ES2573408T8 - Procedimiento para montar piezas constructivas mediante un robot industrial - Google Patents

Procedimiento para montar piezas constructivas mediante un robot industrial Download PDF

Info

Publication number
ES2573408T8
ES2573408T8 ES11708435.0T ES11708435T ES2573408T8 ES 2573408 T8 ES2573408 T8 ES 2573408T8 ES 11708435 T ES11708435 T ES 11708435T ES 2573408 T8 ES2573408 T8 ES 2573408T8
Authority
ES
Spain
Prior art keywords
procedure
industrial robot
construction parts
assembling construction
assembling
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
Other languages
English (en)
Other versions
ES2573408T3 (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 Deutschland GmbH
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
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

Links

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)
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 ES2573408T3 (es) 2016-06-07
ES2573408T8 true 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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DE202014102558U1 (de) * 2014-06-02 2015-09-03 Daimler Ag Stopfensetzwerkzeug
DE202014102559U1 (de) * 2014-06-02 2015-09-03 Kuka Systems Gmbh Stopfensetzeinrichtung
US9656391B2 (en) 2014-08-20 2017-05-23 Bayerische Motoren Werke Aktiengesellschaft Robotic end effector for plug installation
DE102015207848A1 (de) * 2015-04-29 2016-11-03 Bayerische Motoren Werke Aktiengesellschaft Roboterwerkzeug zum Setzen von Stopfen
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DE202015102825U1 (de) 2015-06-01 2016-09-02 Kuka Systems Gmbh Stopfenfügewerkzeug
DE102015015053A1 (de) 2015-11-20 2016-09-29 Daimler Ag Verfahren zum automatisierten Einbau einer Schließöse in ein Fahrzeug
WO2017171308A1 (ko) * 2016-04-01 2017-10-05 한국기계연구원 수동 강성 그리퍼를 이용한 조립 제어 방법 및 조립 교시 방법
KR101684894B1 (ko) * 2016-04-01 2016-12-12 한국기계연구원 변위 측정이 가능한 가변 수동 강성 그리퍼를 이용한 조립 제어 방법
KR101688866B1 (ko) * 2016-04-01 2016-12-22 한국기계연구원 가변 수동 강성 그리퍼를 이용한 조립 교시 방법
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
WO2020246573A1 (ja) * 2019-06-07 2020-12-10 株式会社エスイーフォー ロボット制御方法及び装置
DE102020210194B4 (de) * 2019-08-28 2021-07-29 Volkswagen Aktiengesellschaft Verfahren zum Entnehmen eines Bauteils aus einem Teilereservoir, Greiffinger für einen Greifer eines Roboterarms, Greifer für einen Roboterarm
DE102020102044A1 (de) 2020-01-29 2021-07-29 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Prüfung einer Manipulation, Steuerungseinrichtung für einen Roboter, Vorrichtung zur Interaktion mit einem Roboter
JP7537195B2 (ja) * 2020-09-14 2024-08-21 セイコーエプソン株式会社 力制御パラメーター調整方法、ロボットシステムおよび力制御パラメーター調整プログラム
KR102709375B1 (ko) 2021-11-19 2024-09-25 부산대학교 산학협력단 양팔 로봇 매니퓰레이터의 산업용 부품 조립 방법
CN114654499B (zh) * 2022-02-16 2023-10-24 南京航空航天大学 一种可变刚度的工业机器人被动柔顺装置及协作装配方法
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DE102024101684A1 (de) * 2024-01-22 2025-07-24 Weber Schraubautomaten Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zum Einbringen eines Eindringelements
DE102024123150A1 (de) * 2024-08-14 2026-02-19 Advastore Se Energiespeicher-wechselsystem und verfahren zum wechseln eines energiespeichers

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Also Published As

Publication number Publication date
US8972062B2 (en) 2015-03-03
KR101662361B1 (ko) 2016-10-04
ES2573408T3 (es) 2016-06-07
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
CN102791441A (zh) 2012-11-21

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