Apparatus and method for monitoring a payload handling robot assembly

• US 10,213,920 B2
• Filed: 07/23/2014
• Issued: 02/26/2019
• Est. Priority Date: 07/26/2013
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Deutschland GmbH (Midea Group Co., Ltd)
• Inventors: Geiler, Torsten, Steigenberger, Florian, Roland, Frank, Bonin, Uwe, Rudolf, Richard
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US14/339,102
• Publication Number:
  US 20150032261A1
• Time in Patent Office: 1,679 Days
• Field of Search: 700258
• 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, the method comprising:

determining the identity of a configuration of a robot-handled payload handled by the at least one robot based on a current position of the at least one robot relative to a specified change position of the at least one robot, the determining step performed by a control system of the robot assembly;

wherein a payload change is determined by a deviation between a current position of a payload attachment and a change position of the payload attachment, and on the basis of an actuation to open or to close the payload attachment of the robot assembly to grip a new payload;

moving the payload with the at least one robot;

monitoring operation of the at least one robot based on the identified configuration of the robot-handled payload; and

identifying a configuration of a payload as the configuration of a robot-handled payload when a deviation between the current position of the at least one robot and a change position associated with the configuration of a payload drops below a specified limit value.

2. The method of claim 1, wherein a payload change is determined on the basis of an actuation of the robot assembly.

3. The method of claim 1, further comprising replacing the identified configuration of a robot-handled payload with a new configuration of a robot-handled payload.

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

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

or

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

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

6. The method of claim 1, further comprising:

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

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

7. The method of claim 1, wherein different change positions are assigned to different configurations of a payload.

8. The method of claim 1, wherein monitoring operation of the at least one robot comprises monitoring the at least one robot-for collision on the basis of the identified configuration of a robot-handled payload.

9. 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 at least one robot and to determine the identity of a configuration of a robot-handled payload handled by the at least one robot based on the current position of the at least one robot relative to a specified change position of the at least one robot, wherein a payload change is determined by a deviation between a current position of a payload attachment and a change position of the payload attachment, and on the basis of an actuation to open or to close the payload attachment of the robot assembly to grip a new payload, wherein operation of the at least one robot is monitored based on the identified configuration of the robot-handled payload, wherein a configuration of a payload is identified as the configuration of a robot-handled payload when a deviation between the current position of the at least one robot and a change position associated with the configuration of a payload drops below a specified limit value.

10. A robot assembly, comprising:

at least one robot; and

a monitoring apparatus configured to;

determine a current position of the robot;

determine the identity of a configuration of a robot-handled payload handled by the at least one robot based on the current position of the at least one robot relative to a specified change position of the at least one robot, wherein a payload change is determined by a deviation between a current position of a payload attachment and a change position of the payload attachment, and on the basis of an actuation to open or to close the payload attachment of the robot assembly to grip a new payload;

monitor operation of the at least one robot based on the identified configuration of the robot-handled payload; and

identify a configuration of a payload as the configuration of a robot-handled payload when a deviation between the current position of the at least one robot and a change position associated with the configuration of a payload drops below a specified limit value.

12. The robot assembly of claim 10, further comprising:

a payload receptacle for receiving a plurality of different payloads;

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

11. 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:

determine the identity of a configuration of a robot-handled payload handled by the at least one robot based on a current position of the at least one robot relative to a specified change position of the at least one robot, wherein a payload change is determined by a deviation between a current position of a payload attachment and a change position of the payload attachment, and on the basis of an actuation to open or to close the payload attachment of the robot assembly to grip a new payload;

wherein operation of the at least one robot is monitored based on the identified configuration of the robot-handled payload; and

identify a configuration of a payload as the configuration of a robot-handled payload when a deviation between the current position of the at least one robot and a change position associated with the configuration of a payload drops below a specified limit value.