• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention describes a robot (5) and / or robot controller (17) and a method for validation of programmed sequences or teach programs (20) of a robot (5) preferably with a robot controller (17), the robot (5) preferably on or in addition to a processing machine, in particular an injection molding machine (4), is mounted and for the removal, handling, manipulation or further processing of just produced injection molded parts (3). The movement parameters, equipment features and functionalities of the physical robot (5) are stored on the control side in a configuration file (27). The robot controller (17) creates a virtual robot model (21) from this stored data. The robot controller (17) accesses the current one to validate a sequence Teach program (20) in the robot controller (17), wherein the visualization of the sequence sequence is displayed directly on an output unit of the robot controller (17)
    公开号:AT520775A1
    申请号:T51032/2017
    申请日:2017-12-14
    公开日:2019-07-15
    发明作者:
    申请人:Wittmann Kunststoffgeraete；
    IPC主号:
    专利说明:

    Sequence sequences of robots, it being possible to switch between validation on the physical robot and a virtual robot at any time, as described in the preambles of claims 1 and 11.
    The process sequences of industrial robots are typically first programmed directly using the robot controller or created on an external computer, in which case the physical positions in the room must be defined in a second step. These definitions can also be made during the validation of the sequence. The sequence is also validated for future automatic operation after the program has been created, either directly on the physical robot or in two separate steps. In the first step, the basic sequence of the sequence is verified offline on the external computer, and in a further step on the physical robot, in order to check the correctness of the positions and hardware functions.
    A disadvantage of the validation directly on the robot is that the axis movements have to be carried out on the physical robot and thus collisions with components in the work cell can occur, even if the validation is typically carried out at a reduced speed. Furthermore, this validation is limited to program paths that are specified by current operating states. In the case of offline validation on the external computer, on the other hand, the limited visualization of the actual conditions must be criticized, as well as the requirement for a high level of imagination of the operator about the overall process of the robot in the context of its environment. After transfer of the sequence to the physical robot, this again leads to an increased risk of collision during actual validation on the object.
    17016AT / 26
    The object of the invention is therefore a method for a robot and / or
    To create robot control of the type mentioned, with which on the one hand the disadvantages described above will be avoided and on the other hand to increase the operational safety of the robot work cell.
    The object is achieved by the invention.
    The method according to the invention is characterized in that the
    Travel parameters, equipment features and functionalities of the physical robot are stored on the control side in a configuration file, and the robot controller uses this stored data to create a virtual robot model and uses the current teach program in the robot controller to validate a sequence, with the visualization of the sequence directly on an output unit of the Robot control is displayed. It is advantageous here that the program creation and validation on the physical and virtual robot can be carried out at one point, the output unit of the robot controller. This means that the machine setter can easily find and correct any problems in the process directly on the robot controller and without endangering the physical robot or components in the work cell. It is also possible to simulate and select any states from external peripheral inputs in the robot controller or robot controller or other influences on the program sequence, in order to simulate the robot's reactions to special states and the sequence in all situations for correctness, especially to avoid collisions , to test. It is important for the simple detection of a potential collision or incorrect programming that the physical robot executes the current program sequence as far as possible up to a possible collision situation and only then does it switch to the virtual robot model with the simulation of dangerous states.
    In the solution according to the invention, it is possible to switch between the validation of the physical robot and the validation and thus continuation of the sequence in the virtual robot at any time and in any operating state. With this switchover, the virtual robot model, which previously followed the physical model internally, is decoupled and on the output unit of the
    17016AT / 26
    Robot control continued as required.
    It is important for a meaningful and effective validation that the virtual robot model accesses the configuration data of the physical robot and thus has all functions of the physical robot ready, as well as the correct motion profiles of the individual axes. Time-critical functions and / or combinations of time-dependent functions can also be simulated on the virtual robot model.
    The measures in which the relevant dimensions of the processing machine and other components, in particular grippers for manipulating the injection molded parts, conveyor belts, automation systems, mills, protective housings, etc., which together with the physical robot form a work cell and for the interaction with, are advantageous are essential to the robot, either digitally transmitted or queried to the robot controller or determined with the aid of measuring devices, and included in the validation for the detection of possible collision states by the robot controller. On the one hand, this ensures that all data of the dimensions, in particular of the interference contours, are transmitted or available in the robot controller, which are included by the robot controller in the virtual representation of the robot, so that the machine operator can immediately visually recognize where problems, in particular collisions , can arise. Depending on the presence and quality of the transmitted contour data of the external components of the work cell, the robot controller can also independently indicate potential collision points. On the other hand, it is also possible that external components in the work cell do not transmit any contour and position data to the physical robot, since they do not have an appropriate interface or knowledge of their own data. Optionally, the physical robot can be equipped with appropriate measuring devices that either determine the objects in the robot's work area in a learning mode or learn continuously during operation, and the robot thus builds up a more complete image of the work cell over time. However, it must be mentioned that the method according to the invention can also be used without knowledge of the working environment of the robot and contributes to increased operational safety and thus brings the desired result.
    17016AT / 26
    The measures in which the virtual robot model can be decoupled from the physical robot in every operating mode of the physical robot and in every command line of the teaching program and used for the validation are also advantageous. The result of this is that critical partial sequences of the sequence are first virtually checked for correctness and only then is the physical robot switched on. In turn, you can quickly drive over uncritical, longer partial sequences. At the same time as the validation, the operator can, if necessary, optimally adapt the programmed sequence, in particular the teach-in program. A major advantage, however, is that this makes troubleshooting much easier and faster, since the machine setter can view and effect everything on the robot controller on-site and thus focus on the validation of critical points in the process. ,
    The measures in which the virtual robot is decoupled from the teaching program at any time after the decoupling and virtual validation of certain commands and partial sequences in the teaching program and are thus reset to the identical state of the physical robot are then advantageous, and then after a further decoupling further sub-sequences of the teaching program to validate. This allows a repetition of various processes or a simulation of different states and to check other processes for optimization and / or troubleshooting to be carried out on site at the system as quickly as possible.
    The measures in which programmed or ascertained movement spaces of the physical robot are represented spatially and in color in the virtual robot model are advantageous in order to make permissible movement and movement ranges recognizable for the operator.
    The measures in which the operator in the virtual robot model has the possibility of influencing the sequence of the movement and function sequences by manually changing peripheral states are advantageous
    17016AT / 26 and thus to test processes that would be difficult to simulate with the physical robot. This means that program sequences can also be virtually checked for correctness, which would only be carried out in exceptional cases.
    Similarly, the logic of linking conditions for continuation in the
    Sequence can be checked.
    Measures in which the virtual robot model processes the teach program in accelerated time, that is to say in time lapse, are also advantageous. Typically, the robot makes essentially the same movements in a production cycle. For example, stacking parts in a box leads to slightly different movements, since the level of the box is increased with each production cycle. The ability to run the entire production cycle for filling an entire box on the virtual robot model in time-lapse enables problem situations that do not already occur in the first cycle to be recognized within a very short time. Especially when stacking injection molded parts, the situation arises that at the beginning, i.e. with an empty box, the robot requires a longer travel path than with an almost full box. The problematic situation with the then given states of the robot are then illustrated to the operator on the virtual model.
    Measures are advantageous in which the virtual robot model is operated in such a way that all or some of the possible branches that a teach program execution can take are recorded automatically and are tested in time-lapse by the virtual robot model without further user interaction. If a potential collision is recognized in the path of the robot, the user is shown the situation on the virtual robot model on the robot controller and the teach command line that caused the collision is pointed out.
    Measures in which the possibility of letting the virtual robot model run in time-lapse are also advantageous in that the expected cycle time, i.e. estimate the time how long the removal and storage of the produced part until the robot returns to the removal position above the injection molding machine, updated immediately or continuously during the teach-in process. The cycle time to be achieved is often already in the
    17016AT / 26
    Known in advance. Through the quick estimation by using the virtual
    Robot model in time-lapse can reach or reach the teach-in process
    Falling below this time can be optimized, whereby the time required for this by the operator is significantly shortened by the time lapse.
    Measures that are already testing the virtual robot model at the speed intended for later operation are also advantageous, typically 100% of the constructively possible speed. In contrast for e.g. When removing plastic parts, welding robots generally do not depend on the speed-accurate path accuracy of the removal robot. Fast dynamic changeability is much more, i.e. Recalculation, the path is important in the event of sudden events (e.g. loss of parts, active activation of a danger zone) while observing the mechanical load limits. This can be achieved using a low-pass filter, which is applied to the calculated path before it is fed to the drive controller. However, this filtering also means that the actual path deviates slightly (abbreviated) from the calculated path, for example when smoothing movements. In extreme cases, this can damage a danger zone that is usually defined as a cuboid. This situation can be simulated in advance by the virtual robot model, if required in time lapse. Any injuries can then be explained to the user on the virtual robot model.
    In a similar way, measures are advantageous where teach programs that have not been taught independently of the speed but are consciously or unconsciously subject to time control can be simulated with the virtual robot model. Any problem situations can then be recognized either optically by the user by observing the three-dimensional model visualized on the robot controller or by detecting collision situations.
    As described above, the virtual robot model can be operated simulated in a wide variety of operating modes. The selection of the operating modes can be selected and set using the robot controller, in particular the screen buttons and / or touch screen. By activating the time lapse 17016AT / 26
    Function multiple, especially a variety of production cycles can be checked in a short time.
    The measures are advantageous in which the virtual robot is part of a virtual work cell and other devices in the work cell such as injection molding machine, removal gripper, sprue tongs, conveyor belt and other peripheral and automation components are displayed in the context of the virtual robot and can optionally be taken into account in the validation. This ensures that all components are shown on the robot controller, the functions, dimensions or dimensions of which could be important in the program creation or sequence of operations and thus provide the operator with a more complete picture of the physical work cell. This serves to simplify the operation and to better visualize a cell.
    The measures in which the visualization of the work cell can be zoomed in are advantageous, whereby the perspective can be freely selected and changed at any time. This ensures that the optimal view of any problem areas can always be created, whereas the machine operator can often not take any view of the physical system. In particular, zooming in into spaces where the machine operator actually has no view has proven to be very advantageous, since when errors occur in these areas, finding them on physical systems is very difficult and lengthy.
    An additional advantage is the possibility to create the teach program on an external computer or to transfer it from there to the robot controller. Likewise, the configuration file with the essential settings of the physical robot can be transferred to the external computer, thus allowing the sequence sequence to be checked offline. This ensures that a check or analysis can also be carried out offline off-site.
    17016AT / 26
    Furthermore, the object of the invention is achieved by a robot controller, in which the travel parameters, equipment features and functionalities of the physical robot are stored in a configuration file, the robot controller for creating a virtual robot model on this configuration file and for validating a sequence of operations on the current teach program in the Robot controller accesses, whereby the visualization of the sequence can be displayed directly on the robot controller.
    The advantage here is that the user-friendliness is significantly increased, since all processes are possible directly on the system via the robot controller using the virtual robot model. As a result, the travel paths of the robot can be checked and checked and any problem points can be identified or found in the virtual robot model. It is also possible that a virtual collision of the robot with another component is automatically recognized and this is displayed or a warning signal is sent.
    Basically, it can be said that the solution according to the invention can ensure that before the automatic operation of the robot starts, an extensive check of all possibilities of the sequence can be carried out and thus all potential sources of error can be identified and remedied in a simple manner.
    The invention is illustrated by means of several in the drawings
    Exemplary embodiments explained in more detail.
    Show it:
    Figure 1 is an overview of a plastic processing industrial plant, in a simplified, schematic representation.
    Fig. 2 is a schematic representation of a teach box as part of a robot controller for program creation in a simplified, schematic representation
    3 shows a schematic representation of a virtual robot model on a robot controller, in a simplified, schematic representation;
    Fig. 4 is a schematic representation of the robot model in an enlarged perspective and changed position of the robot, in which the removal device in the
    17016AT / 26 opened mold to remove the injection molded part.
    In the introduction, it should be noted that in the different embodiments, the same parts are provided with the same reference numerals or the same component names, and the disclosures contained in the entire description can be applied analogously to the same parts with the same reference numerals or the same component names. The location information selected in the description, e.g. above, below, laterally, etc. related to the figure described and are to be transferred to the new position in the event of a change of position. Individual features or combinations of features from the exemplary embodiments shown and described can also represent independent inventive solutions.
    In Fig. 1 is an industrial plant 1, in particular a work cell 2 for
    Injection molding applications are shown, in which the individual components / devices for producing one or more products / semi-products or injection molded parts 3 are connected together in the work cell 2. An injection molding machine 4 is preferably used as the processing machine, to which a robot 5 or automatic handling device for removing the injection molded part 3 is assigned, the injection molded part 3 being removed from an opening injection mold 7 by a removal device 6, in particular a gripper equipped with gripping tongs or suction nozzles removed and placed on a device, in particular a conveyor belt 8. In order to be able to produce an injection molded part 3, plastic granulate 9 is fed to the processing machine 4 via a granulate conveying device 10 and possibly via a metering device 11. Via a temperature control device 13 and / or cooling device, the injection mold can be kept at operating temperature by supplying a temperature control medium, or can be heated or cooled accordingly, so that optimal processing of the plastic granulate 9, which has to be plasticized for injection into the injection mold 7, is made possible. In addition, the system has a
    Monitoring device 15, in particular a camera system, in order to be able to carry out an automatic quality control of the product 3 produced. Show so that the individual devices can be set or programmed
    17016AT / 26 this corresponding control electronics, which are arranged on the devices
    Displays 16 or a robot controller 17 are entered and displayed. For the sake of completeness, it is also mentioned that all devices with corresponding lines, in particular power supply,
    Network lines, liquid supply lines, material lines etc. are connected, which were not shown in the illustration shown for the sake of clarity.
    According to FIGS. 2 to 4, a method and a robot 5 and / or robot control 17 are described according to the invention, in which validation of programmed sequence sequences or teach programs 20 of the robot 5 or handling machines can preferably be carried out with the robot control 17. The robot 5 is preferably mounted on or next to the processing machine, in particular the injection molding machine 4, and is used for the removal, handling, manipulation or further processing of injection molded parts 3 that have just been produced.
    The robot controller 17 is designed to display a virtual twin or virtual robot model 21 (according to FIG. 3), in particular a virtual representation of the system or work cell, at the output point, in particular a touch screen 22, preferably all of the production means of the system or Work cell 2 are shown. The virtual overall view can preferably be created automatically, the required data being read out from the individual components by the robot controller 17. In any case, the virtual robot model 21, the so-called “digital twin”, is created automatically from the configuration file 27 of the robot controller 17. It is also possible that corresponding virtual models, in particular their shape and dimensions, are stored in the memory of the robot controller 17 on the basis of stored and read out identifications or type designations of the devices, or that data for the structure, in particular the arrangement, are recorded in the individual means of production , the position and the function, and a digital representation of the means of production are stored, which can be queried by the robot controller 17 and / or the robot 5 via a processing network.
    17016AT / 26
    The robot controller 17 is equipped with the latest hardware and software technologies with regard to increased performance and operational safety. This makes it possible for a standard robot twin, ie the virtual robot model 21, to be available on the robot controller 17, which virtually enables the validation of the processes to be carried out by the real robot 5 at any time and thus without any risk to
    Processing machine and robot 5, the processes can be checked before commissioning, as can be seen from the representations of FIGS. 3 and 4, in that the removal device 6 of the robot 5 from the position above the injection mold 7 of the injection molding machine 4, according to FIG 3 is moved into the opened injection mold 7 of the injection molding machine 4, according to FIG. 4.
    It is important here that the robot controller 17 makes the actual specifications of the stored teach program 20 available to the virtual robot model 21, so that the actual sequence is shown on the virtual robot model 21.
    The robot control offers a display area, for example of 10.1 in portrait format and has a capacitive touch surface of the touch screen 21, which follows the current tablet trend. This now also enables gesture control, in particular swiping for page changes and zooming with two fingers (as was done in FIG. 4), which makes the operation of the robot controller 17 even more intuitive. The robot controller 17 preferably has a plurality of multi-core processors which enable an optimal division of tasks and thus improve the performance. Processes relevant to time and safety can be completely decoupled from the visualization level in order to achieve maximum operational safety and the fastest possible reaction to critical events.
    Based on the programming, i.e. the stored teach program 20, the robot controller 17 generates a virtual work cell or the robot model 21, the visualization of which can be zoomed, the perspective being freely selectable and changeable at any time, that is to say that in the case of a simulation, a virtual one Sequence of the machine setting can change the view of the robot model 21 shown at any time in order to control areas that are not visible in this way
    17016AT / 26 are. It is also possible to zoom into the model shown, so that only a part of the virtual robot model 17 is still visible, but the simulation is continued, so that all processes become visible again when the scale is reduced.
    It can thus be said that a digital copy, that is to say a digital twin or virtual robot model 21, of the actual work cell 2 or of the robot 5 is carried or simulated in the robot controller 17 or the robot controller 17 correspondingly for displaying the virtual robot model 21 is trained. This virtual robot model 21 has the same equipment features and characteristics as the actually existing robot 5, and thus allows a realistic simulation of the application-specific processes.
    It is possible at any time that processes during the programming of a teach program 20 can be checked, ie that as soon as corresponding parts of a robot program or teach program 20 have been created, it is possible to use the test menu of the robot controller 17, which can be activated, for example button 23 can be called up to switch to simulation mode and to check the partial sequence just created. In order to clearly differentiate the virtual robot model 21 from the real equipment, that is to say the physical robot, on the touch screen, a luminous status line 24 preferably appears on the screen of the robot controller 17 in this mode, and the virtual robot also receives a schematic representation.
    The simulation mode also allows the injection molding machine 4 to be simulated on the basis of stored parameters which are queried by the robot controller 17 and are read out, for example, from a memory in the injection molding machine 4. Of course, it is possible that other components can also be simulated or their data read out and implemented virtually.
    The simulation mode thus enables the operator or machine setter to quickly detect any serious errors in the robot program 20 without having to take any risks during a real test run. Movements of high complexity, consisting of up to six
    17016AT / 26 putting together simultaneous movements, such as the movements of all robot axes and additional axes, for example of rotation axes, and which could lead to a collision of the robot 5 with the protective housing 25 or the spars 26 of the injection molding machine 4 can thus be checked easily, so that they lose their programming "horror". In this way, errors in the flow logic can be discovered during the simulation, as well as potential synchronization problems with superimposed and simultaneously running functions.
    The virtual robot model 21 is available in every operating mode for the entire process, that is to say also in the so-called “dry mode” and in manual or step mode. It is also possible for the robot controller 17 to activate its anti-collision control in manual operation and during a dry running cycle. This continuously reports the current consumption of each individual drive. If the deviations from the standard value are too large and thus a highly probable collision of the robot 5 with other components in the work cell 2, the drives are switched off immediately. As a result, the actual values on the virtual robot model 21 can be represented or are displayed for the corresponding parts, that is to say, for example, if a drive draws a critical current, it is colored red in the virtual robot model 21, so that the operator or machine adjuster can see where the limit values are exceeded or problematic. It is possible that corresponding areas for the parameter values are stored and saved, so that the corresponding parts are colored with the corresponding colors, which significantly increases user friendliness, i.e. that when defined limit values, i.e. the adjustable parameters, are exceeded corresponding components with color, in particular with red, are shown in the virtual robot model 21 or just the values are displayed.
    An advantageous and reliable design has shown that special data are stored in the robot 5 in a configuration file 27, as shown schematically with dashed lines, the configuration file 27 containing the travel parameters, equipment features and functionalities of the physical robot 5. The robot 5 accesses the configuration file 27 on the control side, in particular the data stored therein, so that
    17016AT / 26, for example, the acceleration ramps of the individual axes are read out of the file by the robot 5 and are thus used as setpoints during operation. The other parameters included are also necessary for the operation of the
    Robot 5 used, wherein additional data from the robot controller 17 can be used for operation.
    In the same way, the robot controller 17 accesses the configuration file 27 for the formation of the virtual robot model and reads out the data. To validate a sequence for the virtual robot or the robot model 21, the robot controller 17 uses the current teach program 20 stored in it, the visualization of the sequence being displayed directly on the robot controller 17. In order for this to be possible, corresponding software is designed on the robot controller 17, with which the configuration file 27 and the stored teach program 20 are accessed on the one hand, in order to combine the data with one another and, from this, a functional virtual robot model 21 for simulation processes on the robot controller 17 to create.
    The virtual model 21 can be simulated on the robot controller 17 in every operating mode of the robot 5. It is possible here that it is possible to simply jump back and forth between the teach program 20 and the virtual robot model 21 via a switch button 29, so that work can be carried out on the teach program 20 and the sections created can be tested immediately by simply switching over on the virtual robot model 21 , It is also possible for the virtual robot model 21 to be decoupled from the robot 5 in quilting operation and for the teach program 20 to be quilted only by the virtual robot using the corresponding keys 30. The virtual robot model 21 and the physical robot 5 can then be coupled again, so that the virtual robot model 21 follows the robot 5 and for a new inclusion of a virtual validation of the subsequent commands in the teaching program 20, the virtual robot begins in the correct starting position. It is advantageous here that the user can change the perspective at any time and can also simply enlarge the robot model 21 in order to record the most accurate and optimal travel possible. Here too, only partial sequences can be created that are checked in the coupled state.
    17016AT / 26
    In order to enable an optimal and simple control for the operator or machine fitter, the possible movement spaces 31 can be color-coded so that it is immediately recognizable where the robot 5, in particular the
    Removal device 6 can be moved without a collision. If the removal device 6, for example, exceeds a movement space 31 identified in this way, the robot controller 17 stops all axis movements and optionally outputs a corresponding warning signal, for example a beep tone or a flashing display of the model.
    It is also possible for the robot controller 17 to store virtual models of the most varied components of the manufacturer and also third-party products which are assigned to a corresponding identifier or type designation. This identifier or type designation is stored in the individual components, so that it is queried by the robot controller 17 and the corresponding virtual model is then generated. It is also possible for the new models to have the virtual models stored in a file which can be read out by the robot controller 17 and stored in their database, so that they are available for future use. It is also possible that the virtual models are stored in an external database and the robot controller 17 can load them into its memory if required. In principle, it is possible for the operator or the machine adjuster to position the virtual models freely, but preferably corresponding data for the position are recorded over a measurement cycle or stored data of the position are available.
    To determine the positions of the interference contours or the positions of the individual devices, the robot 5 can be equipped with a measuring device 32 which has a plurality of sensors 33 for determining the distance, as shown schematically, so that the positions of the Devices and / or movement spaces 31 are determined and stored. This data is then integrated into the virtual robot model 21 and any corrections can be made to the existing robot model 21.
    17016AT / 26
    Furthermore, in the case of the virtual robot model 21 on the robot controller 17, the operator has the possibility of influencing the sequence of the movement and functional sequences by manually changing peripheral states and thus of testing processes that would be difficult to simulate with the physical robot 5, ie that it can be used to test processes that occur in the actual robot 5 only in the rarest of cases and are therefore difficult to understand. , This can be simulated on the robot controller 17 without switching off and interrupting the system.
    It is also possible for the virtual robot model 21 to be set or started such that the teach program 20 or parts thereof are operated in accelerated time, in particular in time lapse. This means that a large number of production cycles can be completed in a short time. It is also possible for the number of production cycles to be run through to be freely adjustable. The user or machine adjuster can preferably select from differently defined speeds, such as, for example, 2x, 4x, 8x, or 16x, for the time-lapse function. For the sake of completeness, it is mentioned that, of course, a slow process, such as 0.7x, 0.5x or 0.3x, is also possible or the speed for the time-lapse function can be freely adjusted.
    It is also possible for the virtual robot model (21) to be operated in such a way that all or some of the possible branches which a teach program execution can take are automatically detected and tested. This means that all possible options can be fully checked automatically.
    For the sake of order, it is pointed out that the invention is not limited to the embodiment variants shown, but may also include further training.
    17016AT
    权利要求:
    Claims (14)
    [1]
    1. A method for validating programmed sequence sequences or teach programs (20) of a robot (5), preferably with a robot controller (17), the robot (5) preferably being mounted on or next to a processing machine, in particular an injection molding machine (4), and for the removal, handling, manipulation or further processing of injection molded parts (3) that have just been produced, characterized in that the travel parameters, equipment features and functionalities of the physical robot (5) are stored on the control side in a configuration file (27), and the robot controller (17) This stored data is created by a virtual robot model (21) and uses the current teach program (20) in the robot controller (17) to validate a sequence, the visualization of the sequence being displayed directly on an output unit of the robot controller (17).
    [2]
    2. The method according to claim 1, characterized in that the relevant dimensions of the processing machine and other components, in particular grippers (6) for manipulating the injection molded parts (3), conveyor belts (8), automation systems, mills, protective housings (25), etc. which, together with the physical robot (5), form a work cell (2) and are essential for the interaction with the robot (5), either digitally transmitted or queried to the robot controller (17) or determined with the aid of measuring devices (32) and are included by the robot controller (17) in the validation for the detection of possible collision states.
    [3]
    3. The method according to claim 1 or 2, characterized in that the virtual robot model (21) in each operating mode of the physical robot (5) and preferably in each command line of the teach program (20) from
    17016AT
    18/26 physical robot (5) decoupled and can be used for validation.
    [4]
    4. The method according to any one of the preceding claims, characterized in that the virtual robot (5) can be coupled to the physical robot (5) and reset to the initial state at any time after the decoupling and validation of certain commands and partial sequences in the teach program (20), to subsequently validate further partial sequences of the teach program (20).
    [5]
    5. The method according to any one of the preceding claims, characterized in that the virtual robot (5) follows the physical robot (5) by default and no synchronization of the two is necessary when decoupled.
    [6]
    6. The method according to any one of the preceding claims, characterized in that programmed or ascertained movement spaces (31) of the physical robot (5) in the virtual robot model (21) are represented in space and color in order to make permissible travel and movement ranges recognizable for the operator ,
    [7]
    7. The method according to any one of the preceding claims, characterized in that the operator in the virtual robot model (21) or robot (5) on the robot controller (17) has the possibility of manually changing peripheral states, the sequence of the movement and Influencing functional sequences and thus testing processes that would be difficult to simulate with the physical robot (5).
    [8]
    8. The method according to any one of the preceding claims, characterized in that the virtual robot model (21) executes the teach program (20) in accelerated time, ie in time lapse.
    17016AT
    19/26
    [9]
    9. The method according to any one of the preceding claims, characterized in that the virtual robot model (21) is operated such that all or some of the possible branches, the one
    Teaching program processing can be automatically recorded and tested.
    [10]
    10. The method according to any one of the preceding claims, characterized in that the virtual robot (5) is part of a virtual work cell (2) and further devices of the work cell (2) such as injection molding machine (4), removal gripper (6), sprue tongs, conveyor belt ( 8) and other peripheral and automation components in the context of the virtual robot (5) and can optionally be taken into account in the validation.
    [11]
    11. The method according to any one of the preceding claims, characterized in that the visualization of the work cell (2) can be zoomed, the perspective being freely selectable and changing at any time.
    [12]
    12. The method according to any one of the preceding claims, characterized in that the configuration file (27) and the teach program (20) can be transferred to an external computer and thus an offline check of the sequence is possible.
    [13]
    13. Robot (5) and / or robot controller (17) for validating programmed sequence sequences or teach programs (20) of the robot (5) in a work cell (2), the robot (5) preferably on or next to a processing machine, in particular one Injection molding machine (4), is mounted and is designed for the removal, handling, manipulation or further processing of injection molded parts (3) that have just been produced, characterized in that the travel parameters, equipment features and functionalities of the physical robot are stored in a configuration file (27), whereby the robot controller (17) for creating a virtual one
    17016AT
    20/26
    Robot model (21) from this configuration file (27) and for validating a sequence sequence for the current teach program (20) in the robot controller (17), the visualization of the sequence sequence being able to be displayed directly on the robot controller (17).
    [14]
    14. Robot (5) and / or robot controller (17) according to claim 12, characterized in that the robot (5) and / or the robot controller (17) is designed to carry out the method according to one or more of claims 1 to 11.
    Wittmann Kunststoffgeräte GmbH
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    同族专利:
    公开号 | 公开日
    EP3723946A1|2020-10-21|
    WO2019113618A1|2019-06-20|
    AT520775B1|2020-04-15|
    US20210069900A1|2021-03-11|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5511147A|1994-01-12|1996-04-23|Uti Corporation|Graphical interface for robot|
    US20150343635A1|2014-06-03|2015-12-03|Bot & Dolly, Llc|Systems and methods for instructing robotic operation|
    WO2014013605A1|2012-07-20|2014-01-23|株式会社安川電機|Robot simulator, robot teaching device and robot teaching method|
    JP6350037B2|2014-06-30|2018-07-04|株式会社安川電機|Robot simulator and robot simulator file generation method|
    US9811074B1|2016-06-21|2017-11-07|TruPhysics GmbH|Optimization of robot control programs in physics-based simulated environment|US20210339397A1|2020-05-01|2021-11-04|Abb Schweiz Ag|System and method for setting up a robotic assembly operation|
    法律状态:
    2021-07-15| HC| Change of the firm name or firm address|Owner name: WITTMANN TECHNOLOGY GMBH, AT Effective date: 20210525 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA51032/2017A|AT520775B1|2017-12-14|2017-12-14|Procedure for validation of programmed sequences or|ATA51032/2017A| AT520775B1|2017-12-14|2017-12-14|Procedure for validation of programmed sequences or|
    US16/772,365| US20210069900A1|2017-12-14|2018-12-05|Method for validating programmed execution sequences or teaching programs for a robot in a working cell, and a robot and/or robot controller for said method|
    PCT/AT2018/060285| WO2019113618A1|2017-12-14|2018-12-05|Method for validating programmed execution sequences or teaching programs for a robot in a working cell, and robot and/or robot controller for said method|
    EP18819441.9A| EP3723946A1|2017-12-14|2018-12-05|Method for validating programmed execution sequences or teaching programs for a robot in a working cell, and robot and/or robot controller for said method|
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