and integrate a function into the manipulator program, after which the gripper 12 of the manipulator 10 is opened and / or closed according to a predefined selection.
  • the manipulator 10 may be configured for programming by hand-guiding by the programmer 60. If, in addition, function switch devices 30a to 3od are used, it is also possible to program functions which are not or only with difficulty manageable.
  • the manipulator 10 may be configured to be programmed with conventional programming techniques, such as a programming language.
  • FIG. 2 shows a function switch device 30, which is set up in a freely positionable manner and comprises exactly one function switch 36.
  • the function switch 36 has a mechanically movable function switch part and is preferably designed as a button.
  • the function switch device 30 has a sealing sheath 32, which protects the function switch device from dirt or moisture.
  • the function switch device has a communication interface 34 for transmitting data.
  • the function switch device has a fastening means 50.
  • the attachment means may be provided, for example, in the form of a disposable adhesive tape 50 which is renewed upon reassembly of the function switch device to a corresponding structure.
  • the fastener 50 may be a magnetic fastener, a fastening strap and / or the like.
  • the attachment means 50 may be a combination of different attachment means.
  • the function switch device of FIG. 2 comprises a battery 38, which may be configured as a primary cell or as a secondary cell.
  • the function switch device 30 can be operated autonomously.
  • the function switch device 30 comprises a memory unit 40, which may have a freely programmable memory part.
  • the memory unit 40 may be provided of a memory type or a combination of different memory types.
  • the memory unit may comprise a freely programmable memory part in order to store data in the function switch device which can be transmitted by the communication interface 34.
  • an individual function switch device identifier may be stored in the memory unit 40, permitting the use of multiple function switch devices.
  • FIG. 3 shows a schematic flow diagram of a method for creating / changing a manipulator program 26.
  • the method 100 comprises a plurality of method steps.
  • a switch position of a function switch 36 of a function switch device 30 is detected.
  • data 80 which contains information about the correspondingly detected switch position of the function switch 36 of the function switch device 30 transmitted by the communication interface 34 to the programming device 20 and received by the communication interfaces 24.
  • step 130 the received data 80 is analyzed and, according to the received data, the manipulator program 26 is at least partially created or changed by means of a program change command or a program completion command.
  • a first program complement / program change command 140 may cause a gripper 12 of a manipulator 10 to move to a first gripper position in which it contacts a component 92 without applying significant gripping force.
  • a second program change / program completion command 142 a corresponding gripping force, which is preferably predetermined, can be applied to a component 92 by means of the gripper 12.
  • program complete command 144 the gripper can be opened so that no component is gripped anymore.
  • the first program change / program completion command 140 may correspond, for example, to a simple click of the function switch 36, which is preferably designed as a pushbutton.
  • the second program change / program completion command 142 may correspond, for example, to a double-click of the function switch device 30.
  • the third program change / program supplement command 144 may, for example, correspond to a certain switching duration of the function switch 36 of the function switch device 30, wherein the switch duration is preferably longer than two seconds, preferably longer than three seconds and in particular longer than five seconds.
  • the corresponding program change / program completion command is used to at least partially create and / or modify the manipulator program 26.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

L'invention concerne un système de manipulateur programmable (1), comportant au moins un manipulateur (10), qui est conçu pour être commandé selon un programme de manipulateur (26) du système de manipulateur, et au moins un dispositif de programmation (20) qui est conçu pour créer et/ou modifier le programme de manipulateur (26). Le système de manipulateur comprend en outre au moins un dispositif de commutation de fonction sans fil (30) qui est conçu de manière librement positionnable et comprend exactement un commutateur de fonction (36), le dispositif de commutation de fonction (30) comprenant une interface de communication sans fil (34) servant à envoyer au dispositif de programmation (20) des données (80) qui comportent des informations pour la position de commutation d'un commutateur de fonction (36). Le dispositif de programmation (20) est conçu pour créer et/ou modifier au moins en partie le programme du manipulateur conformément aux données (80).
PCT/EP2017/000322 2016-03-14 2017-03-13 Système de manipulateur programmable avec un dispositif de commutation de fonction WO2017157513A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016204137.1A DE102016204137A1 (de) 2016-03-14 2016-03-14 Programmierbares Manipulatorsystem mit einer Funktionsschaltervorrichtung
DE102016204137.1 2016-03-14

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WO2017157513A1 true WO2017157513A1 (fr) 2017-09-21

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1655645A2 (fr) * 2004-10-19 2006-05-10 Siemens Aktiengesellschaft Dispositif destiné à la communication avec une installation
EP1738881A2 (fr) * 2005-06-30 2007-01-03 Shibuya Kogyo Co., Ltd. Système de commande de robot
US20100145520A1 (en) * 2008-12-05 2010-06-10 Gian Paolo Gerio Robot System
DE102012103030B3 (de) * 2012-04-05 2013-05-23 Reis Group Holding Gmbh & Co. Kg Verfahren zur Bedienung eines Industrieroboters
WO2014127822A1 (fr) * 2013-02-21 2014-08-28 Abb Technology Ltd Système de robot industriel comprenant une unité d'activation et une pluralité de dispositifs d'usage général, et procédé de commande dudit système de robot

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004020099A1 (de) * 2004-04-24 2005-11-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Beeinflussen eines mehrachsigen Handhabungsgeräts
AT509927B1 (de) * 2010-06-08 2015-05-15 Keba Ag Verfahren zum programmieren oder vorgeben von bewegungen oder abläufen eines industrieroboters
JP6100727B2 (ja) * 2014-04-09 2017-03-22 ファナック株式会社 リードスルー機能を有する人協調型産業用ロボット

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1655645A2 (fr) * 2004-10-19 2006-05-10 Siemens Aktiengesellschaft Dispositif destiné à la communication avec une installation
EP1738881A2 (fr) * 2005-06-30 2007-01-03 Shibuya Kogyo Co., Ltd. Système de commande de robot
US20100145520A1 (en) * 2008-12-05 2010-06-10 Gian Paolo Gerio Robot System
DE102012103030B3 (de) * 2012-04-05 2013-05-23 Reis Group Holding Gmbh & Co. Kg Verfahren zur Bedienung eines Industrieroboters
WO2014127822A1 (fr) * 2013-02-21 2014-08-28 Abb Technology Ltd Système de robot industriel comprenant une unité d'activation et une pluralité de dispositifs d'usage général, et procédé de commande dudit système de robot

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