• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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  • 法律状态
  • 优先权
    • 专利摘要:
    Handling device for handling objects (10), at least one end effector (9) being movable with respect to a base (4) of the handling device (13) by means of a drive train and a control or regulation device for controlling or regulating this movement of the at least one end effector (9) Control unit (17) is provided, the at least one control or regulating unit (17) being designed to receive at least one signal characteristic of a movement - preferably tilting and / or displacement - of the base (4) of the handling device (13) and to take the characteristic signal into account when controlling or regulating the drive train.
    公开号:AT522575A4
    申请号:T50829/2019
    申请日:2019-09-30
    公开日:2020-12-15
    发明作者:Oberherber Dipl Ing Dr Matthias；Höglinger Dipl Ing Wolfgang；Johannes Kilian Dipl Ing Dr Friedrich
    申请人:Engel Austria Gmbh；
    IPC主号:
    专利说明:

    The present invention relates to a handling device for handling objects with the features of the preamble of claim 1, an arrangement of such a handling device and a machine cooperating with the handling device, a method for controlling or regulating a handling device with the features of the preamble of
    Claim 19 and a computer program product.
    Handling devices known from the prior art for handling objects have an end effector. This end effector is designed to receive the object to be handled, with the most diverse design variants of end effectors being known, such as
    for example hand-like grippers or vacuum grippers.
    End effectors of a handling device generally have a drive train by means of which they can be controlled or regulated with respect to a base of the handling device. The control or regulation
    of the drive train takes place via a control or regulation unit.
    In most cases, these drive trains are formed by electrical drive units or also by pneumatic drive units, with the articulation points of a kinematic chain that connects the end effector to the base of the
    Handling device connects, are movable.
    The control or regulation of the drive train of a handling device takes place via a control or regulation of the individual drive units, which are mostly designed to vary a joint alignment of the handling device. This open-loop or closed-loop control of the individual drive units can be calculated using known computational methods by using the backward transformation (or also called inverse kinematics) on the basis of the handling device through a desired receiving, transferring, depositing or other position to be achieved by the end effector
    is calculated back.
    Handling device used as a reference.
    The connection between the end effector and the base of the handling device is also known as a kinematic chain. To calculate this, the end effector, the individual joints and the base are assigned a coordinate system, the individual coordinate systems being defined in relation to one another by an orientation, a translation vector and a rotation matrix (mostly summarized in a 4 x 4 transformation matrix). However, the positioning of the end effector can also be done in this way
    can be calculated against any reference to be selected.
    Depending on the place of use, the base of the handling device is usually connected to a machine that cooperates with the handling device or is also attached to another surface. However, it is important that the base of the handling device is firmly and rigidly fastened at the place of use so that the base occupies a precisely defined point in relation to the environment so that the end effector can be controlled or regulated on the basis of the defined base in relation to the environment (to control defined recording or storage positions)
    as precisely as possible.
    In the example of a molding machine which is designed as an injection molding machine, the base of the handling device is often mounted on a fixed platen or is formed by this. In this context, molding machines can be understood to mean injection molding machines, transfer presses, presses or the like, a first example of the problem being presented below using an injection molding machine, although this generally applies to molding machines or with the handling device
    cooperating machines can be turned over.
    The coupling at the base of the handling device opposite the
    Injection molding is usually done by adding the base of the machine
    Handling device on the injection molding machine.
    In the usual case, when used in injection molding machines, the handling device is mounted on a fixed platen, but it is also fundamentally conceivable for the handling device to be mounted on a moving one
    The platen is mounted.
    However, due to the build-up of the clamping force or during a closing movement (or an opening movement), the mold clamping plates tilt. This tilting results from the high clamping forces and / or, in the case of other movements, from the inertia of the moving components which, due to the forces acting, lead to deformation of components of the injection molding machine (for example the mold mounting plates or guides). The deformations lead to tilting of the mold mounting plates, which of course affects them
    Affected base of the handling device.
    This tilting movement or deformation due to the closing force or a dynamic movement during the injection process of the injection molding machine is transferred to the base of the handling device, this base being tilted and / or shifted by the deformation or tilting
    whole handling device leads.
    As a result of the movement of the base, the position of the end effector changes in relation to the storage or receiving position to be reached. This change is not only dependent on the clamping force or the magnitude of the acceleration,
    but also from the axis positions of the handling device.
    The same effect occurs, for example, if there are several
    Handling devices share a base. In this case, the
    Position of the other handling device.
    With the movements and load changes described, reaction forces are to be expected in the base of the handling device, these reaction forces leading to deformations in the base or in elements of the handling device itself. These deformations of the base or of elements of the handling device itself have an effect on the other handling device. More precisely, the deformations have a direct effect
    on the position of the end effector of the other handling device.
    Generally speaking, handling devices are exposed to the dynamics of a manufacturing environment with their base. For example, if the handling device is arranged in front of, on or in the vicinity of a production machine, it can be assumed that the handling device is in its base through vibrations which are released into the environment by the production machine due to production
    Positioning accuracy and its repeatability is impaired.
    In more general terms, the handling device is generally exposed to the ambient conditions, with deviations in position of an end effector due to dynamic influences of the base of the handling device in the case of even minimal changes in orientation. It can be assumed that the kinematic chain that connects the end effector with the base is at least minimal in certain positions
    The change in orientation of the base intensifies, which can be seen in the end effector. It is therefore known from the prior art to use mechanically sophisticated systems as the basis of a handling device
    To attach degrees of freedom to cooperating machines.
    This emerges, for example, from EP 0 995 575 B1, which a
    Guide frame describes with which a handling device on a
    Act on the basis of the handling device to compensate.
    The disadvantage here, however, is that there is a certain amount of play between the handling device and the injection molding machine due to the additional bearing points, with increased inaccuracy for the end effector during positioning, since the position of the base of the
    Handling device has an increased tolerance to the injection molding machine.
    Another known possibility of the prior art is to train the handling device to the ambient conditions. For example, when used in injection molding machines, the handling devices are taught-in with a built-up clamping force, whereby the end positions - more precisely: the end effector coordinate system - is determined in such a way that it reflects the deformed, tilted or moved position of the base
    the handling device compensated.
    However, this approach also has some disadvantages. When the clamping force changes, the pick-up or deposit positions of the handling device must be taught (learned) anew each time, since these are from the
    specific clamping force are dependent.
    It can also happen in complex systems that the handling device is used for other tasks in the meantime due to waiting times, whereby these cannot be carried out exactly, since no deformation may have to be taken into account during handling in these interim times. In injection molding machines in particular, where clamping forces that vary from shot to shot can arise, such a procedure to compensate for deformations can only be carried out with a great deal of work (and even then only partially).
    Regulation of the end effector possible.
    This object is achieved by a handling device with the features of claim 1, with an arrangement with the features of claim 7, with a method with the features of claim 19 and with a
    Computer program product having the features of claim 20 solved.
    According to the invention it is provided that the at least one control or regulating unit of the handling device is designed to receive at least one signal characteristic of a movement - preferably tilting and / or displacement - of the base of the handling device and to receive the characteristic signal when controlling or regulating the Drive train too
    consider.
    The invention makes it possible to change the orientation of the base of the handling device when controlling or regulating the end effector by a
    Control or regulation of the drive train to be taken into account.
    The characteristic signal for a movement of the handling device can, for example, be a control signal of a machine cooperating with the handling device or of another handling device which has the same basis, whereby the control signals and the known geometric dimensions already have an impact on accelerations, deformations or other effects closed on the base of the handling device
    can be. This knowledge can already be used when controlling or regulating the
    Drivetrain a compensating movement can be carried out so that the
    End effector independent of a movement of the base or a tilt
    7729
    Path accuracy can be moved.
    The effects of the acceleration and the inertial forces of the handling device itself can also be taken into account in the control or regulation. A movement or acceleration of the handling device also leads to a movement or tilting of the base, since a support or an area to which or to which the base is attached also has a certain elasticity, which means that when a force is introduced through the base, deformation ( and thus tilting
    or movement of the base).
    For example, it can be provided that the characteristic signal provides information about a subsequent oscillation or oscillation of the handling device itself, which is caused by an acceleration or movement of the handling device, this also being done via the controller or
    Control of the drive train can be compensated.
    The drive train can be provided to move a kinematic chain connecting the end effector to the base. The drive train can have several drive units. Drive units can, for example
    be formed by electric motors or pneumatic drive units.
    All measures described in relation to the prior art can also
    can be used in the invention.
    Advantageous embodiments of the invention are defined by the dependent claims.
    It can advantageously be provided that the control or regulating unit is designed to control the movement of the reference of the handling device through the control or regulation of the drive train - preferably at the end effector
    compensate.
    the movement of the end effector is supported by the base.
    It can be provided that a further machine cooperating with the handling device is designed to compensate or compensate for a movement of the end effector of the handling device caused by a movement of the base of the handling device. For example, a conveyor belt or another handling device could be provided, whereby a movement of the base of the (first) handling device - and thus a movement of the end effector of the (first) handling device - when picking up or placing on the conveyor belt or when transferring to the other Handling device or by a targeted controlled or regulated movement of the conveyor belt or the further handling device, so that the object handled by the (first) handling device has a desired position on the conveyor belt or with respect to an end effector of the further handling device
    occupies.
    At least one sensor can preferably be provided, with the at least one sensor being able to provide a characteristic signal for a movement of the base of the at least one control or regulation unit. Examples of such a sensor are acceleration sensors, gyro sensors, inclination sensors or also optical sensors, which provide an exact position deviation of the base
    Can be detected.
    At least one second end effector can be provided, wherein the at least one second end effector can be controlled or regulated with respect to the base of the handling device by the control or regulating unit using a second drive train. It can be provided that the control or regulating unit is designed to, based on a controlled or regulated movement of the
    at least one second end effector to calculate a movement of the base,
    Handling device) must be taken into account.
    It can advantageously be provided that the control or regulating unit is designed to take the characteristic signal into account with the aid of inverse kinematics. The inverse kinematics is also known to the person skilled in the art by the expressions
    "Backward transformation" or "inverse kinematics" are common.
    The regulation or control of a handling device is usually carried out on the basis of a defined reference point or a defined reference coordinate system (hereinafter referred to as “reference” for short), the end effector having a certain orientation and distance to this reference. In the same way, based on this reference,
    the displacement or tilt of the base can be determined.
    For example, the base of the handling device can be used as such a reference. However, the reference can be freely selected, provided that at least one controllable or regulatable axis is provided between the reference and the end effector, the reference can be shifted or tilted
    be balanced, compensated or used compared to the end effector.
    The area of the handling device that connects the handling device with the environment, the place of use or a cooperating machine is referred to as the base of the handling device. The
    The base can for example be designed as a flange for screwing.
    Protection is also sought for an arrangement of an inventive
    Handling device and one cooperating with the handling device
    Machine, wherein at least one characteristic signal from at least one with
    the handling device cooperating machine can be provided.
    It is preferably provided that the base of the handling device is arranged on at least one machine component of the machine cooperating with the handling device or is formed by a machine component of the machine cooperating with the handling device. This can, for example, as already described in the introduction to the description, be designed in such a way that the handling device is firmly connected, for example screwed or, to a molding machine or - more precisely: to a fixed platen of an injection molding machine
    is welded on.
    Shaping machines can be understood to mean injection molding machines, transfer presses, presses or the like. The examples described under injection molding machines in this context can of course be used in the same way
    Way to be transferred to other types of molding machines.
    It can be provided that the characteristic signal is a control signal for a movement of a machine component with the handling device
    cooperating machine is.
    It can be provided that the machine cooperating with the handling device has at least one machine sensor for detecting a movement of the
    Has base of the handling device.
    It is preferably provided that the machine cooperating with the handling device is a shaping machine - preferably a
    Injection molding machine - is. It is preferably provided that a fixed platen or a
    moving platen on which the handling device is arranged
    is designed as a base.
    It can be provided that the machine cooperating with the handling device has a control or regulating unit, the control or regulating unit of the machine cooperating with the handling device being able to provide a characteristic signal for the control or regulating unit of the handling device. It can preferably be provided that the control or regulation unit of the handling device is formed by the control or regulation unit of the machine cooperating with the handling device - or vice versa - with a control or regulation of the handling device and a control or regulation of the machine cooperating with the handling device preferably by different processor units communicating with one another and / or
    different programs is trained.
    It is preferably provided that the characteristic signal is a process variable and / or a process state of the machine cooperating with the handling device. In the exemplary embodiment in which the machine cooperating with the handling device is a shaping machine, this can for example be a signal which provides information that the closing unit has a closing force, opening force or a certain
    Speed is applied.
    It can be provided that the control or regulating unit is designed to determine a movement of the base resulting from a deformation on the basis of the signal provided by the machine cooperating with the handling device. Such a deformation of the base can for example by
    a closing force can be produced.
    It can be provided that the control or regulating unit is designed to calculate a movement of the base with the aid of the signal provided by the machine cooperating with the handling device and / or to calculate a stored relationship - preferably in the form of a look-up table -
    ascertain.
    It can thus be provided that the characteristic signal in and of itself does not have to do directly with a deformation, movement or acceleration of the base, but can be inferred from a computational relationship or a lookup table. In particular, this can be used when the characteristic signal of the cooperating machine is only a drive signal of a component of the cooperating machine, such as a control signal for a clamping force of a molding machine. A calibration of the computational relationship or the setting of the look-up table can take place, for example, by means of a measurement. This is natural
    also possible via a model calculation.
    It can be provided, for example, that the end effector is moved by the drive train to such an extent that it is in a
    Position remains and only a movement of the base is compensated.
    Protection is also sought for a method for controlling or regulating a handling device, with at least one end effector being controlled or regulated with the help of a drive train with respect to a base of the handling device, with at least one signal which is characteristic of a movement - preferably a tilting and / or displacement - the basis of the handling device is taken into account
    becomes.
    Protection is also sought after for a computer program product, the computer program product having instructions which cause an executing computer to receive signals which are characteristic of a movement - preferably tilting and / or displacement - of a base of a handling device and, based on the signals, to control or control commands for a drive train to move an end effector opposite
    adapt to the base of the handling device. It can be provided that a handling device according to the invention
    and / or arrangement as part of a production line for one
    Forming process, in particular for an injection molding process, is formed.
    Production systems influence a tool, a material, a finished product and / or an element necessary for production. Production systems consist of a forming machine, an optional handling device and optional peripheral devices (e.g.
    Temperature control units).
    Various embodiments of the invention emerge from the figures,
    and the associated description of the figures. It shows:
    1 shows a first embodiment of a handling device,
    FIG. 2 shows the exemplary embodiment from FIG. 1 with a tilted base,
    3 shows the embodiment of FIG. 2 with compensation for the tilted base,
    4 shows an exemplary relationship in the form of a graphic,
    5 shows a measurement of a deviation in the end effector position when a force is applied,
    6 shows a second exemplary embodiment of a handling device,
    FIG. 7 shows the embodiment from FIG. 6 with a tilted base and FIG
    8 shows the exemplary embodiment in FIG. / With compensation for the tilting of the base.
    1 shows a first exemplary embodiment of a handling device 13 for handling objects 10, an object 10 being able to be picked up, transported and deposited by an end effector 9 (provided as a gripper in this exemplary embodiment). In this exemplary embodiment, the handling device 13 is attached with its base 4 to a fixed platen 1 of a molding machine 15. In this embodiment, as
    Reference the base 4 of the handling device 13 has been chosen.
    The end effector 9 is connected to the base 4 of the handling device 13 via a kinematic chain, which in this exemplary embodiment is formed by two arms 5 and a hand axis 6. The drive train of the
    Handling device 13 consequently has at least three drive units,
    by which the first degree of freedom qx of the first arm 5, the second degree of freedom qy of the second arm 5 and the third degree of freedom q of the hand axis 6 are controlled
    and / or can be regulated.
    To control or regulate the handling device 13, a control or regulating unit 17 is provided which is connected to the individual components of the handling device 13 in a signal-conducting manner (shown by the dashed line). Furthermore, a sensor 8 is provided on the handling device 13, which can determine a movement and / or a force acting on the handling device 13. These sensors 8 are usually as
    Accelerometers formed.
    The molding machine 15 of this exemplary embodiment has a fixed platen 1 and a movable platen 2 movable relative thereto (each relative to a machine frame 12). The movable mold mounting plate 2 can execute the closing movement qm (or in the same way an opposite opening movement), which is carried out via the closing unit 3
    can.
    The clamping unit 3 of the molding machine 15 is connected to the fixed platen 1 via the machine frame 12. In order to be able to determine forces acting on the components of the molding machine 15, force measuring sensors / are provided. One of these force measuring sensors 7 is also arranged on the handling device 13. It is also entirely conceivable that the sensors provided as force measuring sensors 7 in this exemplary embodiment are used as gyro sensors, position sensors, acceleration sensors or the like
    are trained.
    In order to control or regulate the molding machine 15, it is connected to a control or regulating unit 16. The signal-conducting connection between the shaping machine 15 and the control or regulating unit 16 is in this
    Exemplary embodiment shown by the dashed line. The tax-
    or control units 16, 17 can interconnect by a signal-conducting
    Communication connection (shown by the dashed line).
    In Fig. 2, the embodiment of Fig. 1 is shown under the application of a clamping force, whereby the movable platen 2 was brought to the fixed platen 1 by the clamping unit 3 and a pressure force was built up between these platen 1, 2, which as a clamping force Fs
    is indicated.
    The closing force Fs leads to a (exaggerated) tilting of the fixed
    Platen 1 and the movable platen 2 at an angle
    Ik-
    This tilting by the angle qx leads directly to a tilting of the handling device 13, whereby - as can be clearly seen - the end effector 9 is moved from its desired position by the tilting by the angle qx. In order to better illustrate this, the handling device 13 is shown in dashed lines
    Target position (without tilting by the angle qx) shown.
    With a closing force F3 that is variable over time, precise positioning of the end effector 9 is very difficult because the deviation of the end effector 9 from a target position - as can be clearly seen here - from the magnitude of the closing force Fs
    and the resulting tilt qkx is dependent.
    However, as can be seen in FIG. 3, it is now possible through the control or regulation unit to determine the correction factors q, (t), qy (t) and ga (t) as a function of the time-variable closing force Fs (t).
    The number of correction factors is of course dependent on the number of controllable or regulatable kinematic axes of the handling device. For example, a correction factor for each drive unit can be
    kinematic axis of the handling device can be determined.
    The control or regulating unit 16 of the shaping machine 15 can transmit a characteristic signal to the control or regulating unit 17 of the handling device 13 via the signal-conducting connection, which signal provides information about the temporally variable closing force F; (t).
    The control or regulating unit 17 of the handling device 13 can determine the correction factors qx (t), qy (t) and ga (t) based on this transmitted characteristic signal by means of a stored relationship, a lookup table or a calculation, and an adaptation via the drive train of the handling device 13. Thus, despite the tilting of the base 4 of the handling device 13 due to the time-variable closing force F; (t), the end effector 9 of the handling device 13 can have a target position and a
    Assume target alignment with respect to the environment (as shown by Fig. 3).
    This relationship of the correction factors q, x (t), qy (t) and ga (t) to a time-variable closing force F; (t) can be established, for example, by a formula or a graphical relationship in the control or regulation unit 17 of
    Handling device 13 be deposited.
    Such a graphically represented relationship is shown, for example, by FIG. 4. It can thus be stored how large the correction factor q, (t) is to be selected for a target position P1 on the basis of a prevailing, time-variable closing force Fs (t). This graphical relationship can either be defined by an (exact) higher-order function (shown by the dashed line) or given by a linear function (shown by the solid line), the calculation of the correction factors being simplified by a linear function
    and the computing power is reduced. 4 only shows the graphic representation of the correction factor q, (t). Such a relationship would also be for the correction factors qy (t) and qA (t) for a
    Design as shown by FIGS. 1 to 3 to choose.
    However, a translational and a
    rotational movement (static and dynamic) of the shaping machine 15 and
    the handling device 13 are calculated against a static model and the correction factors q, (t), qy (t) and qga (t)
    be calculated.
    Such an (elastic) model of the elements of the shaping machine 15 relevant for the build-up of the clamping force can be used to infer a tilting by the angle qx, with the aid of which the correction factors q, (t), qy (t) and
    qa (t) can be determined.
    Alternatively, measurement of the tilt by the angle qx is also conceivable. An externally attached measuring system could of course be used for this. So that this external equipment does not have to be constantly on site, it is necessary to save
    Tilting as a function of the closing force F; (t) is conceivable in a table.
    Such a measurement of a tilt by the angle qx is shown, for example, by FIG. A measuring sensor 11 is arranged in order to determine a position of the end effector 9. Examples of such measuring sensors are acceleration sensors, position sensors or optical sensors. To measure the deviation, the closing force Fs is now built up, as a result of which tilting occurs by the angle qx and the end effector 9 moves in its position, which
    can be determined by the measuring sensor 11.
    The geometrical relationships, which are known, can now be used to infer the angle qx and this can be clearly assigned to a closing force Fs. With such a measurement, the closing force F3 can run through a force profile and each closing force Fs (t) can be tilted by one
    Angle qx are assigned.
    If the tilt (as a function of the closing force) is known, the displacement of the end effector 9 caused by the tilt and a rotation of the end effector 9 with the aid of the inverse kinematics, taking into account the tilt by the angle qx of the base 4, can be performed by the control unit 17 of the handling device 13 are compensated, whereby the
    Correction factors q, x (t), qy (t) and qa (t) depending on a closing force F; (t) result.
    In a similar way, it is also conceivable to use the method described to assign a variable (dependent on the closing force Fs (t)) storage / receiving position
    compensate.
    If no measuring sensor 11 is available, the handling device 13 with its end effector 9 could also be moved into a desired storage / receiving position when the molding machine applies a first clamping force F; executes. This position could then be saved. The closing force Fs could then be changed by the shooting unit 3 and the end effector 9 of the handling device 13 could in turn be moved into this desired storage / receiving position, this position also being in turn
    could be saved.
    By interpolating these two positions as a function of the two associated closing forces Fs, a relationship between the correction factors could thus be established
    qx (t), qy (t) and qu (t) and the closing force Fs (t) can be established.
    However, an embodiment is also entirely conceivable in which the end effector 9 is “held” in a defined position and via a force measuring sensor system
    Closing force build-up, a force acting on the end effector 9 is measured.
    Correction factors q, x (t), qy (t) and gA (t) as a function of the closing force F; (t) could also be determined from this measured force.
    However, deformations that affect the base 4 of the handling device 13 are not only to be expected when the clamping force is built up. This means that vibrations can also occur due to dynamic stimuli and elasticities in the system (plate deflection, frame deflection, ...). The effect of movements, accelerations and decelerations on the end effector 9 of the handling device 13 could also be corrected with a model of this elasticity
    will.
    If several handling devices 13, 14 are fastened together on a base 4, a movement, acceleration or load change of one handling device also influences that of the other. Depending on position, speed or
    A change in load results in an elastic deformation of the common base 4.
    Such an exemplary embodiment with several handling devices 13, 14 is shown by FIG. 6. Each handling device 13, 14 has a second arm 5, which has an end effector 9, with which an object 10
    is movable.
    The handling devices 13, 14 are via a common control
    or control unit 17 controllable or regulatable.
    If one of the handling devices 13, 14 now exerts an acceleration or picks up an object 10, the ubiquitous elasticity of components leads to a deformation of the base 4, which also changes the position of the other handling device 13, 14, as shown in FIG.
    7 is clarified.
    To compensate for this undesired change in position of the end effector 9, it can now be provided that the control or regulating unit 17 automatically moves the one handling device 13, 14 into the other
    Handling device 14, 13 controls or regulates accordingly.
    For this purpose, a corresponding computer program product can be stored in the control or regulating unit 17, which correction factor qx (t), qy (t) was calculated by signals from the sensors 8, 7 and to compensate for a deformation
    the base 4 executes (as can be seen by Fig. 8).
    List of reference symbols:
    1 fixed platen
    2 movable platen
    3 clamping unit
    4 Base of the handling device 5 Arm of the handling device 6 Hand axis
    7 force measuring sensors
    8 sensor
    9 end effector
    10 subject
    11 measuring sensor
    12 machine frames
    13 Handling device
    14 second handling device
    15 forming machine
    16 control or regulating unit of the shaping machine 17 control or regulating unit of the handling device Qx first degree of freedom
    Iy second degree of freedom
    Yes degree of freedom of the wrist axis
    In the closing movement
    Ik angle of tilt
    Fs closing force
    Fs (t) time-variable closing force
    qx (t) correction factor
    qy (t) correction factor
    qga (t) correction factor
    P1 target position
    Innsbruck, September 30, 2019
    权利要求:
    Claims (1)
    [1]
    Claims
    Handling device for handling objects (10), at least one end effector (9) being movable with respect to a base (4) of the handling device (13) by means of a drive train and a control or regulation device for controlling or regulating this movement of the at least one end effector (9) Control unit (17) is provided, characterized in that the at least one control or regulating unit (17) is designed to provide at least one movement - preferably tilting and / or displacement - of the base (4) of the handling device (13) Signal to receive and the characteristic signal at the
    Control or regulation of the drive train.
    Handling device according to claim 1, characterized in that the control or regulation unit (17) is designed to control the movement of the base (4) of the handling device (13) by controlling or regulating the
    Drive train - preferably at the end effector (9) - to compensate.
    Handling device according to the preceding claim, characterized in that at least one sensor (7, 8, 11) is provided, the at least one sensor generating a characteristic signal for a movement of the base (4) of the at least one control or regulation unit (17)
    can be provided.
    Handling device according to at least one of the preceding claims, characterized in that at least one second end effector (9) is provided, wherein the at least one second end effector (9) opposite the base (4) of the handling device (13) by the control or regulation unit (17) ) using a second drive train control or
    is adjustable.
    Handling device according to claim 4, characterized in that the control or regulation unit (17) is designed to be based on a controlled
    or controlled movement of the at least one second end effector (9)
    11.
    To calculate the movement of the base (4), the calculated movement of the base (4) being used by the control or regulating unit (17) as a characteristic signal in the control or regulation of the (first) drive train
    is taken into account.
    Handling device according to at least one of the preceding claims, characterized in that the control or regulating unit (17) is designed to generate the characteristic signal with the aid of inverse kinematics
    to consider.
    Arrangement with a handling device according to at least one of the preceding claims and a machine cooperating with the handling device (13), characterized in that the at least one characteristic signal from at least one with the handling device
    (13) cooperating machine can be provided.
    Arrangement according to claim 7, characterized in that the base (4) of the handling device (13) is arranged on at least one machine component of the machine cooperating with the handling device (13) or by a machine component of the handling device
    (13) cooperating machine is formed.
    Arrangement according to claim 8, characterized in that the characteristic signal is a control signal for a movement of a machine component of the with the handling device (13)
    cooperating machine is.
    Arrangement according to at least one of claims 7 or 9, characterized in that the machine cooperating with the handling device (13) has at least one machine sensor (7, 11) for detecting a
    Has movement of the base (4) of the handling device (13).
    Arrangement according to at least one of claims 7 to 10, characterized in that the machine cooperating with the handling device (13) is a shaping machine (15) - preferably one
    Injection molding machine - is.
    the handling device (13) is arranged, is designed as a base (4).
    13. Arrangement according to at least one of claims 7 to 12, characterized in that the machine cooperating with the handling device (13) has a control or regulating unit (16), wherein the control or regulating unit (16) controls the machine with the handling device (13) cooperating machine a characteristic signal for the control or regulation unit (17) of the
    Handling device (13) can be provided.
    14. The arrangement according to claim 13, characterized in that the control or regulating unit (17) of the handling device (13) is formed by the control or regulating unit (17) of the machine cooperating with the handling device (13) - or vice versa -, wherein a control or regulation of the handling device (13) and a control or regulation of the machine cooperating with the handling device, preferably by different processor units communicating with one another
    and / or different programs are designed.
    15. The arrangement according to at least one of claims 7 to 14, characterized in that the characteristic signal is a process variable and / or a process state of the one cooperating with the handling device (13)
    Machine is.
    16. The arrangement according to at least one of claims 7 to 15, characterized in that the characteristic signal is a closing force (Fs) or an opening force or a speed of the forming machine (15) cooperating with the handling device (13)
    trained machine is.
    17. Arrangement according to at least one of claims 7 to 16, characterized in that the control or regulating unit (17) is designed to
    due to the cooperating with the handling device (13)
    Detect movement of the base (4).
    18. The arrangement according to at least one of claims 7 to 17, characterized in that the control or regulating unit (17) is designed to use the signal provided by the machine cooperating with the handling device (13) to move the base (4) calculate and / or a stored relationship - preferably in the form of a
    Lookup table - determine.
    19. A method for controlling or regulating a handling device (13) - preferably a handling device (13) or an arrangement according to one of the preceding claims - wherein at least one end effector (9) with the aid of a drive train opposite a base (4) of the handling device (13) is controlled or regulated, characterized in that when controlling or regulating the drive train, at least one signal which is characteristic of a movement - preferably tilting and / or displacement - of the base (4)
    Handling device (13) is taken into account.
    20. Computer program product having commands which cause an executing computer to receive signals which are characteristic of a movement - preferably tilting and / or displacement - of a base (4) of a handling device (13) and, based on the signals, control or regulating commands for a drive train for moving an end effector (9) relative to the base (4) of the
    Adapt handling device (13).
    Innsbruck, September 30, 2019
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    同族专利:
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    AT522575B1|2020-12-15|
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    CN108098738B|2017-08-30|2020-03-03|安徽工程大学|Method and device for controlling operation stability of mobile manipulator based on parallel-serial mechanism|AT522695B1|2019-11-15|2021-01-15|Engel Austria Gmbh|Handling device and method for recognizing a condition|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50829/2019A|AT522575B1|2019-09-30|2019-09-30|Handling device and method for controlling or regulating such|ATA50829/2019A| AT522575B1|2019-09-30|2019-09-30|Handling device and method for controlling or regulating such|
    DE102020124274.3A| DE102020124274A1|2019-09-30|2020-09-17|HANDLING DEVICE AND METHOD FOR CONTROLLING OR REGULATING SUCH|
    CN202011007377.1A| CN112571743A|2019-09-30|2020-09-22|Operating device, method for controlling or regulating an operating device, assembly and computer program product|
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