CH701886A2 - Handling automation or robot arm, has set of visible illuminant elements arranged as matrix, where illuminant elements represent symbols that are formed as single color or multicolor pictograph or alphanumeric symbols - Google Patents

Handling automation or robot arm, has set of visible illuminant elements arranged as matrix, where illuminant elements represent symbols that are formed as single color or multicolor pictograph or alphanumeric symbols Download PDF

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Publication number
CH701886A2
CH701886A2 CH15602009A CH15602009A CH701886A2 CH 701886 A2 CH701886 A2 CH 701886A2 CH 15602009 A CH15602009 A CH 15602009A CH 15602009 A CH15602009 A CH 15602009A CH 701886 A2 CH701886 A2 CH 701886A2
Authority
CH
Switzerland
Prior art keywords
robot
robot arm
signals
illuminant
arm
Prior art date
Application number
CH15602009A
Other languages
German (de)
Inventor
Stefan Fischer
Heinz Domeisen
Christian Ruedlinger
Original Assignee
Stefan Fischer Neuronics Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stefan Fischer Neuronics Ag filed Critical Stefan Fischer Neuronics Ag
Priority to CH15602009A priority Critical patent/CH701886A2/en
Publication of CH701886A2 publication Critical patent/CH701886A2/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices
    • B25J19/061Safety devices with audible signals
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09FDISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F27/00Combined visual and audible advertising or displaying, e.g. for public address

Abstract

The automation or robot arm has a set of visible illuminant elements (1-5) arranged as a matrix, where the illuminant elements represent symbols that are formed as a single color or multicolor pictograph or alphanumeric symbols. Operating conditions e.g. movement of the automation or the arm, or changes of the operating conditions of the automation or the robot arm are indicated by switching on or switching off and/or changing of brightness and/or regular or irregular flashing and/or changing of color of the illuminant elements.

Description

Description of the prior art
Patent WO 02 086 637 describes a articulated robot, which is characterized in that it can be operated without barriers with people in the collaborating operation and has overlapping or shared workspaces with people. Industrial robots typically have signal colors to be easily perceived and are located behind barriers to exclude human hazards. Illuminated signals and acoustic signals are systematically used to signal potential and acute dangerous situations. However, the visual and acoustic display elements are spatially separate from the components and components that pose a hazard and can not represent differentiated and finely graduated hazardous situations.
Description of the invention
In order to make the work with handling machines more efficient and safer, their operating condition must be reliably and clearly signaled. This can avoid dangerous situations and injuries or damage.
The invention is based on the fact that the mechanical components of the robot arm or automatic handling machines, from which a danger can result from a collision with human body parts, are actively illuminated. Large-area and bright lighting elements can also be perceived outside the field of vision by diffuse reflections. By color changes, variation of the brightness, periodic brightness changes or flashing operating conditions or potential danger situation can be signaled and different danger levels are represented.
The acoustic representation of the operating conditions allows in a similar way to warn of potential dangerous situations.
In addition, the visual display elements and audible signals allow technical and mechanical errors, program errors or operator errors to clearly signal, which improves the ergonomics of the handling machine and simplifies the diagnosis of errors.
Examples of operating states are:
[0006] Robot in motion Robot stands still Collision was detected collision imminent Kinematics switched to "soft" Result of the self-test: error, all right, ... Program sequence started / stopped Kinematikfehler: Slip detected Brakes activated
Further operating states can be triggered by error conditions: Overheating of a component error operating errors Mechanical or electrical errors
Another aspect of the invention is the ability to respond quickly to dangerous situations without having to make mechanical contact with switching devices or with an emergency stop. The control of the robot and the influencing of the operating conditions by acoustic and speech signals makes it possible to react directly to dangerous situations without hasty and uncontrolled movements having to be carried out in order to actuate mechanical switching devices. Hasty movements in already dangerous situations pose the potential for additional hazards.
The drawing 1 shows a possible embodiment of a handling device with lighting elements for displaying the operating conditions. Depending on the color, intensity or variation of the illumination, the lighting elements 1-5 can display various operating states such as the direction of rotation of individual joints, dangerous speeds for man or collisions.

Claims (10)

1. Automatic handling device or robot arm with visible light elements arranged as a matrix or placed freely or representing symbols or light elements, which are designed in the form of monochrome or multi-colored pictograms or alphanumeric characters.
2. An automatic handling device or robot arm as in claim 1, wherein the operating conditions or changes in the operating states of the automatic handling robot or robotic arm by switching on or off and / or change the brightness and / or regular or irregular flashing and / or changing the color of the lighting elements can be displayed ,
3. An automatic robot or robotic arm, which has means for the reproduction of acoustic signals and whose operating states can be signaled by acoustic signals.
4. A handling machine or robotic arm as in claim 3, comprising means for acoustically reproducing audio signals whose operating conditions may be indicated by the reproduction of digitally stored audio signals.
An automatic handling robot or robotic arm as in claim 3, wherein the digitally stored audio signals can be changed by the users of the robot.
An automatic handling robot or robot arm as in claim 4, wherein the operating conditions are represented by the reproduction of digitally stored or dynamically generated speech signals depending on the operating condition.
7. A handling machine or robot arm as in claim 4, wherein the volume or the pitch or the playback speed of individual phonemes of the voice signals can be changed depending on the operating state.
8. A handling machine or robot arm as in claims 1-7, with lighting elements and audio signals to indicate the operating conditions.
9. An automatic handling robot or robotic arm that can display the operating status of individual components by means of lighting elements or acoustic signals.
10. Handling machine or robot arm, characterized in that it has a device for the digitization and evaluation of audio signals and that the transition of operating conditions and / or the position in the space of the tool point and / or the angle of individual joints and / or the travel speed and / or the travel paths can be controlled by acoustic or speech signals.
CH15602009A 2009-09-23 2009-09-23 Handling automation or robot arm, has set of visible illuminant elements arranged as matrix, where illuminant elements represent symbols that are formed as single color or multicolor pictograph or alphanumeric symbols CH701886A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CH15602009A CH701886A2 (en) 2009-09-23 2009-09-23 Handling automation or robot arm, has set of visible illuminant elements arranged as matrix, where illuminant elements represent symbols that are formed as single color or multicolor pictograph or alphanumeric symbols

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CH15602009A CH701886A2 (en) 2009-09-23 2009-09-23 Handling automation or robot arm, has set of visible illuminant elements arranged as matrix, where illuminant elements represent symbols that are formed as single color or multicolor pictograph or alphanumeric symbols

Publications (1)

Publication Number Publication Date
CH701886A2 true CH701886A2 (en) 2011-03-31

Family

ID=43797996

Family Applications (1)

Application Number Title Priority Date Filing Date
CH15602009A CH701886A2 (en) 2009-09-23 2009-09-23 Handling automation or robot arm, has set of visible illuminant elements arranged as matrix, where illuminant elements represent symbols that are formed as single color or multicolor pictograph or alphanumeric symbols

Country Status (1)

Country Link
CH (1) CH701886A2 (en)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014209525A1 (en) * 2014-05-20 2015-11-26 Bayerische Motoren Werke Aktiengesellschaft Method for communication between a robot and a human in the human-robot cooperation
DE102014010638A1 (en) * 2014-07-17 2016-01-21 Kuka Roboter Gmbh Method and device for controlling a robot
DE102015001575A1 (en) * 2015-02-07 2016-08-11 Audi Ag Method and device for visualizing the movement of a robot
WO2017044630A1 (en) * 2015-09-09 2017-03-16 Berskshire Grey Inc. Systems and methods for providing dynamic communicative lighting in a robotic environment
CN107073709A (en) * 2014-05-28 2017-08-18 X开发有限责任公司 The robot device that environment with joint states is indicated
ITUA20164576A1 (en) * 2016-06-21 2017-12-21 Alumotion S R L Collaborative robot, reporting system and process of reporting a move of a collaborative robot
DE102017118982A1 (en) * 2017-04-23 2018-10-25 Franka Emika Gmbh Robot and method for operating a robot
DE102017009641A1 (en) * 2017-10-17 2019-04-18 Kuka Deutschland Gmbh Method and system for operating a robot arm
US10350755B2 (en) 2016-02-08 2019-07-16 Berkshire Grey, Inc. Systems and methods for providing processing of a variety of objects employing motion planning
DE102018206019A1 (en) * 2018-04-19 2019-10-24 Kuka Deutschland Gmbh Robot system and method for operating the robot system
US10639787B2 (en) 2017-03-06 2020-05-05 Berkshire Grey, Inc. Systems and methods for efficiently moving a variety of objects
US10647002B2 (en) 2015-09-01 2020-05-12 Berkshire Grey, Inc. Systems and methods for providing dynamic robotic control systems
EP3663054A1 (en) * 2018-12-05 2020-06-10 Siemens Aktiengesellschaft Articulated arm robot
WO2020248667A1 (en) * 2019-06-12 2020-12-17 Shanghai Flexiv Robotics Technology Co., Ltd. Robot and industrial robot with light device for indicating the state of actuators
US10933541B2 (en) 2016-10-17 2021-03-02 Fanuc Corporation Robot and method of installing signal lamp in robot

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014209525A1 (en) * 2014-05-20 2015-11-26 Bayerische Motoren Werke Aktiengesellschaft Method for communication between a robot and a human in the human-robot cooperation
EP3148754A4 (en) * 2014-05-28 2018-04-18 X Development LLC Robotic devices with ambient indictions of joint status
CN107073709A (en) * 2014-05-28 2017-08-18 X开发有限责任公司 The robot device that environment with joint states is indicated
DE102014010638A1 (en) * 2014-07-17 2016-01-21 Kuka Roboter Gmbh Method and device for controlling a robot
CN105313124A (en) * 2014-07-17 2016-02-10 库卡罗伯特有限公司 Method and device for controlling a robot
US10016894B2 (en) 2014-07-17 2018-07-10 Kuka Deutschland Gmbh Method and apparatus for controlling a robot
CN105313124B (en) * 2014-07-17 2017-10-20 库卡罗伯特有限公司 Method and apparatus for control machine people
DE102015001575A1 (en) * 2015-02-07 2016-08-11 Audi Ag Method and device for visualizing the movement of a robot
US10647002B2 (en) 2015-09-01 2020-05-12 Berkshire Grey, Inc. Systems and methods for providing dynamic robotic control systems
US10265872B2 (en) 2015-09-09 2019-04-23 Berkshire Grey, Inc. Systems and methods for providing dynamic communicative lighting in a robotic environment
US10632631B2 (en) 2015-09-09 2020-04-28 Berkshire Grey, Inc. Systems and methods for providing dynamic communicative lighting in a robotic environment
WO2017044630A1 (en) * 2015-09-09 2017-03-16 Berskshire Grey Inc. Systems and methods for providing dynamic communicative lighting in a robotic environment
CN108349096A (en) * 2015-09-09 2018-07-31 伯克希尔格雷股份有限公司 System and method for providing dynamic communication illumination in robot environment
US10350755B2 (en) 2016-02-08 2019-07-16 Berkshire Grey, Inc. Systems and methods for providing processing of a variety of objects employing motion planning
ITUA20164576A1 (en) * 2016-06-21 2017-12-21 Alumotion S R L Collaborative robot, reporting system and process of reporting a move of a collaborative robot
WO2017221171A1 (en) * 2016-06-21 2017-12-28 Alumotion S.R.L. Collaborative robot, signalling system and process of signalling a displacement of a collaborative robot
US10933541B2 (en) 2016-10-17 2021-03-02 Fanuc Corporation Robot and method of installing signal lamp in robot
US10639787B2 (en) 2017-03-06 2020-05-05 Berkshire Grey, Inc. Systems and methods for efficiently moving a variety of objects
DE102017118982A1 (en) * 2017-04-23 2018-10-25 Franka Emika Gmbh Robot and method for operating a robot
WO2019076738A1 (en) * 2017-10-17 2019-04-25 Kuka Deutschland Gmbh Method and system for operating a robotic arm
DE102017009641A1 (en) * 2017-10-17 2019-04-18 Kuka Deutschland Gmbh Method and system for operating a robot arm
DE102018206019A1 (en) * 2018-04-19 2019-10-24 Kuka Deutschland Gmbh Robot system and method for operating the robot system
DE102018206019B4 (en) * 2018-04-19 2021-01-21 Kuka Deutschland Gmbh Robot system and method for operating the robot system
EP3663054A1 (en) * 2018-12-05 2020-06-10 Siemens Aktiengesellschaft Articulated arm robot
WO2020114748A1 (en) * 2018-12-05 2020-06-11 Siemens Aktiengesellschaft Articulated-arm robot
WO2020248667A1 (en) * 2019-06-12 2020-12-17 Shanghai Flexiv Robotics Technology Co., Ltd. Robot and industrial robot with light device for indicating the state of actuators

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