Method and system for operating and/or monitoring a multi-axis machine

Patent metadata

Field	Value
Publication number	US-10016895-B2
Application number	US-201615009957-A
Country	US
Kind code	B2
Filing date	Jan 29, 2016
Priority date	Jan 30, 2015
Publication date	Jul 10, 2018
Grant date	Jul 10, 2018

Abstract

A method for determining a response time of a brake of at least one assigned axis of a multi-axis machine includes actuating the axis, switching the brake, and determining a response time between a switching point in time and a response point in time at which a motion state of the axis changes. The method may further include opposing actuation of the axis while the brake is closed, and detecting a mechanical play between opposing maximum deflections of the axis. A method of operating or monitoring a multi-axis machine includes determining a response time and/or detecting mechanical play, and operating the machine or triggering a fault response based on the response time or mechanical play.

First claim

What is claimed is:

1. A method for determining a response time of a brake of at least one assigned axis of a multi-axis machine, the method comprising:
actuating the at least one assigned axis;
switching the brake at a switching point in time, whereafter the brake is actuated from an opened state to a closed state, or from a closed state to an opened state;
wherein switching the brake includes issuing a command to move the brake from the opened state to the closed state, or from the closed state to the opened state; and
determining a response time between the switching point in time and a response point in time at which a motion state of the at least one axis changes.

2. The method of claim 1 , wherein the multi-axis machine is one of a robot or a machine tool.

3. The method of claim 1 , wherein the brake is switched from an opened state to a closed state, and wherein the response point in time is a point in time at which the rotational speed of the at least one assigned axis is reduced by more than approximately 1 percent relative to the rotational speed at the switching point in time, or at which the assigned axis stops.

4. The method of claim 1 , wherein the brake is switched from an opened state to a closed state, and the response point in time is a point in time at which a torque of a drive that actuates the at least one axis and which is necessary to maintain the velocity of the at least one axis increases by more than approximately 1 percent.

5. The method of claim 1 , wherein the brake is switched from a closed state to an opened state, and the response point in time is a point in time at which the at least one axis begins to move from rest.

6. The method of claim 1 , further comprising:
detecting a change of the motion state of the at least one axis with a position, velocity, or acceleration detection device.

7. The method of claim 1 , wherein the switching point in time is a point in time at which a switching of the brake is triggered or detected by at least one of a signaling device or an energy technology device.

8. A method of operating a multi-axis machine, the method comprising:
determining a response time of a brake associated with at least one assigned axis of the machine, wherein:
determining the response time comprises:
actuating the at least one assigned axis,
switching the brake at a switching point in time, whereafter the brake is actuated from an opened state to a closed state, or from a closed state to an opened state,
wherein switching the brake includes issuing a command to move the brake from the opened state to the closed state, or from the closed state to the opened state, and
determining the response time between a switching point in time and a response point in time at which a motion state of the at least one axis changes and;

operating the multi-axis machine taking into account the determined response time.

9. A method for monitoring a multi-axis machine, the method comprising:
determining a response time of a brake associated with at least one assigned axis of the machine, wherein:
determining the response time comprises:
actuating the at least one assigned axis,
switching the brake at a switching point in time, whereafter the brake is actuated from an opened state to a closed state, or from a closed state to an opened state,
wherein switching the brake includes issuing a command to move the brake from the opened state to the closed state, or from the closed state to the opened state, and
determining the response time between a switching point in time and a response point in time at which a motion state of the at least one axis changes and;

triggering a fault response when the determined response time lies outside of a specified range.

10. A controller for operating or monitoring a multi-axis machine, wherein the machine includes at least one assigned axis and an associated brake, the controller having programming code stored on a non-transitory machine readable data medium, the programming code configured to, when executed by the controller, cause the controller to:
determine a response time of the brake of the at least one assigned axis of the machine, wherein:
determining the response time comprises:
actuating the at least one assigned axis,
switching the brake at a switching point in time, whereafter the brake is actuated from an opened state to a closed state, or from a closed state to an opened state,
wherein switching the brake includes issuing a command to move the brake from the opened state to the closed state, or from the closed state to the opened state, and
determining the response time between a switching point in time and a response point in time at which a motion state of the at least one axis changes and;

then take at least one of the following actions:
trigger a fault response when the determined response time lies outside of a specified range, or
operate the multi-axis machine taking into account the determined response time.

11. A computer program product for use with a multi-axis machine, wherein the machine includes at least one assigned axis and an associated brake, 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 controller, cause the controller to:
determine a response time of the brake of the at least one axis of the machine, wherein:
determining the response time comprises:
actuating the at least one assigned axis,
switching the brake at a switching point in time, whereafter the brake is actuated from an opened state to a closed state, or from a closed state to an opened state,
wherein switching the brake includes issuing a command to move the brake from the opened state to the closed state, or from the closed state to the opened state, and
determining the response time between a switching point in time and a response point in time at which a motion state of the axis changes and;

then take at least one of the following actions:
trigger a fault response when the determined response time lies outside of a specified range, or
operate the multi-axis machine taking into account the determined response time.

Assignees

• Kuka Roboter Gmbh
• Kuka Deutschland Gmbh

Inventors

• Monreal Karsten
• Angeli Carsten

Classifications

• G05B2219/39261

  Calculate driving torque from dynamic model, computed torque method variant · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• F16D66/00

  Arrangements for monitoring working conditions, e.g. wear, temperature · CPC title

• G05B2219/39097

  Estimate own stop, brake time, then verify if in safe distance · CPC title

• B25J9/1602 Primary

  characterised by the control system, structure, architecture · CPC title