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

Patent metadata

Field	Value
Publication number	US-10953546-B2
Application number	US-201816011156-A
Country	US
Kind code	B2
Filing date	Jun 18, 2018
Priority date	Jan 30, 2015
Publication date	Mar 23, 2021
Grant date	Mar 23, 2021

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 mechanical play of a brake of at least one assigned axis of a multi-axis machine, the method comprising:
opposing actuation of the at least one assigned axis while the brake is closed; and
detecting a mechanical play between opposing maximum deflections of the at least one axis.

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 2 , wherein the at least one axis is actuated by the motor with at least one of a specified rotational speed, or a specified torque.

4. The method of claim 1 , wherein:
opposing actuation comprises actuating the at least one axis several times while the brake is closed; and
detecting the mechanical play comprises determining a total mechanical play between opposing maximum deflections of the at least one axis from individual mechanical plays which are detected during the several actuations.

5. The method of claim 1 , wherein the at least one axis is actuated by a motor with at least one of a specified velocity or a specified force.

6. The method of claim 5 , wherein the force is specified as at least one of:
a function of friction;
a function of a gravitational force; or
based on a nominal force of the brake.

7. The method of claim 6 , wherein the force is model-based or based on a specified actuation.

8. The method of claim 6 , wherein specifying the force as a function of a gravitational force comprises specifying the force as a function of the machine position.

9. The method of claim 6 , wherein the nominal force of the brake is a maximum nominal force.

10. A method of operating a multi-axis machine, the method comprising:
determining a mechanical play of a brake associated with at least one axis of the machine, wherein:
determining the mechanical play comprises:
opposing actuation of the at least one assigned axis while the brake is closed, and
detecting the mechanical play between opposing maximum deflections of the axis; and

operating the multi-axis machine taking into account the determined mechanical play.

11. A method for monitoring a multi-axis machine, the method comprising:
determining a mechanical play of a brake associated with at least one axis of the machine, wherein:
determining the mechanical play comprises:
opposing actuation of the at least one assigned axis while the brake is closed, and
detecting the mechanical play between opposing maximum deflections of the axis; and

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

12. 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 mechanical play of the brake of the at least one axis of the machine, wherein:
determining the mechanical play comprises:
opposing actuation of the at least one assigned axis while the brake is closed, and
detecting the mechanical play between opposing maximum deflections of the axis; and

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

13. 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 mechanical play of the brake of the at least one axis of the machine, wherein:
determining the mechanical play comprises:
opposing actuation of the at least one assigned axis while the brake is closed, and
detecting the mechanical play between opposing maximum deflections of the axis; and

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

Assignees

• Kuka Deutschland Gmbh

Inventors

• Monreal Karsten
• Angeli Carsten

Classifications

• F16D66/00

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

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• B25J9/1651

  acceleration, rate control · CPC title

• B25J9/1602 Primary

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

• G01L5/28

  for testing brakes · CPC title