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1. (WO2017152208) SYSTEM AND METHOD FOR SPATIALLY MOVING AN OBJECT BY MEANS OF A MANIPULATOR
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Pub. No.: WO/2017/152208 International Application No.: PCT/AT2017/060058
Publication Date: 14.09.2017 International Filing Date: 07.03.2017
Chapter 2 Demand Filed: 08.01.2018
IPC:
G05B 19/409 (2006.01) ,G05B 19/423 (2006.01) ,B25J 13/06 (2006.01) ,B25J 9/16 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
409
characterised by using manual data input (MDI) or by using control panel, e.g. controlling functions with the panel; characterised by control panel details, by setting parameters
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
42
Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
423
Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13
Controls for manipulators
06
Control stands, e.g. consoles, switchboards
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
Applicants:
KEBA AG [AT/AT]; Gewerbepark Urfahr 14 bis 16 4041 Linz, AT
Inventors:
MITTERMAYER, Christoph; AT
Agent:
ANWÄLTE BURGER UND PARTNER RECHTSANWALT GMBH; Rosenauerweg 16 4580 Windischgarsten, AT
Priority Data:
A50184/201607.03.2016AT
Title (EN) SYSTEM AND METHOD FOR SPATIALLY MOVING AN OBJECT BY MEANS OF A MANIPULATOR
(FR) SYSTÈME ET PROCÉDÉ DE DÉPLACEMENT DANS L’ESPACE D’UN OBJET AU MOYEN D’UN MANIPULATEUR
(DE) SYSTEM UND VERFAHREN ZUR RÄUMLICHEN BEWEGUNG EINES OBJEKTS MITTELS EINES MANIPULATORS
Abstract:
(EN) The invention relates to a system (1) and to a method for spatially moving an object (2) by means of a manipulator (3), which object (2) is kinematically coupled to the manipulator (3) at least temporarily. A motion specification means (5) is provided, which can be freely moved in space by an operating person at least temporarily and which is provided for at least temporary physical coupling to the object (2) to be moved. In the coupling state of the motion specification means, the motion specification means (5) is designed for the giving of motion commands to a control device (6, 6') of the manipulator (3) by the operating person. Inertial sensors for sensing at least orientation changes of the motion specification means (5) are integrated in the motion specification means (5). An orientation-determining unit (8, 8') serves to continuously determine the changing orientations of the motion specification means (5) in space, wherein the control execution of at least one of the motion commands is, at least at times, dependent on the orientation of the motion specification means (5).
(FR) L'invention concerne un système (1) et un procédé permettant de déplacer dans l’espace un objet (2) au moyen d’un manipulateur (3), lequel objet (2) étant couplé au moins temporairement au mouvement du manipulateur (3). Le système selon l’invention comprend un moyen de spécification de mouvement (5) qu’un opérateur peut déplacer manuellement et librement dans l’espace au moins momentanément, le moyen de spécification de mouvement (5) étant destiné au moins momentanément au couplage corporel avec l’objet (2) à déplacer. Dans son état de couplage, le moyen de spécification de mouvement (5) sert à la fourniture de commandes de mouvement de la part de l’opérateur à un dispositif de commande (6, 6’) du manipulateur (3). Des capteurs inertiels destinés à détecter au moins des variations d’orientation du moyen de spécification de mouvement (5) sont intégrés dans ce dernier (5). Une unité de détermination d’orientation (8, 8’) sert à la détermination en continu des orientations changeantes du moyen de spécification de mouvement (5) dans l’espace, l’exécution selon une technique de commande d’au moins une des commandes de mouvement dépend au moins en partie de l’orientation du moyen de spécification de mouvement (5).
(DE) Die Erfindung betrifft ein System (1) und ein Verfahren zur räumlichen Bewegung eines Objekts (2) mittels einem Manipulator (3), welches Objekt (2) zumindest vorübergehend mit dem Manipulator (3) bewegungsgekoppelt ist. Dabei ist ein Bewegungsvorgabemittel (5) vorgesehen, welches von einer Bedienperson zumindest zeitweilig händisch frei im Raum bewegbar ist, und welches Bewegungsvorgabemittel (5) zumindest zeitweilig zur körperlichen Kopplung mit dem zu bewegenden Objekt (2) vorgesehen ist. In seinem Kopplungszustand ist das Bewegungsvorgabemittel (5) für die Abgabe von Bewegungskommandos seitens der Bedienperson an eine Steuervorrichtung (6, 6') des Manipulators (3) vorgesehen. Im Bewegungsvorgabemittel (5) sind Inertialsensoren zur Erfassung zumindest von Orientierungsveränderungen des Bewegungsvorgabemittels (5) integriert. Eine Orientierungsermittlungseinheit (8, 8') dient zur fortlaufenden Ermittlung der wechselnden Orientierungen des Bewegungsvorgabemittels (5) im Raum, wobei die steuerungstechnische Ausführung von zumindest einem der Bewegungskommandos zumindest teilweise von der Orientierung des Bewegungsvorgabemittels (5) abhängig ist.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: German (DE)
Filing Language: German (DE)