ES2573408T3 - Procedimiento para montar piezas constructivas mediante un robot industrial - Google Patents

Procedimiento para montar piezas constructivas mediante un robot industrial Download PDF

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Publication number
ES2573408T3
ES2573408T3 ES11708435.0T ES11708435T ES2573408T3 ES 2573408 T3 ES2573408 T3 ES 2573408T3 ES 11708435 T ES11708435 T ES 11708435T ES 2573408 T3 ES2573408 T3 ES 2573408T3
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ES
Spain
Prior art keywords
industrial robot
construction part
procedure
construction parts
assembling construction
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
ES11708435.0T
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English (en)
Other versions
ES2573408T8 (es
Inventor
Günter Schreiber
Michael Gerung
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Laboratories GmbH
Original Assignee
KUKA Laboratories 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 Laboratories GmbH filed Critical KUKA Laboratories GmbH
Application granted granted Critical
Publication of ES2573408T3 publication Critical patent/ES2573408T3/es
Publication of ES2573408T8 publication Critical patent/ES2573408T8/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • G05B2219/39183—Compliance compensation
    • 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
    • G05B2219/39319—Force control, force as reference, active compliance

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

Procedimiento para montar una pieza constructiva (6), que presenta un tramo de introducción (9) y un tramo de sujeción (7), en una abertura (10) de una pieza de trabajo (11) mediante un robot industrial (1), que presenta un efector terminal (3) que conduce la pieza constructiva (6) en el tramo de sujeción (7), con las siguientes etapas: - aproximar (S1) el tramo de introducción (9) de la pieza constructiva (6) a la abertura (10) mediante el movimiento del robot industrial (1); - aumentar fuerzas de proceso (S2) mediante el robot industrial (1) tras un contacto del tramo de introducción (9) de la pieza constructiva (6) con la pieza de trabajo (11) hasta alcanzar un umbral de fuerza de proceso (P), almacenándose las fuerzas de proceso en particular en forma de tensiones de material; caracterizado por las etapas: - aumentar la flexibilidad (S3) del robot industrial (1) al alcanzar el umbral de fuerza de proceso (P); y - realizar un movimiento de centrado (S4) pasivo del robot industrial (1) debido a las fuerzas de proceso que quedan libres mediante una relajación de material.

Description

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Claims (1)

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ES11708435.0T 2010-03-09 2011-03-03 Procedimiento para montar piezas constructivas mediante un robot industrial Active ES2573408T3 (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102010010718 2010-03-09
DE102010010718A DE102010010718A1 (de) 2010-03-09 2010-03-09 Verfahren zur Montage von Bauteilen mittels eines Industrieroboters
PCT/EP2011/053153 WO2011110463A1 (de) 2010-03-09 2011-03-03 Verfahren zur montage von bauteilen mittels eines industrieroboters

Publications (2)

Publication Number Publication Date
ES2573408T3 true ES2573408T3 (es) 2016-06-07
ES2573408T8 ES2573408T8 (es) 2016-06-21

Family

ID=44041757

Family Applications (1)

Application Number Title Priority Date Filing Date
ES11708435.0T Active ES2573408T3 (es) 2010-03-09 2011-03-03 Procedimiento para montar piezas constructivas mediante un robot industrial

Country Status (8)

Country Link
US (1) US8972062B2 (es)
EP (1) EP2544866B1 (es)
KR (1) KR101662361B1 (es)
CN (1) CN102791441B (es)
DE (1) DE102010010718A1 (es)
DK (1) DK2544866T3 (es)
ES (1) ES2573408T3 (es)
WO (1) WO2011110463A1 (es)

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CN107538486B (zh) * 2016-06-29 2020-12-01 沈阳新松机器人自动化股份有限公司 一种关节力控制平台装置、方法及相关装置
JP6490032B2 (ja) * 2016-08-10 2019-03-27 ファナック株式会社 組立ロボットのロボット制御装置
JP6958075B2 (ja) * 2016-10-20 2021-11-02 セイコーエプソン株式会社 ロボットシステムおよび制御方法
JP7020812B2 (ja) * 2017-07-19 2022-02-16 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、ロボット装置を用いた物品の組立方法、制御プログラムおよび記録媒体
JP7135408B2 (ja) * 2018-04-26 2022-09-13 セイコーエプソン株式会社 ロボット制御装置およびロボットシステム
JP7327991B2 (ja) * 2019-05-09 2023-08-16 キヤノン株式会社 制御方法、制御プログラム、記録媒体、ロボットシステム、物品の製造方法および入力装置
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Also Published As

Publication number Publication date
US8972062B2 (en) 2015-03-03
KR101662361B1 (ko) 2016-10-04
WO2011110463A1 (de) 2011-09-15
DK2544866T3 (en) 2016-06-13
DE102010010718A1 (de) 2011-09-15
US20120330463A1 (en) 2012-12-27
EP2544866A1 (de) 2013-01-16
EP2544866B1 (de) 2016-03-02
CN102791441B (zh) 2015-05-20
KR20130018685A (ko) 2013-02-25
ES2573408T8 (es) 2016-06-21
CN102791441A (zh) 2012-11-21

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