• 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:
    Reference device and adjustment procedure for manipulators object of the present invention using a cube removably mounted on a support post, this cube having several open faces in which are inserted one or more calibers equipped with a size shapes and coinciding with the parts to be tested, with the appropriate dimensional tolerance so that said piece to be tested can enter into the shape, having a coding of the position of each caliber on the faces. The invention presented has the advantages of considerably reducing the time of repair of the manipulator, ensuring in a simple way and with great precision that the geometry of the manipulator is correct, in a compact equipment without the need for adjustments, which allows to easily relocate calibers in different positions. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2605041A1
    申请号:ES201631688
    申请日:2016-12-27
    公开日:2017-03-10
    发明作者:Jose Manuel DIAZ FIGUEREDO；Igor GORRICHO ARZA；Eduardo ANTUNEZ ELVAS
    申请人:Inatec Desarrollo Tecnico De Proyectos S L；Inatec Desarrollo Tecnico De Proyectos SL；
    IPC主号:
    专利说明:

    Reference device and adjustment procedure for manipulators
    5 This specification refers, as its title indicates, to a reference device and adjustment procedure for manipulators of the type used in production chains that use robots to mechanically adjust their movement, determining if the object we want to control has its original position varied.
    10 Field of the invention
    The invention relates to the field of reference devices and adjustment procedures for manipulators used by robots in production and / or storage chains, especially in the automotive sector.
    State of the Art
    In the production and / or storage chains, especially in the automotive sector, it is very common to use robots that work with manipulators, responsible for carrying parts from one position to another. These 20 processes require, on the one hand, a correct mechanical adjustment, both of the manipulator shipped in the robot and of the station where it picks up and leaves the parts.
    When a manipulator mechanically coupled to the axis 6 of an industrial robot suffers a collision for any reason (incorrect manipulation by the operator, bad programming, fatigue breakage of its 25 components ...), there is no precise reference to how to adjust again the tool.
    Normally the piece that is manipulated is used but this does not have precision and there are many doubts about how to replace the elements in the same way they were. It also involves danger since many times you have to climb in dangerous areas or you can cut yourself with the piece itself.
    30 This has added the main problem, which is that the production line remains stationary for a long period and time, which entails a high economic cost, especially in the automotive industry, in which time is money since every second that is Stop installation are less cars that are produced daily.
    35 Even if there is no collision, the robot may malfunction due to many other causes (fatigue deterioration of the elements, small friction with the structures that cause small mismatches….). In these cases there is always the question of what is the cause of the problem: poorly adjusted manipulator, badly performed robot program or poorly adjusted work stations or positioners.
    40 These problems also cause loss of time and deterioration in the quality of the process.
    Background of the invention
    45 To solve these problems, different mechanical station measurement systems are known. These procedures are complex, based on computer programs and reference the X, Y, Z coordinates of the elements with respect to an initial point or base. Examples of these procedures can be found described, for example, in patents ES2119946 "Method and device for calibrating axes movement
    50 of an industrial robot "and ES2136398" Method and device for the calibration of motion axes of an industrial robot "
    In a general case, using these procedures, to check a manipulator it would be necessary:
    -  mechanically remove it from the robot, 55 - take it to a station with a measuring system,
    -  adjust the manipulator and measure again, and
    -  mechanically replace it in the robot.
    This process takes a long time, and during all that time the production line has to stand still, with the consequent problem of production losses. They are also very complex and expensive equipment that not all companies can have.


    Other solutions have been tried, which allow at least an online calibration to be attempted, as we can find, for example, described in patents ES2213074 "Semi-automatic calibration of a robot actuator arm", ES2193087 "Procedure and device for calibrating stations of measurement with robots, manipulators and associated optical measuring devices "and CN105666490" Calibration system and method of robot ", but all of them suffer from using reference equipment of great complexity and cost, with computer control in many cases, and which still carry Stopping the installation for too long.
    Description of the invention
    In order to solve the problem currently existing in the mechanical adjustment for robot-operated manipulators, improving the state of the art, the reference device and adjustment procedure for manipulators object of the present invention has been devised, which uses a hub located removably on a support post, with this cube with several open faces in which one or several calibres are provided with shapes of size and shape coinciding with the pieces to be checked, with the appropriate dimensional tolerance for said piece to check it can fit the shape, having a coding of the position of each caliber on the faces.
    Its main function is to have a reference of the manipulators that are coupled to the robots in the work processes, such as moving parts from one position to another. In case of collision or malfunction, by means of the reference device we can determine if the manipulator is mechanically adjusted or has suffered any alteration. If so, we can return it to its original state.
    This reference device involves an adjustment procedure for manipulators, which comprises a first phase of preparation of the reference device, a second phase of checking that the actuator part fits correctly in the corresponding shapes of the gauges, an optional third phase of mechanical adjustment of the manipulator, which is performed only if the actuator is not properly adjusted since the part does not fit correctly in the gauge, and a fourth phase of disassembly of the reference device.
    This procedure can also be extended to any other mechanical element that we need to have a guarantee that its position has not changed. For example by putting the reference device in the robot's own manipulator and taking it to the fixed elements that you want to control. It can be extended to any sector that needs to verify that mechanical positions have not changed their position due to external causes (collisions, wear, bad manipulations of operators ...).
    Advantages of the invention
    This reference device and adjustment procedure for manipulators that is presented provides multiple advantages over those currently available, being the most important that allows considerably reducing the repair time of the manipulator, and as a consequence the time that the stopped work line remains, thus improving the availability of the installation.
    Another important advantage is that it ensures in a simple way and with great precision that the geometry of the manipulator is correct, quickly ruling out one of the possible causes of malfunction.
    It is also important to note that it allows working in a safer way, minimizing the risks of action inherent in the operation and calibration of robots.
    We must also take into account the great advantage of a compact device, without the need for adjustments, with a modular structure that allows you to easily and quickly relocate gauges in different positions, to adjust it to different actuators or to different jobs.
    We must not fail to emphasize that it is an easy, practical and intuitive procedure for the geometric definition of components, allowing the simplification of the robot control program, avoiding unnecessary turns and solving all positions.
    Likewise, its modular structure allows the use of a single reference device to control different processes, expanding only the number of gauges.
    It is also important to cite the advantage that is a valid equipment and procedure for all types of manipulators that allows the process to be standardized in all installations.


    Last but not least, highlight the ease of integration, without taking up space thanks to its mobile fixing system, allowing us to save time since we do not have to check trajectories.
    Description of the figures
    To better understand the object of the present invention, a preferred practical embodiment of a reference device for manipulators has been shown in the attached drawing
    10 In said plane, figure 1 shows a perspective view of the mounted reference device.
    Figure -2- shows an exploded perspective view of the reference device.
    15 Figure -3- shows a perspective view of the cube with two gauges inserted.
    Figure -4- shows an exploded perspective view of the cube with two gauges, with a detail of the insertion of the ball prisoners.
    20 Figure -5- shows views of the base of the cube.
    Figure -6- shows views of the side pieces of the cube.
    Figure -7- shows views of a caliber without machining shapes, and an example caliber with machined shapes.
    Figure -8- shows views of the support post.
    Figure -9- shows a side view of the cube and a gauge, showing an example of coding by reference alignment.
    Preferred Embodiment of the Invention
    The reference device for manipulators object of the present invention basically comprises, as can be seen in the annexed plane, a cube (1) removably located on a support post (14), this multi-faceted cube being disposed in those that are inserted one or several calibers (4) equipped with shapes (5) of size and shape coinciding with the pieces to be checked, with the appropriate dimensional tolerance so that said piece to be checked can fit the shape (5).
    The shapes (5) will preferably be openings in the caliber (4), such that the piece enters or passes through the opening, although it is provided that, alternatively, the shapes (5) are outward prominences , thus enabling the fitting of hollow pieces.
    45 This cube (1) is formed by a lower rectangular base (2) and three lateral pieces (3), with a U-shaped and square section, coupled together by means of screws (6) in such a way that they form a cube in all the side faces except the bottom are open. The side pieces (3) of the hub (1) have a plurality of ball prisoners (10) inserted in the arms of the U, with the ball inwards, intended for fixing the gauges (4).
    50 The base (2) of the hub (1) has at least two holes (11) for positioning, and at least one hole (12) for fixing.
    The gauges (4) are square pieces of appropriate dimensions for insertion in any of
    55 the open faces of the hub (1), this caliber of housing and locking means being provided for the balls of the ball prisoners (10) inserted in the arms of the side pieces (3), these housing and interlocking means being chosen of the group formed by a peripheral groove (13) in the whole piece or individual recesses coinciding in size and position with each ball prisoner (10). When the ball of the ball prisoners (10) is pressed, it goes back and when released, returns by a spring to its position,
    60 allowing the mounting, anchoring and disassembly of the gauges (4) on the open faces of the hub (1).
    This type of mounting of the gauges (4) gives the team great flexibility when placing the gauges in different positions and different faces, since depending on the distribution of the elements we want


    control, we can choose which face of the cube (1) we want to use. This facilitates us and multiplies the solutions when making the adjustment.
    Also, this type of mounting of the gauges (4) exerts an anti-collision function, since when we go with a mobile device to check an actuator and this is not well adjusted, it may hit the caliber (4), and in this case this It releases, jumps and falls into the cube (1). This clearly indicates that it is not well adjusted and prevents the moving part that brings the piece closer to the caliber (4) from collision and deform.
    The cube (1) is a definite and always the same piece. We can use a single cube (1) to calibrate a group of different processes or we can decide to use a cube for each process. Either way, all the cubes (1) will be exactly the same. What adapts to each manipulator are the calibers (4), since each process can have different elements. Some calibers (4) may be used for several processes and others will be exclusive to one.
    To define what caliber (4) to use and in what position of the cube (1) to place it, we will do it by means of written references, on a sheet of paper or on the screen of a monitor, and a simple coordinate method used in the device. For this, the outer faces of the side pieces (3) of the hub (1) have references (15), allowing a positioning of each caliber (4) with an orientation defined by aligning the corresponding reference (15) with another reference (16) existing in each caliber (4) by its outer face, being both references (15) and references (16) chosen from the group consisting of letters, numbers, graphic symbols, or a combination of them.
    The support post (14) is fixed at the bottom in the work area and has positioning pins (7) in number, position and size coinciding with the holes (11) of the base positioning (2) of the hub (1), and of at least one threaded hole (8) for fixing the hub
    (1) by means of a screw (9). This guarantees the stability of the hub (1).
    This reference device involves an adjustment procedure for manipulators, which comprises a first stage of preparation of the reference device, a second phase of testing, an optional third phase of mechanical adjustment of the manipulator and a fourth phase of disassembly of the reference device.
    The preparation phase of the reference device comprises a fixing step of the support post (14) to the floor of the work area, if it is not present, a fixing step of the hub (1) in the support post
    (14) by means of the screw (9), and an insertion step of the necessary gauges (4), with the forms (5) corresponding to the actuator to be calibrated, positioned according to the alignment of the references (15) and (16) indicated For this actuator.
    The test phase includes the execution of a preprogrammed sequence of points in the actuator, taken as a reference of a properly calibrated actuator, which consists in carrying the part that handles this actuator so that it fits in the caliber shape (5) (4) , communicating to the actuator the position of placing the caliber (4) in the hub (1) by means of the combination of references (15) and (16) used, considering that the actuator is well adjusted if the part fits correctly in the caliber (4 ).
    The mechanical adjustment phase of the manipulator is carried out only if the actuator is not properly adjusted since the part does not fit correctly in the caliber (4), and includes the mechanical adjustment of the actuator with the caliber reference (4), having the guarantee which is again the same as its correct state.
    The disassembly phase of the reference device comprises the release and removal of the hub (1) from the support post (14) by means of the screw (9), and the removal of the gauges (4), as well as the disassembly if necessary of the support post (14) of the floor of the work area.

    权利要求:
    Claims (1)
    [1]
    1 - Reference device for manipulators, of the type used in production chains that use robots to mechanically adjust their movement, characterized in that it comprises a cube (1) removably located on a support post (14), this bucket having of several open faces in which one or more calibers (4) are provided with shapes (5) of size and shape coinciding with the pieces to be checked, with the appropriate dimensional tolerance so that said piece to be tested can enter into the shape (5).
    2 - Reference device for manipulators, according to claim 1, characterized in that the shapes (5) of the gauges (4) are openings in the caliber (4), such that the piece enters or passes through the opening.
    3 - Reference device for manipulators, according to claim 1, characterized in that the shapes (5) of the gauges (4) are outward prominences, thus enabling the fitting of hollow pieces.
    4 - Reference device for manipulators, according to the preceding claims, characterized in that the hub (1) is formed by a lower rectangular base (2) and three side pieces (3), U-shaped and square section, coupled together by screws (6) in such a way that they form a cube on all the lateral faces except the lower one are open.
    5 - Reference device for manipulators, according to the preceding claims, characterized in that the side pieces (3) of the hub (1) have a plurality of ball prisoners (10) inserted in the arms of the U, with the ball facing the inside.
    6 - Reference device for manipulators, according to the preceding claims, characterized in that the calipers (4) are quadrangular pieces of appropriate dimensions for insertion in any of the open faces of the hub (1), this gauge being provided with housing means and interlocking for the balls of the ball prisoners (10) inserted in the arms of the side pieces (3), these housing and interlocking means being chosen from the group formed by a peripheral groove (13) in the entire piece or matching individual recesses in size and position with each ball prisoner (10).
    7 - Reference device for manipulators, according to the preceding claims, characterized in that the outer faces of the side pieces (3) of the hub (1) have references (15), allowing a positioning of each caliber (4) with a defined orientation by aligning the corresponding reference (15) with another reference (16) existing in each caliber (4) on its outer face, both references (15) and references (16) being chosen from the group consisting of letters, numbers, graphic symbols, or a combination of them.
    8 - Reference device for manipulators, according to the preceding claims, characterized in that the base (2) of the hub (1) has at least two positioning holes (11), and at least one fixing hole (12).
    9 - Reference device for manipulators, according to the preceding claims, characterized in that the support post (14) is fixed in its lower part in the work area and has in its upper part a number of positioning pins (7), position and size coinciding with the holes (11) for positioning the base (2) of the hub (1), and at least one threaded hole (8) for fixing the hub
    (1) by means of a screw (9).
    10 - Adjustment procedure for manipulators by means of a reference device like the one described above, characterized in that it comprises a first phase of preparation of the reference device, a second test phase, an optional third mechanical adjustment phase of the manipulator and a fourth phase of disassembly of the reference device.
    11 - Adjustment procedure for manipulators according to claim 10, characterized in that the preparation phase of the reference device comprises a fixing step of the support post (14) to the floor of the work area, if it is not, a step of fixing the hub (1) on the support post (14) by means of the screw (9), and an insertion step of the necessary gauges (4), with the shapes (5) corresponding to the actuator to be calibrated, positioned according to the alignment of references (15) and (16) indicated for this actuator.
    12 - Adjustment procedure for manipulators according to claim 10, characterized in that the test phase comprises the execution of a preprogrammed sequence of points in the actuator, taken as

    reference of a correctly calibrated actuator, which consists of carrying the part that handles this actuator so that it fits in the shape (5) of caliber (4), communicating to the actuator the position of caliber placement (4) in the hub (1) by combining references (15) and (16) used, considering that the actuator is well adjusted if the part fits correctly in the caliber (4).
    5 13 - Adjustment procedure for manipulators according to claim 10, characterized in that the mechanical adjustment phase of the manipulator is performed only if the actuator is not properly adjusted since the part does not fit correctly in the caliber (4), and comprises the adjustment mechanical of the actuator with the reference of the caliber (4), having the guarantee that it returns to be same as its correct state.
    10 - Adjustment procedure for manipulators according to claim 10, characterized in that the disassembly phase of the reference device comprises the release and removal of the hub (1) from the support post (14) by means of the screw (9), and the removal of the calibers (4), as well as the disassembly, if necessary, of the support post (14) of the floor of the work area.








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    引用文献:
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    US5639204A|1993-05-13|1997-06-17|Fanuc, Ltd.|Positioning device for an industrial robot|
    JPH11216695A|1998-01-30|1999-08-10|Nachi Fujikoshi Corp|Step change device for robot work|
    US20030177656A1|2002-03-25|2003-09-25|Sawdon Stephen E.|End arm effector set-up|
    EP1462223A1|2003-03-25|2004-09-29|KUKA Schweissanlagen GmbH|Method and device for adjusting and controlling the functional parts of a device carried by a robot|
    US20110066393A1|2009-09-16|2011-03-17|Kuka Roboter Gmbh|Calibration Of A Manipulator|CN107273576A|2017-05-17|2017-10-20|上海电器科学研究所（集团）有限公司|The maximum cube of industrial robot performance test is chosen and computational methods|
    法律状态:
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    ES201631688A|ES2605041B1|2016-12-27|2016-12-27|Reference device and adjustment procedure for manipulators|ES201631688A| ES2605041B1|2016-12-27|2016-12-27|Reference device and adjustment procedure for manipulators|
    PCT/ES2017/070714| WO2018122425A1|2016-12-27|2017-10-25|Reference device and adjustment method for manipulators|
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