Apparatus And Method For Monitoring A Payload Handling Robot Assembly

• US 20150032261A1
• Filed: 07/23/2014
• Published: 01/29/2015
• Est. Priority Date: 07/26/2013
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Inventors: Bonin, Uwe, Geiler, Torsten, Steigenberger, Florian, Roland, Frank, Rudolf, Richard
• Granted Patent: US 10,213,920 B2
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: B25J 9/16 Programme controls programme controls in general G05B19/00, e.g. numerical pogramme controls G05B19/18; recording or playback systems G05B19/42
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/49146 Tool changing registers geometry of tool to avoid collision
• CPC Class Codes: G05B 2219/49304 Tool identification, code
• CPC Class Codes: G05B 2219/50204 Tool replacement point, tool change position without damage, clearance plane

Abstract

A method for monitoring a payload-handling robot assembly having at least one robot includes identifying a robot-handled payload arrangement on the basis of a current position of the robot assembly relative to a specified change position of the robot assembly. In another aspect, a robot assembly includes at least one robot, a monitoring apparatus configured to determine a current position of the robot assembly and to identify a robot-handled payload arrangement on the basis of the current position of the robot assembly relative to a specified change position of the robot assembly, and a payload receptacle for receiving a plurality of different payloads. The robot is configured for handling the plurality of payloads in an alternating manner.

Claims

1. A method for monitoring a payload-handling robot assembly with at least one robot, comprising identifying a robot-handled payload arrangement on the basis of a current position of the robot assembly relative to a specified change position of the robot assembly.

2. The method of claim 1, further comprising identifying a payload as a robot-handled payload arrangement when a deviation between the current position of the robot assembly and a change position associated with the payload drops below a specified limit value.

3. The method of claim 2, wherein a payload change is determined on the basis of an actuation of the robot assembly.

4. The method of claim 1, further comprising replacing an identified robot-handled payload arrangement with a new payload arrangement.

5. The method of claim 1, wherein, at least during a movement of the robot assembly:

a payload arrangement with at least one payload is always identified as a robot-handled payload arrangement at least during a movement of the robot assembly;

or

wherein a payload arrangement without a payload is provided as an identifiable robot-handled payload arrangement.

6. The method of claim 1, wherein, in one predetermined state of the robot assembly, a payload arrangement with a plurality of payloads is identified as a robot-handled payload arrangement.

7. The method of claim 1, further comprising:

moving the robot assembly to at least one payload storage position; and

specifying a change position assigned to a payload that is associated with the payload storage position on the basis of a position of the robot assembly, in which the robot assembly has moved to the payload storage position.

8. The method of claim 1, wherein different change positions are assigned to different payloads.

9. The method of claim 1, further comprising monitoring the robot assembly for collision on the basis of the identified robot-handled payload arrangement.

10. An apparatus for monitoring a payload-handling robot assembly that includes at least one robot, the apparatus comprising monitoring means configured to determine a current position of the robot assembly and to identify a robot-handled payload arrangement on the basis of the current position of the robot assembly relative to a specified change position of the robot assembly.

11. A robot assembly, comprising:

at least one robot;

a monitoring apparatus configured to determine a current position of the robot assembly and to identify a robot-handled payload arrangement on the basis of the current position of the robot assembly relative to a specified change position of the robot assembly; and

a payload receptacle for receiving a plurality of different payloads;

wherein the robot is configured for handling the plurality of payloads in an alternating manner.

12. A computer program product for monitoring a payload-handling robot assembly including at least one robot, the computer program product having programming code stored on a non-transitory machine readable data medium, the programming code configured to, when executed by a computer, cause the computer to:

identify a robot-handled payload arrangement on the basis of a current position of the robot assembly relative to a specified change position of the robot assembly.