• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Industrial work devices require well-trained users and a high incorporation cost. The invention relates to a work device with an image recording means 132 by means of which the recorded image information is convertible into computer-readable image data. In this way the basis for a simplified use of the work device is created.
    公开号:SE1550290A1
    申请号:SE1550290
    申请日:2015-03-11
    公开日:2015-09-21
    发明作者:Christoph Kauth
    申请人:Bosch Gmbh Robert；
    IPC主号:
    专利说明:

    The working device comprises an image recording means, preferably an image recording sensor, such as for instance a CCD sensor, by means of which the recorded image information is converted into computer-readable image data. The image recording means is preferably integrated in the housing of the work device. Alternatively, the working device may also comprise a device, by means of which an above-mentioned image recording means can be electrically and / or mechanically connected to the tool. For example, in such a case the image recording means may be arranged in a separate housing, which may preferably be mechanically arranged or inserted at the housing of the working device, for example in a recess provided for this purpose on the housing of the working device. This has the advantage that the image recording means is easy to mount afterwards and can be offered as an additional alternative for the working device. An electrical connection, for example a connector, is then also provided in the recess, so that image data from a subsequently mounted image recording means can be transferred to the housing of the work device. In this case, an electrical connection must be provided, which ensures that image data can be transmitted from an external or integrated image recording means. This can be both a wired connection and a radio connection.
    Thus, the base is created to electronically register the environment of the work device and based thereon further automate the use of the work device, so that the use of the work device can be simplified.
    Advantageous developments or further developments, which can be used separately or in combination with each other, are the subject of the following description.
    It is preferred that the working device is designed to realize a connection to a control, the control preferably being included by the working device and being suitable for controlling closed program processes in a fully automatic manner. In addition to the selection of functions of the work device, the control itself provides closed program processes, whereby the entire work processes can be fully automated. The scope of the program sequences is either already predetermined or the user can add new program sequences or replace existing program sequences with new program sequences. The control can in principle also be arranged outside the working device. In such a case, a connection between the working device and the control is provided. This connection can be realized wired or radio-based. In the latter case, a radio module (WLAN, Bluetooth, mobile radio modules: LTE, UI / ITS, etc.) would then be provided in the work device.
    The existence of such a control system simplifies the above-described automation of the operation of the work device, therefore the control is realized in such a way that it has the overall control over all functions of the work device.
    It is also preferred that the working device is configured to realize a connection of the image recording means to the image processing means, the image processing means preferably being included by the working device. In addition, there is an external data memory or integrated in the working device, by means of which image data registered by the image registration means can be stored in digital form.
    The image processing means also serves to analyze the recorded image information and compare with reference image information. The reference image information is also stored in the image data memory. The image processing means is designed in such a way that the result of the analysis is passed on to the control or can be read by the control, so that actions dependent on the analysis result can be triggered by the control. Specifically, with regard to the registered image, it may be the image of a workpiece, which is to be processed by means of the work device or on which the work is to be performed by means of the work device. The image processing means analyzes the image of the registered workpiece and compares it with images of a reference workpiece, which is, for example, stored in the image data memory or in a possible parent database. If the analysis shows that the images correspond, the program sequence suitable for the workpiece or a suitable work device function can be performed fully automatically by means of the control result, taking into account the analysis result, without the user having to have detailed knowledge of the program processes / functions suitable for the workpiece. The concept of functions shall be understood by the user on the work device feasible settings, while by the term program sequence shall be understood by the user selectable and in itself completed work processes. Preferably, the image processing is realized by means of the control, i.e. to the hardware for the image processing part of the hardware of the control, running on the same processor. Thus, incorporation phases are reduced by the user and when changing a task intended for execution, a friction-free transition can be made possible as far as possible.
    It is further preferred that it comprises an image indicator means, for example in the form of a display with integrated or separate control logic, on which the image registered by means of the image processing means can also be illustrated. In addition, the image indicator means may be designed in such a way that at least one additional image information can be displayed simultaneously and superimposed on the registered image. This has the advantage that the user can perceive the workpiece visually on the image indicator means and that additional information can be visualized immediately at the image of the workpiece for the user.
    By means of the image indicator means, errors occurring during the execution of the task can also be visualized, eg if a task-specific parameter registered during the task does not correspond to the specification (eg required torque for a screw at a specific workpiece point).
    During a work process carried out by means of the working device, internal mechanical or electrical changes occur, which can be registered by means of corresponding parameters. For example, these may be forces acting on the mechanics of the work device, which by means of force sensors such as strain gauge strips, are electrically registrable or they may be electrical parameters, such as the current occurring in the electric motor and the like. Preferably, at least one measuring means is included, which registers such parameters during the operation of the working device and can lead on to the control. This serves to further automate the processes and, for example during a program process, integrate with changes occurring in the machine control on or in the machine, in order to carry out, for example, a set / comparison.
    Preferably, the working device comprises an electric drive drivable by means of the electric motor, preferably with a coupling point for a device, so that by means of the working device the feasibility of the work on a workpiece is realized such as screw work, crimping, riveting, nailing, punching, welding or comparable joint work.
    For carrying out screw work, for example, a device in the form of a screw socket wrench or a bit is connected to the output gear using the coupling point. For carrying out rivet work or punching work, for example, a chuck is provided for picking up rivets. For the further mentioned works, suitable known devices must be selected and connected to the output gear. In the use of welding, the image recording means is designed to optically record the welding work intended by the welding rod and forward image data to a welding guide. In this case, the electric motor serves to position the welding rod arms / welding electrodes.
    Alternatively, an output gear drivable by means of the electric motor can be provided, which is designed for receiving such a type of tool, so that by means of the working device the feasibility of the work for machining a workpiece such as drilling, milling, grinding and the like is realized. When drilling, a drill chuck is used. For the other mentioned works, suitable known devices are selected which are connected to the output gear.
    A method according to the invention for operating an above-mentioned work device comprises the steps of registering the direct environment of the work device and converting the recorded image information into computer-readable image data, said image data being analyzed by means of an arranged image processing means and the analysis result taken into account in controlling the work device.
    Other optional steps consist in that the analysis result in selecting a program for the work device for finishing a complete and in itself closed work process is taken into account or that the ambient image on an image indicator means included in the work device is illustrated, preferably supplementary together with additional information relevant to the ambient image. In addition, the additional information can originate from a higher-level device, which is in communication with the work-on device, whereby preferably also image data is transferred from the work-on device to the higher-level device.
    If the hardware of the work device is supplemented with a microphone or with a microphone input and / or with a loudspeaker or a loudspeaker output, the user can communicate with a person who is present at the higher device.
    This person can simultaneously see the image transmitted by the camera on a monitor of the device and instruct the user of the work device by means of connected information on the display of the work device and / or by means of speech instructions. The transmission of audio information between workers and work equipment can take place, for example, by means of a Bluetooth voice equipment, which the user wears on the body. In this case, the work device is also equipped with a Bluetooth module.
    Furthermore, the invention comprises a device with a robot or with a machine and with a working device as described above. The analysis results of the image processing means can thus also be taken into account in machine control or in robot control. The criteria described above can be important for the realization of the invention in its various designs both separately and also in any combination.
    The invention is further elucidated in the following by means of schematic drawings of several embodiments with further details. The examples should not be construed as concluding. The idea underlying the invention is in principle also conceivable for work devices which are used outside industrial uses, such as work devices for craftsmen or end consumers.
    The following use examples according to the invention will be elucidated within the framework of the mentioned figures, in which case Figure 1 shows a device for carrying out screw work and Figure 2 shows a device for carrying out pressing work and Figure 3 a welding rod.
    The device according to Figure 1 serves for carrying out screw work - designed as a hand screwdriver or as a stationary screw spindle - and comprises a housing 110. The housing 110 in turn comprises at least one output gear 111, a drive device 113 and a motor 114 and preferably also a torque catcher 112 and a rotor position sensor 115.
    The output gear 111 is drivable by means of the motor 114 and using the drive device 113. Of the screwdriver housing 110, an integrated screw process control means 116 for carrying out a screwing process which is completely completed in itself is included.
    The screwdriver is at least occasionally autonomous and drivable independent of a superior screw process control 131, by means of the internal control means 116. The screwdriver can communicate with the superior screw process control 131 or also with other devices 131, 126 by radio 129 (eg access point / router) and exchange data with these devices 131, 126 (screw programs, performance data and the like). The screw process control means 116 comprises as components at least a microprocessor 117 with memory 117a or a storage recording device 117b and preferably also a measuring module 118 and a servo amplifier 119. The input module 118 is connected 123 to the output of the torque receiver 112. The servo amplifier 119 is connected to the rotor position sensor 115 by means of a connection 122 and to the measuring module 118 by means of a further, separate connection 127. The connection 127 is a data bus, which enables a cross-communication between the components 117, 118, 119, 120. The motor 114 can and output data to the torque recorder 112 is controlled by a screw program executable by the microprocessor 117. The nlikroprocessor 117 reads the screw program from the memory 117a or from a flash memory card inserted in the storage recording device 117b. Input / output devices 120 as further included components realize a human-machine interface (eg between screwdriver and user via keyboard and display) and / or a machine-machine interface (eg between screwdriver and PC via data interface) preferably with visualization of data relevant to the screwing process (eg by means of a color display 124) for the user. Near the output gear 111 or directly next to the output gear 111, the image recording means 132 is arranged or a device 133 for mechanical and electrical connection of a above-mentioned image recording means 132 is provided. At the same time, the screw process control means 116 takes over the function of image processing / image analysis 130.
    The radio-battery-driven screwdriver based on the invention by the applicant includes all the necessary details for the realization of safety-critical screw connections such as result storage, result output and result documentation. An integrated transmitter 121 transmits screw connection data by radio to a receiving station 128, 131, for example during integration of an access point. In the event of a short-lived radio shadow, the integrated electronics buffer data in the screwdriver and reproduce them as soon as a radio connection 129 exists again. This ensures 100% documentation of all processes and ensures high availability and contributes significantly to process safety.
    The fully integrated control and power electronics abolishes the division into several components, connected via power and communication cable, so to speak. A color display 124 is available for parameterization and worker information for the screwdriver. An integrated bright LED always ensures optimal lighting of the screw stand, even in changing lighting conditions. Based on the colored background of the display image (eg red / green), one can conclude from the result of the screw connection just made by the spindle. According to the invention, torque up to 50 Nm will be achieved and lithium-ion accumulators ensure safe operation. On display 124, the image information generated by the image recording means 132, 133 and the additional image information provided by the screw process control means 116 or a superior device 128, 131 can also be connected. Audio devices (microphone input, speaker output, respectively microphone or speakers) 126 and / or a Bluetooth module 125 for audio data transmission ensure the acoustic connection of the user of the working device to a superior device 128, 131.
    The device according to Figure 2 serves for the execution of pressing-in work and is designed as a riveting machine, which serves for setting off blind rivets or blind nuts consisting of a riveting sleeve and a peelable riveting pin. This is an accumulator device for manual operation. An apparatus head 210 with nozzle for holding the rivet pin is provided. Along the same shaft 213, adjacent to each other the apparatus head 210 and / or a force sensor with rivet pin bushing 209 and / or a trapezoidal or ball spindle 207 with rivet pin bushing and / or preferably a rivet pin container 212 are arranged. The rivet pin held during assembly of the nozzle can thus, after being pulled off, be passed through the above-mentioned components 210, 209, 207 to the rivet pin container 212. The trapezoidal or ball spindle 207 is driven by means of an electric motor 205, preferably in connection with a drive device 206, possibly with assembly . Arranged on the trapezoidal or spherical spindle 207 is a path sensor 208, which can detect the path traveled by the trapezoidal or spherical spindle 207 directly or indirectly, by means of the angle of rotation traveled by the trapezoidal or spherical spindle 207. Alternatively, the path sensor 208 may also be provided at the motor 205.
    Reference numeral 211 characterizes a control electronics with a communication module and display, which may be at least partially covered by the housing. The rivet pin container 212 may also be at least partially covered only by the housing. The entire above-mentioned device is electrically supplied by means of an accumulator 201, in addition to which a cable bundle 203 is provided. The start switch 204 is used for switching on and off. Reference numerals 202 characterize the interface with power electronics for controlling the motor 205. At least the components 202, 203, 205, 206, 207, 208, 209 are completely enclosed by the housing of the riveting machine, preferably also the component 211. The control electronics 211 are equipped with a data memory and connected to the sensors 208, 209 in such a way that it can store and / or evaluate the amount of data continuously supplied by the sensors during a setting process in the data memory. Preferably, the riveting machine according to the invention comprises a radio module 214, preferably a WLAN module and / or mobile radio module (GSM / G3 / G4), for wireless transmission of process data or stored data to a superior controller 215.
    Both modules can also be activated alternately, for example depending on the signal quality and the connection to data networks. By process data is meant continuous data streams, which are generated during the settling process by blind rivets or blind rivet nuts by means of the force and path sensors and thus constitute characteristic data for a specific settling process, which among other things allow a quality analysis (force-road data). Such a quality analysis can be performed using reference data sets (power-path data) either by means of the internal control electronics 211 and / or by means of a superior device 215.
    The same applies to image processing and associated image data. In the display of the integrated machine control electronics 211, in addition to a pure OK / NOK information (NOK = not OK), power-path curves or related analysis results can also be shown to the user. A parent device 215 uses an external display for this purpose. Such analyzes then allow evaluation of the force-path diagram of each individual rivet connection, which has been realized within a production line. The image recording means 216 is comprised of the apparatus head 210 or a device 217 is provided for mechanical and electrical connection of an above-mentioned image recording means 206 to the riveting machine. The control electronics 211 simultaneously takes over the function of image processing / image analysis, alternatively this is performed by the superior device 215, which communicates by radio with the riveting machine. The machine according to Figure 3 is a welding robot 301 and serves to perform a welding connection by means of a welding rod 302. The image recording means 303 or a corresponding receiving device for such an image recording means 303 is integrated in the welding rod 302, which is hingedly mounted on the pivotable arm of the robot and follows the arm. all movements. The welding guide (not shown) includes the image processing means.
    In the uses shown above, according to the invention, a camera is arranged near the part of the work device which in operation faces a workpiece, by means of which the work task intended for execution is electronically recordable. The image processing software calculates the camera position and / or camera direction, so that the 1: 1 workpiece is virtually electronically imitable. An image processing also includes an image registration, which assigns the image to a task and causes the appropriate progress program for the task to be performed to be automatically loaded and executed by the controller. If the progress program is not present on the control, it can now also, for example, be first loaded and then provided for the execution by a superior device 215, 31, 16. The invention can also function with a working device with central control 215, 31, 26. Here, however, measures must be taken so that the image information is transferred to the central control. In / managed WLAN or wired solutions this can be done. The ideas described above apply in principle to all tools, by means of which complex work is to be carried out by a user and which are connected to a control, especially for work, which is carried out under high time pressure and at high quality requirements, for example in car designs or in aircraft designs by screwdrivers , welding machines, riveting machines, punching machines, drilling machines and the like. The criteria presented in the above description, claims and drawings may be of importance for the realization of the invention both separately and also in any combination.
    权利要求:
    Claims (14)
    [1]
    Work device, comprising an electric motor (114) for the operation of the work device, characterized in that an image recording means (132) is included, by means of which a recorded image information is convertible into computer-readable image data, or that a device (133) for mechanical and electrical connection of an above-mentioned image recording means (132) for the working device is provided.
    [2]
    Work device according to claim 1, wherein this is configured to realize a connection to a control (116, 131, 128), wherein the control (116) is preferably included in the work device and is suitable for predetermining or controlling in itself closed work processes of the work device. .
    [3]
    Working device according to claim 1 or 2, wherein this is configured to realize a connection of the image recording means (132) to an image processing means (130), wherein the image processing means (130) is preferably comprised of the working device, wherein also an analysis of the image information is feasible by means of the image processing means (130).
    [4]
    Work device according to claim 3, wherein a control function provided by the control (116, 131, 128) provided for the work device or a program provided by the control (116, 131, 128) for the independent work of a work process taking into account the analysis result is selectable or feasible.
    [5]
    A working device according to any one of the preceding claims, wherein an image indicator means (124) is included and configured to also illustrate an image registered by the image recording means (132).
    [6]
    The working device according to claim 5, wherein the image indicator means (124) is constructed in such a way that at least one additional image information is displayable simultaneously and superimposed on the image registered by the image recording means (132). 12
    [7]
    A working device according to any one of the preceding claims 1 to 6, wherein at least one measuring means (112) is included, by means of which a mechanical or electrical parameter for the working device is recordable.
    [8]
    Work device according to any one of claims 1 to 7, wherein an output gear (111) drivable by means of the electric motor (114), preferably with a coupling point for a device, is provided, so that by means of the work device the work is performed on a workpiece such as screw work, crimping , rivet work, nailing, punching work, welding work, soldering work, gluing work or comparable joint work realizable.
    [9]
    A working device according to any one of the preceding claims 1 to 7, wherein an output gear (111) drivable by means of the electric motor (114) is provided, which is designed for receiving a tool in such a way that, by means of the working tool, the work is performed for machining a workpiece. such as drilling work, milling work, grinding work and the like realizable.
    [10]
    A method of operating a working device with an electric motor (114) for operating the working device, wherein an image recording means (132) is included in the working device or connected to the working device (133), by means of which the direct environment of the working device is recorded and analyzed by an image processing means. (130), the analysis result being taken into account during the control of the working device by means of a control (116, 131, 128).
    [11]
    Method according to claim 10, wherein the analysis result is taken into account in the selection of a program provided for the work device by means of the control (116, 131, 128) for finishing a complete and in itself closed work process.
    [12]
    A method according to claim 10 or 11, wherein the ambient image is made visible to a user on an image indicator means (124) comprised by the working device, preferably supplementary with additional information relevant to the ambient image and provided by the control (116, 131, 128). 13
    [13]
    A method according to claim 12, wherein an additional information also originates from a higher-level device (131, 128), which is in communication connection (129) with the working device and preferably also transmits audio data to the working device.
    [14]
    A method according to claim 13, wherein image data and preferably also audio data are transmitted from the working device to the parent device (131, 128), preferably by radio by means of Bluetooth and / or WLAN.
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    引用文献:
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    法律状态:
    优先权:
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