Method for automatically scheduling the timing of brake tests, and associated robot
AssigneeKUKA Deutschland GmbH
InventorsMarkus Finke, Thomas Neff
Life of this patent
Estimating the term…
Abstract
A method, a robot, and a robot controller for automatically scheduling the timing of a plurality of brake tests, that succeed one another at time intervals, at a plurality of brakes of a robot arm equipped with a plurality of joints and a plurality of links connecting the joints to one another and is connected to a robot controller which is designed and configured to control the joints and the brakes, in order to move the robot arm. At least one individual parameter is configured for each of the brakes. A brake test method associated with the robot arm is automatically initialized, and the initialized brake test method is automatically carried out in accordance with the configured parameters.
Claims13
A method for automatically scheduling the timing of a plurality of brake tests that succeed one another at time intervals, at a plurality of brakes of a robot arm that is equipped with a plurality of joints and a plurality of links connecting the joints to one another, and the arm is connected to a robot controller that is designed and configured to control the joints and the brakes in order to move the robot arm, the method comprising:
- configuring at least one individual parameter for each individual brake of the plurality of brakes, or jointly for at least two groups of the brakes, wherein the at least one parameter is assigned at least one criterion that is a property relevant for the safe operation of the brake;
- automatically initializing a brake test procedure that is associated with the robot arm and which is provided to control the joints and the brakes of the robot arm via the robot controller, thereby automatically moving the links of the robot arm according to a brake test program predetermined by the brake test procedure, and automatically controlling the brakes as a function of the configured parameters;
- and
- executing the initialized brake test procedure based on the configured parameters and during operation of the robot to perform its application-intended specific use;
- wherein the brake test procedure is automatically initialized such that, based on the configured parameters, corresponding brake tests are carried out at each individually configured brake, or at the groups of brakes that are configured jointly in at least two groups, the corresponding brake tests being carried out at individual different times and/or in individual different time intervals.
The method of 9, wherein the signal supplied externally of the robot is associated with a spatial trigger, and the spatial trigger corresponds to reaching an axis limit or an axis stop of a joint of the robot arm.
A method for automatically scheduling the timing of a plurality of brake tests that succeed one another at time intervals, at a plurality of brakes of a robot arm that is equipped with a plurality of joints and a plurality of links connecting the joints to one another, and the arm is connected to a robot controller that is designed and configured to control the joints and the brakes in order to move the robot arm, the method comprising:
- configuring at least one individual parameter for each individual brake of the plurality of brakes, or jointly for at least two groups of the brakes, wherein the at least one parameter is assigned at least one criterion that is a property relevant for the safe operation of the brake;
- automatically initializing a brake test procedure that is associated with the robot arm and which is provided to control the joints and the brakes of the robot arm via the robot controller, thereby automatically moving the links of the robot arm according to a brake test program predetermined by the brake test procedure, and automatically controlling the brakes as a function of the configured parameters;
- and
- executing the initialized brake test procedure based on the configured parameters and during operation of the robot to perform its application-intended specific use;
- wherein the brake test procedure is automatically initialized based on at least one individually configured parameter for an individual brake, or jointly for the at least two groups of brakes, wherein the at least one parameter is at least one of:
- a criterion of the mounting position of the robot arm in the state of the robot arm configured for the application-specific intended use,
- a criterion of the robot tool fastened to the robot arm, or
- a criterion of a workplace in a region of which the robot arm is configured for its application-specific intended use.
A method for automatically scheduling the timing of a plurality of brake tests that succeed one another at time intervals, at a plurality of brakes of a robot arm that is equipped with a plurality of joints and a plurality of links connecting the joints to one another, and the arm is connected to a robot controller that is designed and configured to control the joints and the brakes in order to move the robot arm, the method comprising:
- configuring at least one individual parameter for each individual brake of the plurality of brakes, or jointly for at least two groups of the brakes, wherein the at least one parameter is assigned at least one criterion that is a property relevant for the safe operation of the brake;
- automatically initializing a brake test procedure that is associated with the robot arm and which is provided to control the joints and the brakes of the robot arm via the robot controller, thereby automatically moving the links of the robot arm according to a brake test program predetermined by the brake test procedure, and automatically controlling the brakes as a function of the configured parameters;
- executing the initialized brake test procedure based on the configured parameters and during operation of the robot to perform its application-intended specific use;
- assigning a first weighting to the parameters associated with a particular brake of a particular joint of the robot arm;
- and
- assigning a second weighting, different from the first weighting, to the parameters associated with at least one other brake associated with a different joint of the robot arm.
Dependencies are inferred from the claim text.