WO2022028712A1

WO2022028712A1 - A steering module for guiding at least one segment of a robot arm

Info

Publication number: WO2022028712A1
Application number: PCT/EP2020/072255
Authority: WO
Inventors: Fan Dai
Original assignee: Abb Schweiz Ag
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2022-02-10

Abstract

A steering module for guiding at least one segment of a robot arm is described, wherein the robot arm is configured to be dragged kinesthetically to guide the robot arm by handling an element of the robot arm, and wherein the steering module comprises a scroll wheel configured to generate steering signals to guide the at least one segment of the robot arm by operating the scroll wheel.

Description

A steering module for guiding at least one segment of a robot arm

Field of the Invention

The invention relates to a steering module for guiding at least one segment of a robot arm, wherein the robot arm is configured to be dragged kinesthetically to guide the robot arm

Background

Nowadays many light-weight robot arms allow kinesthetic lead through by dragging a robot arm at the last segment, wrist or a tool body coupled to the robot arm to record motion targets or motion seguences. Kinesthetic lead-through allows dragging the robot arm directly on the wrist or tool body to define robot motion.

Dragging the robot arm to a rough position is straight forward, but defining accurate position reguires fine motion controlled by a human user, which is not convenient enough with existing solutions.

Description

Accordingly, a system and/or method for guiding at least one segment of a robot arm are needed for accurately defining a precise position of that segment.

Aspects of the present invention are related to a steering module for guiding at least one segment of a robot arm, a robot arm, and a method for guiding a robot arm with subject matter as described in the independent claims.

Advantageous modifications of the invention are stated in the dependent claims. All combinations of at least two of the features disclosed in the description, the claims, and the figures fall within the scope of the invention. In order to avoid repetition, features disclosed in accordance with the method shall also apply and be claimable in accordance with mentioned systems and vice versa. ln this entire description of the invention, some features are provided with counting words to improve readability or to make the assignment more clear, but this does not imply the presence of certain features.

To achieve these and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, there is provided a steering module for guiding at least one segment of a robot arm, wherein the robot arm is configured to be dragged kinesthetically to guide the robot arm by handling an element of the robot arm, and wherein the steering module comprises a scroll wheel, configured to generate steering signals to guide the at least one segment of the robot arm by operating the scroll wheel.

A robot arm in this context may be interpreted as a robot which is fixed at one side and movable at another site of the robot arm comprising at least two segments, which are arranged and mechanically coupled to each other in such a way that the individual segments may be moved and/or oriented against each other as desired.

Guiding at least one segment of the robot arm may be interpreted as a change of an orientation or a position of the at least one segment within a spatial environment, which may be described by using a coordinate system. Kinesthetically dragging the robot arm may be interpreted as manual operating the robot arm by kinesthetic lead through the robot arm based on force-feedback control.

The steering signals may be used as input for a robot controller, which controls actuators for changing the position and/or orientation of the segments of the robot arm.

The element of the robot arm may comprise a segment or a tool or any other part of the robot arm, which is feasible for operating the robot arm by kinesthetically dragging it.

Advantageously the steering module enables accurate fine positioning of the at least one segment of the robot arm such that the positioning of the robot arm may be done by dragging the robot arm kinesthetically close to a desired position and fine positioning the at least one segment of the robot arm using the steering module by changing an orientation and/or a position of the at least one segment operating the scroll wheel. Advantageously using the steering module is easy and comfortable for an operator because the operator may be used to accurately operate a scroll wheel of a computer mouse for selecting modes of operation, scrolling, zooming or adjusting numeric values when using personal computers.

As an example, turning the scroll wheel of the steering module in different directions generates different steering signals, typically up for increasing, down for decreasing a value related to a guiding mode as chosen. This value may be related to speed, a position, an orientation, or any other control parameters describing the movement of the at least one segment of the robot arm. A typical guiding mode may be to drag the robot in respect to a tool coordinate system, preferably linearly or rotationally along one coordinate axes when operating the scroll wheel, wherein the coordinate axis may describe the operation of the robot arm using a reference coordinate system in respect to the robot base and/or work piece and/or others.

According to an aspect guiding at least one segment of the robot arm supported by the steering module may be used to record motion targets or motion sequences of the robot arm.

According to an aspect the steering module comprises a housing configured to kinaesthetically drag the robot arm by handling the housing of the steering module. Advantageously by dragging the robot arm operating the housing of the steering module a rough position of the segment of the robot arm may be achieved and fine adjustment of the position may be achieved comfortable using the same hand of the operator operating the scrolling wheel. For this purpose the housing of the steering module may be formed similar to a personal computer mouse in respect to a form and/or a size of the housing.

According to an aspect the steering module comprises at least one button configured for changing a guidance mode for guiding the at least one segment of the robot arm by operating the scroll wheel.

The guidance mode may define an operation of the at least one segment of the robot arm if the scroll wheel is operated. If the at least one button is operated a command and/or steering signals to the robot controller may be issued to switch the guidance mode and/or to switch the guidance mode if the scroll wheel is operated. Such a command may be issued to the robot controller if one of the buttons of the steering module is pressed. Typically the steering module may comprise three buttons and operating a button may include pressing, releasing or holding the button. Turning the scroll wheel in different directions may issue different commands, typically up for increasing, down for decreasing of a preselected value. The guidance mode may include a speed, a position, an orientation, or any control parameters of at least one segment of the robot arm. Turning the wheel may also issue a command to go down or up through a list of e.g. menu items and/or operation modes and/or list of commands.

A typical operation mode is to drag the robot arm or an element of the robot arm in the tool coordinate system, preferably linearly or rotationally according to one of the coordinate axes.

One may switch the related reference coordinate system out of, for instance, a robot based, a work piece based, or any other reference coordinate systems.

According to an aspect the scroll wheel is configured to be mechanically coupled to the at least one button such that by pushing the scroll wheel the at least one button is operated.

Advantageously this results in comfortable operating the steering module, because by just operating the scrolling wheel it is possible to change the guidance mode and/or to select the guidance mode and/or to move the at least one segment of the robot arm by pressing and/or turning, respectively operating, the scrolling wheel.

According to an aspect the guidance mode comprises a linear motion and/or a rotational motion of the at least one segment of the robot arm.

The steering module is configured such that by pressing the at least one switch and/or rotating the scrolling wheel the different guidance modes may be selected and/or at least in one guidance mode the at least one segment of the robot arm may be moved in a linear fashion and/or at least in another guidance mode the at least one segment of the robot arm may be rotated, that means that the orientation of the at least one segment of the robot arm may be changed in space.

According to an aspect the steering module is configured to be mounted at the robot arm.

The robot arm may be provided with several places configured to mechanically couple the steering module with the robot arm and/or electrically couple the steering module at the robot arm with a robot arm controller electronic of the robot arm. Additionally or alternatively the steering module may be configured to be mounted mechanically at any places and/or selected places at the robot arm and/or electrically coupled with the robot control electronics by wireless communication.

According to an aspect the steering module is configured to be mounted as required at the robot arm in several places and/or at a tool mechanically coupled to the robot arm. The robot arm may be configured to provide several places prepared for mechanically and/or electrically coupling with the steering module. By electrically coupling the steering module with the robot arm the steering signals generated by the steering module may be coupled with an input of a robot controller.

Especially there may be a site at the wrist or tool body of the robot arm for mechanically and electrically coupling the steering module with the robot arm.

According to an aspect the steering module is configured to be mounted at an outermost segment of the robot arm and/or at a tool, which is mounted at the outermost segment of the robot arm.

Because the outermost segment is closest to the open end of the robot arm, mounting the steering module at that site is comfortable for operation of the robot arm using the steering module.

According to an aspect the steering module is configured to communicate with a robot arm controller by wire and/or wireless for guiding of the at least one segment of the robot arm operating the scroll wheel.

Thus, the robot arm controller is configured for controlling movements of the robot arm by controlling of actuators, which are configured to move the elements of the robot arm.

The steering module may include a connector, as for instance an embedded plug or wires, and is connected to the robot arm controller or a computing unit, which is connected to the robot arm controller.

Furthermore, the steering module may be configured to be attached, without being fixed, to the robot wrist or a tool body and may be electrically coupled to the robot arm controller or, for instance, a computing unit via wireless communication.

According to an aspect the steering module comprises a screen, configured to visualise the guiding of the at least one segment of the robot arm and/or for choosing the guiding mode and/or a status of the at least one segment of the robot arm, and whereby the screen is configured to be in a visual angel of an operator operating the robot arm by kinaesthetically dragging the robot arm and/or guiding of the at least one segment of the robot arm by operating the steering module, in particular the scroll wheel.

Advantageously such a screen may be used for visualization the operation of the robot arm and/or for choosing the guiding mode of the robot arm. Alternatively or additionally the screen may be mounted or attached, in such a way that the site of the screen may be chosen by an operator.

This screen may be placed at the robot arm in such a way that it is in the field of view of the human operator, when he operates the robot arm.

Furthermore, the screen may be mounted at the steering module, including a mechanism for adapting the orientation of the screen.

Using other words, the steering module may be configured to issue commands to the robot arm controller when one of the buttons, typically out of three buttons, is pressed and/or release and/or hold. The steering module may be configured to issue a command and/or steering signals to the robot controller, if the scroll wheel, which may be arranged in the middle of two buttons, is turned and/or a button is operated.

Turning the wheel in different directions may issue different commands, typically up for increasing, down for decreasing a value. This value, which is related to a guidance mode, may be related to speed, a position, an angle or orientation, or any other control parameter of the robot arm or part of the robot arm. At one of the guiding modes turning the scrolling wheel may issue a command to the robot controller to select an item out of a selection menu by going up or down through a list of e.g. menu items including operation modes and/or lists of commands. A typical guiding mode is to move the robot in accordance to a tool coordinate system in a linear mode and/or a rotational mode in respect to a chosen coordinate system. Such a chosen coordinate system may be related to a robot base and/or a work piece base, or any other reference for the coordinate system. A status of the robot arm and/or operation modes of the robot arm, the corresponding values and all related information may be displayed on a screen as described above. A reference coordinate system and a type of motion of the robot arm may be displayed at the screen as an example for displayed information.

According to an aspect there is provided a robot arm comprising a steering module according to the steering module as described above. According to an aspect a method for guiding a robot arm is provided, wherein the robot arm comprises a steering module as described above, comprising the following steps: In one step the robot arm is guided by kinaesthetically dragging the robot arm by manually operating a housing of the steering module. In a further step the at least one segment of the robot arm is guided by operating a scroll wheel of the steering module, for fine adjusting the at least one segment of the robot arm.

Advantageously this method provides a comfortable way for fine adjusting a location of an element of the robot arm using rough movements by dragging the robot arm and fine movements by operating the scroll wheel of the steering module.

According to an aspect the method for guiding a robot arm further comprises a step, that a movement of the at least one segment and/or an element and/or a tool of the robot arm is displayed at a screen using a reference coordinate system to support the guidance of the at least one segment of the robot arm if operating the scroll wheel.

According to an aspect the method for guiding a robot arm as described above, further comprises the step, that a guiding mode menu is displayed at a screen of the steering module by operating a button of the steering module. And in a further step a guiding mode of the guiding mode menu is selected by operating the scroll wheel of the steering module.

Brief description of the drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the principle of the invention. The drawings display:

Fig. 1 a robot arm;

Fig. 2 a steering module mounted at a housing tool of a robot arm; and

Fig. 3 a screen displaying guiding modes.

Figure 1 sketches schematically a robot arm 100 with a fixed end segment 110, two segments 120, 130 mechanically coupled to each other and a tool 140 with a griper 150 mechanically coupled at an open end of the robot arm 100. A steering module 200 is mounted at a housing of the tool 140. A screen 250 is mechanically coupled to the housing of the tool 140 of the robot arm 100.

Figure 2 sketches schematically the steering module 200 for guiding at least one segment 110, 120, 130, and the housing of the tool 140 of a robot arm 100, wherein the robot arm 100 is configured to be dragged kinesthetically to guide the robot arm 100 by handling the housing 210 of the steering module 200 of the robot arm 100. The steering module 200 includes a scroll wheel 220, configured to generate steering signals to guide an element 110, 120, 130, 140 of the robot arm 100 by operating the scroll wheel 220. The steering module 200 includes a housing 210 configured to kinaesthetically drag the robot arm 100 by handling the housing 210.

Further the steering module 200 includes at least one button 220, 240, 260 configured for changing a guidance mode for guiding the element 110, 120, 130, 140 of the robot arm 100 by operating the scroll wheel 220. The steering module 200 is configured to be mounted at the robot arm 100 and/or at a tool housing 140 mounted at an open end of the robot arm 100. The steering module 200 is configured to communicate with a robot arm controller by wire and/or wireless for guiding of the at least one segment 110, 120, 130, and/or a tool of the robot arm 100 by operating the scroll wheel 220.

Further the steering module 200 comprises a screen 250 configured to visualise the guiding at least one of the elements 110, 120, 130, 140 of the robot arm 100 and/or for choosing the guiding mode and/or a status of the at least one segment 110, 120, 130, and/or a tool 140 of the robot arm 100. The screen 250 is configured, by using a connection link 255, for mechanically adapting and/or orienting the screen 250 coupled to the steering module 200 to be in a visual angel of an operator operating the robot arm 100 by kinaesthetically dragging the robot arm 100 and/or guiding of the at least one segment 110, 120, 130 of the robot arm 100 by operating the scroll wheel 220.

The screen 250 is configured to display a movement of the at least one segment 110, 120, 130, 140 of the robot arm 100 using a reference coordinate system to support the guidance of the at least one segment 110, 120, 130, 140 of the robot arm 100 if operating the scroll wheel 220.

The screen 250 is further configured to display a guiding mode menu and support a selection of the guiding mode by operating a button 220, 240, 260 of the steering module 200.

The steering module 200 is further configured to issue commands to a robot controller if one of the buttons 220, 240, 260 is pressed and/or release and/or hold. Further, the steering module 200 is configured to issue a command and/or steering signals to the robot controller if the scroll wheel 220, typically sited in the middle of two buttons 240, 260, is turned. A typical operation mode is to move the robot arm 100 in respect to a tool coordinate system, preferably linearly or rotationally aligned with one axes of the coordinate system, if the scroll wheel 240 is operated.

Turning the scroll wheel 240 in different directions issues different commands, typically up for increasing, down for decreasing a value. This can be the speed, the position, the angle, or any control parameters.

Turning the scroll wheel 240 can also issue commands to go down or up through a list of e.g. menu items, operation modes, and/or a list of commands. Such a reference system referring to a robot base and/or a work piece base and/or another reference coordinate system may be chosen using this selecting method described above.

Figure 3 sketches a screen 250 displaying a list 310 for selecting a guiding mode of the steering module 200 and displaying an actual selected mode respectively a status of the steering module 200 by symbols 320. Further the screen 250 may display a status of the robot arm 100 and/or operation modes and/or corresponding values and/or other related information. Alternatively or additionally the screen 250 may display a motion of at least a segment 110, 120, 130, and/or a tool 140 of the robot arm 100 in respect to a reference coordinate system and/or a type of motion of the at least one segment 110, 120, 130, and/or a tool 140 of the robot arm 100.

Claims

1. A steering module (200) for guiding at least one segment (110, 120, 130) of a robot arm (100), wherein the robot arm (100) is configured to be dragged kinesthetically to guide the robot arm (100) by handling an element (110, 120, 130, 140) of the robot arm(100), and wherein the steering module (200) comprises a scroll wheel (220) configured to generate steering signals to guide the at least one segment (110, 120, 130) of the robot arm (100) by operating the scroll wheel (220).

2. The steering module (200) according to claim 1 , comprising a housing (210) configured to kinaesthetically drag the robot arm (100) by handling the housing (210) of the steering module (200).

3. The steering module (200) according to one of the preceding claims, comprising at least one button (220, 240, 260) configured for changing a guidance mode for guiding the at least one segment (110, 120, 130) of the robot arm (100) by operating the scroll wheel (220).

4. The steering module (200) according to claim 3, wherein the scroll wheel (220) is configured to be mechanically coupled to the at least one button (220, 240, 260) such that by pushing the scroll wheel(220) the at least one button (220, 240, 260) is operated.

5. The steering module (200) according to claim 4, wherein the guidance mode comprises a linear motion and/or a rotational motion of the at least one segment (110, 120, 130) of the robot arm.

6. The steering module (200) according to one of the preceding claims, wherein the steering module (200) is configured to be mounted at the robot arm (100).

7. The steering module (200) according to claim 6, wherein the steering module (200) is configured to be mounted as required at the robot arm (100) in several places and/or at a tool mechanically coupled to the robot arm.

8. The steering module according to one of the preceding claims, wherein the steering module is configured to be mounted at an outermost segment of the robot arm and/or at a tool (140), which is mounted at the outermost segment (110, 120, 130) of the robot arm (100).

9. The steering module (200) according to one of the preceding claims, wherein the steering module (200) is configured to communicate with a robot arm (100) controller by wire and/or wireless for guiding of the at least one segment (110, 120, 130) of the robot arm (100) operating the scroll wheel (220).

10. The steering module (200) according to one of the preceding claims, comprising a screen (250) configured to visualise the guiding of the at least one segment (110, 120, 130) of the robot arm (100) and/or for choosing the guiding mode and/or a status of the at least one segment (110, 120, 130) of the robot arm (100), and the screen (250) configured to be in a visual angel of an operator operating the robot arm (100) by kinaesthetically dragging the robot arm (100) and/or guiding of the at least one segment (110, 120, 130) of the robot arm (100) by operating the scroll wheel (220).

11. A robot arm (100) comprising a steering module (200) according to one of the claims 1 to 10.

12. A method for guiding a robot arm (100), wherein the robot arm (100) comprises a steering module (200) according to one of the claims 1 to 10, comprising the steps of:

Guiding the robot arm (100) by kinaesthetically dragging the robot arm (100) by manually operating a housing (210) of the steering module (200); and Guiding the at least one segment (110, 120, 130) of the robot arm (100) by operating a scroll wheel (220) of the steering module (200), for fine adjusting the at least one segment (110, 120, 130) of the robot arm (100).

13. The method according to claim 12, comprising the step: Displaying a movement of the at least one segment (110, 120, 130) and/or an element (110, 120, 130, 140) and/or a tool (140) of the robot arm (100) at a screen (250) using a reference coordinate system to support the guidance of the at least one segment (110, 120, 130) of the robot arm(100) if operating the scroll wheel (220).

14. The method according to claim 12 or 13, comprising the steps:

Displaying a guiding mode menu at the screen (250) of the steering module (200) by operating a button (220, 240, 260) of the steering module (200); and

Selecting a guiding mode of the guiding mode menu by operating the scroll wheel (220) of the steering module (200).