METHOD AND SYSTEM FOR OPERATING A ROBOTIC ARM

Abstract

A method for operating a robotic arm using a first visualization device includes visually indicating, on the robotic arm and/or in the workspace of the robotic arm and/or on a work surface below the robotic arm, an imminent adjustment of at least one axis of the robotic arm, in particular of at least one axis closest to the robotic arm base.

Claims

1-13. (canceled)

14. A method for operating a robotic arm, the method comprising: visually indicating an imminent adjustment of at least one axis of the robotic arm with a first visualization means; wherein the visual indication is at least one of on the robotic arm, in a workspace of the robotic arm, or on a work surface located under the robotic arm.

15. The method of claim 14, wherein the at least one axis of the robotic arm is at least one axis closest to a base of the robotic arm.

16. The method of claim 14, wherein the first visualization means is arranged on one of a base of the robotic arm or a link of the robotic arm.

17. The method of claim 16, wherein the first visualization means is at least one of: permanently arranged on the base or link of the robotic arm; detachably arranged on the base or link of the robotic arm; or arranged on the robotic arm in a positively specified pose.

18. The method of claim 17, wherein the link of the robotic arm is a link that is closest to the base and is connected to the base by a joint.

19. The method of claim 14, wherein visually indicating an imminent adjustment comprises visually indicating at least one of an imminent position at a specified time or an imminent stop position of the at least one axis by at least one of: illuminating a region on at least one of the robotic arm allocated to the imminent position at the specified time or the stop position; or illuminating a space on a surface under a halt space of the robotic arm in the imminent position at the specified time or the stop position.

20. The method of claim 19, wherein illuminating the space comprises at least one of illuminating a circle, a circular segment, or an ellipse-like space under the halt space.

21. The method of claim 19, wherein illuminating the region or space comprises at least one of: illuminating the region or space in a first manner, if reaching the stop position in a first time period is predicted, and illuminating the region or space in a second manner different from the first manner if reaching the stop position in a second time period is predicted; or illuminating the region or space in a third manner, if reaching the imminent position or stop position is predicted in a first extension of the robotic arm, and illuminating the region or space in a fourth manner different from the third manner if reaching the imminent position or stop position is predicted in a second extension of the robotic arm.

22. The method of claim 14, wherein visually indicating an imminent adjustment comprises: illuminating at least one of (a) a region on the robotic arm that is allocated to at least an imminent first position of the at least one axis at a specified first time, or (b) a surface under a halt space of the robotic arm in the imminent first position of the at least one axis at the specified first time; and illuminating at least one of (a) a region on the robotic arm that is allocated to at least an imminent second position of the at least one axis at a specified second time or to an imminent stop position, or (b) a surface under a halt space of the robotic arm in the imminent second position of the at least one axis at the specified second time or to the imminent stop position; wherein the region and/or surface associated with the specified first time is illuminated at least partly simultaneously and/or sequentially and/or in a different color, brightness and/or size relative to the region and/or surface associated with the specified second time.

23. The method of claim 14, wherein visually indicating an imminent adjustment comprises displaying with the first visualization means one or more icons from a specified group of graphic icons as a function of the imminent adjustment of the at least one axis of the robotic arm.

24. The method of claim 19, wherein visually indicating an imminent adjustment comprises augmenting in a specified fade-in time, or reducing in a specified fade-out time, at least one of a brightness or a color intensity of at least one of the illuminated region, the illuminated surface, or an icon displayed by the first visualization means and selected from a specified group of graphic icons as a function of the imminent adjustment of the at least one axis of the robotic arm.

25. The method of claim 14, wherein the first visualization means visually indicates an imminent adjustment of at the least one axis of the robotic arm independently of an imminent adjustment of a second axis of the robotic arm.

26. The method of claim 25, further comprising: visually indicating an imminent adjustment of the second axis of the robotic arm with a second visualization means; wherein the visual indication is at least one of on the robotic arm, in a workspace of the robotic arm, or on a work surface located under the robotic arm.

27. The method of claim 14, wherein the visualization means comprises one or more lighting means.

28. The method of claim 27, wherein the lighting means are at least one of: selectively controllable lighting means; dimmable lighting means; or light emitting diodes (LEDs)

29. A system for operating a robotic arm, the system comprising: a first visualization means configured for visually indicating an imminent adjustment of at least one axis of the robotic arm; wherein the visual indication is at least one of on the robotic arm, in a workspace of the robotic arm, or on a work surface located under the robotic arm.

30. A robot having a robotic arm and a system for operating the robotic arm according to the method of claim 14.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and, together with a general description of the invention given above, and the detailed description given below, serve to explain the principles of the invention.

[0058] FIG. 1 schematically illustrates a robot having a robotic arm and a system for operating the robotic arm according to an embodiment of the present invention;

[0059] FIG. 2 illustrates a method for operating the robotic arm according to an embodiment of the present invention;

[0060] FIG. 3 schematically illustrates a robot having a robotic arm and a system for operating the robotic arm according to another embodiment of the present invention;

[0061] FIG. 4 schematically illustrates a robot having a robotic arm and a system for operating the robotic arm according to another embodiment of the present invention;

[0062] FIG. 5 schematically illustrates a robot having a robotic arm and a system for operating the robotic arm according to another embodiment of the present invention; and

[0063] FIG. 6 schematically illustrates a robot having a robotic arm and a system for operating the robotic arm according to another embodiment of the present invention.

DETAILED DESCRIPTION

[0064] FIG. 1 depicts a robot having a robotic arm and a system for operating the robotic arm according to an embodiment of the present invention in a top view from above (vertical).

[0065] The robotic arm comprises a robotic arm base 10, which is connected in a rotary joint to a robotic arm link, closest to the robotic arm base, in the form of a carousel 11, which is thus adjustable about a vertical rotary axis A1, closest to the robotic arm base, relative to the robotic arm base 10.

[0066] Hinged to the carousel 11 about a horizontal rotary axis A2 is a link arm, to which is hinged a robotic hand 13 about a horizontal rotary axis A3, which comprises three pair-wise stacked, or perpendicular to rotary axis A3, distal rotary axes A4-A6.

[0067] The system comprises a robot controller 20 for adjusting the rotary axes A1-A6 and a first visualization means 21 having LEDs 22, which is arranged on the carousel 11.

[0068] The system executes a method for operating the robotic arm according to an embodiment of the present invention.

[0069] In a step S100 (cf. FIG. 2), the robot controller 20 predicts, for example on the basis of a task program to be executed or a next program command in this task program, an imminent adjustment of the rotary axis A1 closest to the robotic arm base.

[0070] The robot controller 20 thereby predicts on the one hand an imminent position in a specified time, for example a position that the robotic arm or its rotary axis A1 is expected to comprise or reach in one second (dotted in FIG. 1), and on the other hand an imminent stop position, in which the robotic arm or its rotary axis A1 is expected to be stopped (dashed in FIG. 1).

[0071] Then in a step S200, the system visually indicates, or visualizes, this imminent position by illuminating a circle-like surface 30 under a halt space of the robotic arm in the imminent position of the axis A1 or in a work surface of the robotic arm.

[0072] Additionally, the system visualizes in step S200 this imminent stop position, by illuminating in a darker or brighter manner and/or in a different color a larger, circle-like surface 31 under a halt space of the robotic arm in the imminent stop position of the axis A1.

[0073] To this end, one or more of the LEDs 22 of the first visualization means 21 correspondingly predict light on the surfaces 30, 31 and are to that end correspondingly controlled and/or dimmed selectively by the controller 20.

[0074] In modifications, additional surfaces under the halt space of the robotic arm can analogously be displayed in imminent positions of other specified times and/or the display of the imminent position in the specified time or the stop position can be omitted.

[0075] FIG. 3 depicts a robot having a robotic arm and a system for operating the robotic arm according to another embodiment of the present invention, which corresponds to the embodiment described above with reference to FIGS. 1, 2, except for the differences explained below.

[0076] In the embodiment of FIG. 3, the system visualizes the stop position by illuminating a circle segment-like surface 31 under the halt space of the robotic arm in the imminent stop position of the axis A1. Additionally, the system in the embodiment of FIG. 3 visualizes multiple positions, which the robotic arm or its rotary axis A1 is expected to comprise or reach at various times until reaching the stop position, by illuminating corresponding circle segment-like surfaces 30 under the respective halt space of the robotic arm in these positions of the axis A1.

[0077] The system thereby illuminates in each case two rows of the respective circle segment(s) 30, 31, if reaching the imminent position or stop position is predicted in a first, extended (more extended) or greater extension of the robotic arm (cf. FIG. 3 (a)), and in each case only one row of the respective circle segment(s) 30, 31, if reaching the imminent position or stop position is predicted in a first, less extended or smaller extension of the robotic arm (cf. FIG. 3(b)).

[0078] FIG. 4 depicts a robot having a robotic arm and a system for operating the robotic arm according to another embodiment of the present invention, which corresponds to the embodiments described above with reference to FIGS. 1-3, except for the differences explained below.

[0079] In the embodiment of FIG. 4, the first visualization means 21 illuminates a circle segment-like surface 30 under the halt space of the robotic arm in the imminent first position of axis A1 in the specified first time of 1 second and a similar surface 31 under a halt space of the robotic arm in the imminent stop position of the axis A1. The first visualization means thereby increasingly augments a brightness and/or color intensity of the illuminated surface 31 and simultaneously reduces a brightness and/or color intensity of the illuminated surface 30, as indicated by the time or figure sequence FIGS. 4(a).fwdarw.(d) so that both surfaces 30, 31 are illuminated partly simultaneously and (by fading in surface 31 (cf. FIGS. 4(a).fwdarw.(b)) and fading out the surface 30 (cf. FIGS. 4(c).fwdarw.(d)) partly sequentially.

[0080] FIG. 5 depicts a robot having a robotic arm and a system for operating the robotic arm according to another embodiment of the present invention, which corresponds to the embodiments described above with reference to FIGS. 1-4, except for the differences explained below.

[0081] In the embodiment of FIG. 5, the system visualizes the imminent adjustment of the axis A1 by displaying an arrow icon 32 on the work surface under the robotic arm.

[0082] FIG. 6 depicts a robot having a robotic arm and a system for operating the robotic arm according to another embodiment of the present invention, which corresponds to the embodiments described above with reference to FIGS. 1-5, except for the differences explained below.

[0083] In the embodiment of FIG. 6, the first visualization means 21 comprises one or more rows of LEDs 22 arranged in a ring-shaped manner, which are arranged on a ring-like support 23, which is detachably attached to the robot base 10, wherein the pose of the support 23 relative to the robot base 10 is specified in a form-fitting manner by a corresponding connection geometry 24.

[0084] Additionally, a second visualization means 25 having LEDs is arranged on the carousel 11.

[0085] The system visualizes the imminent stop position as well as the various positions, which the robotic arm or its rotary axis A1 is expected to comprise or reach at various times until reaching the stop position, by the system illuminating corresponding LEDs 22.

[0086] In addition, the system visualizes the imminent adjustment of the axes A2, A3 of the robotic arm by illuminating the corresponding LEDs of the second visualization means 25.

[0087] Even though the preceding description described illustrative embodiments, it is pointed out that a plurality of modifications are possible.

[0088] For example, particularly in the embodiment of FIG. 6, the first visualization means or the row(s) of LEDs 22 arranged in a ring-shaped manner may be attached in a stationary or permanent manner to the robot base 10.

[0089] In addition, it is pointed that that the illustrative embodiments involve only examples that are in no way meant to limit the protective scope, the applications and the construction. Instead, the previous description gives a person skilled in the art guidelines for implementing at least one illustrative embodiment, wherein various changes, in particular in regard to the function and arrangement of the described components, can be undertaken without departing from the protective scope as it emerges from the claims and these equivalent combination of features.

[0090] While the present invention has been illustrated by a description of various embodiments, and while these embodiments have been described in considerable detail, it is not intended to restrict or in any way limit the scope of the appended claims to such detail. The various features shown and described herein may be used alone or in any combination. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative apparatus and method, and illustrative example shown and described. Accordingly, departures may be made from such details without departing from the spirit and scope of the general inventive concept.

LIST OF REFERENCE SIGNS

[0091] 10 Robotic arm base [0092] 11 Robotic arm carousel [0093] 13 Robotic hand [0094] 16 Robotic arm flange [0095] 20 Controller [0096] 21; 21 First visualization means [0097] 22, 22 LED [0098] 23 Ring support [0099] 24 Connection geometry [0100] 25 Second visualization means [0101] 30; 30; 30 Surface under halt space of the robotic arm in the imminent stop position [0102] 32 Icon [0103] A1 Axis closest to the robotic arm base [0104] A2-A6 More distal axes