CN108068140A - For being applied to the device and method on object - Google Patents
For being applied to the device and method on object Download PDFInfo
- Publication number
- CN108068140A CN108068140A CN201711120916.0A CN201711120916A CN108068140A CN 108068140 A CN108068140 A CN 108068140A CN 201711120916 A CN201711120916 A CN 201711120916A CN 108068140 A CN108068140 A CN 108068140A
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- Prior art keywords
- commanding apparatus
- event
- control device
- critical gap
- movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of for being applied to the equipment and method on object.A kind of equipment for being used to be applied on object (10) is provided for using.The equipment includes manufacturing and/or assembling or for transporting the commanding apparatus of object (12), especially industrial robot；It is at least one to be used to detect event (14), the sensor (20) particularly for touchless detection and for generating at least one signal (24).In addition, the equipment includes control device (21), wherein, the control device (21), which is set up, to be used for, and the movement (30) of at least one component of commanding apparatus (12) is controlled in the case of detecting event (14) within the critical gap A1 on commanding apparatus (12) and especially reduces movement velocity.Control device (21) is set up in addition to be used for, by means of being directed to the courses of work of commanding apparatus (12), limiting critical gap A1 especially for the processing of the information of upcoming motion process.
Description
Technical field
The present invention relates to a kind of for being applied to the equipment and method on object.
Background technology
Current industrial robot is suitable for implementing the work share persistently to become larger in the industrial production.Here, with more next
Bigger degree requirement flexibility, flexibility is also required in terms of man-robot-cooperation.In common working environment, machine
People can closely work together with people, and undertake considerable task herein.It is possible that by the flexibility of people and creative and machine
The accuracy and repeatable accuracy of device people is combined.For this purpose, the robot and corresponding safe practice that are not only suitable for are necessary.
Protection people from the injury of the movement of the moveable element or mobile robot of robot be in man-robot-cooperation most
Important purpose.
So far to the protection of people usually by making one and the working space of robot spatially separates to carry out.It builds therefore
Vertical obstacle physically such as protects fence, this bring therewith workshop (Produktionsst tte) space requirement, throw
The shortcomings that providing cost and flexibility aspect.
Alternatively, the conceptual scheme automated for unprotect fence is also known, in these conceptual schemes
In, virtual guard space is for example limited with surrounding the definite spacing of robot.By means of sensor, such as two-dimensional laser
Scanner or grating are invaded come infringement, i.e. people or the object detected to guard space in guard space.Signal is guided to peace
At full control device, and corresponding control instruction is given at robot, such as stopping its movement.These solution party
Case (additionally due to longer signal path) by larger guard space and correspondingly restricted robot motion and
It is outstanding, because being provided with larger safety zone.If necessary, it is necessary to use special lightweight structure robot and/or limitation
Movement velocity, to reduce risk of injury in the case of collision.
103 20 343 A1 of file DE descriptions are a kind of be used in common come-at-able working space robot cell with
The method of monitored cooperation between people.Between robot and people in relatively close situation, robot so moves so that
The spacing in its direction, speed and its counterpart makes the sensation of this person's acquisition work safety and control.Robot can consider to make
Stationary state is braked or is brought in the case of the movement velocity of dynamic path and people.The movement of people is sensed and by robot control
Device processed is assessed；Robot can be brought at its real time position with people in stationary state at any time.
10 2,004 041 821 A1 of file DE describe it is a kind of for ensure with moveable element, in machine context
The equipment of controlled executor, such as Mobile Industrial Robot in the industrial robot, using touchless acts on
Proximity sensor, to monitor working space and the relevant part of security.The safety method of subordinate is dashed forward in the following manner
Go out, i.e. assess the information of the information of the position on moveable element and the appearance on personnel or object jointly and incite somebody to action
It is converted into the corresponding control instruction for executor.Multiple areas with different safe spacings, for example safe can be limited
Area and danger zone carry out the deceleration of robot or are turned off in these areas.
The content of the invention
The task of the present invention is, provide the device and method being applied on object for using, using the equipment and
Scheme can protect people from commanding apparatus, especially industrial machine in a manner of reliable, simple, flexible and cost-effective
The injury of the movement of device people.
The task is by the equipment according to claim 1 for being applied on object and by according to claim 7
For being applied to the method on object to solve.The favourable designing scheme of the equipment is said in dependent claims 2 to 6
Bright, the favourable designing scheme of this method is described in dependent claims 8 to 10.
The first aspect of the present invention is a kind of equipment for being used to be applied on object.The equipment include for manufacture and/or
Assembling or for transport the commanding apparatus of object, especially industrial robot and it is at least one for detect event, particularly for
Touchless detection and the sensor for generating at least one signal.In addition, the equipment for being used to be applied on object includes
Control device, wherein, which, which sets up, is used for, and the feelings of event are detected within the critical gap A1 on commanding apparatus
The movement of at least one component of commanding apparatus is controlled under condition and especially reduces movement velocity.In addition, the control device is set up
For by means of being directed to the course of work of commanding apparatus, being limited especially for the processing of the information of upcoming motion process
Determine critical gap A1.
The detection of event is the identification of the appearance of event, such as is detected within the critical gap A1 on commanding apparatus
The entrance or appearance of object or to detect other parameters for example hot.Here, object can be, for example, movable or not movable
Object, building part or people.Detection is carried out in particular by means of sensor and in the working region of commanding apparatus.On
The detection of event within the critical gap A1 of commanding apparatus is included within the critical gap A1 of the component on commanding apparatus
Detection.
In one embodiment, the critical gap A1 on commanding apparatus is defined as around the critical of the commanding apparatus
Spacing A1.Alternatively, which can also be so designed that so that critical gap A1 is defined in the projection plane.Such as with this
Mode can will be in the generally horizontal plane of the spacing between the outer boundary of object and the outer boundary of commanding apparatus to working region
Projection using in a top view.
It is used in particular, control device is set up, the corresponding of sensor is handled in the case where detecting event by sensor
Signal, and in the case where handling signal carry out commanding apparatus control.Here, not eliminable be, signal is in advance
Such as it is handled by means of the signal handling equipment for the signal for being used to handling multiple sensors.It is also possible that for being applied to
Equipment on object includes multiple commanding apparatus, these commanding apparatus are controlled by means of common control device.In the situation
Under, control device, which is set up, to be used for, and at least one critical gap A1 is limited to each commanding apparatus.
The course of work can perform and/or be the upcoming course of work in real time.Especially represent upcoming work
Or motion process.In other words, control device is set up to by means of the information of the upcoming movement on commanding apparatus to limit
The critical gap A1 of protection zone is described surely.It here, can be from the control for commanding apparatus for the information of the course of work
System instructs, for example from the program through restriction for implementing these control instructions.In addition or alternatively.Information being capable of source
In any sensor and it is, for example, the value through detecting or measuring.In other words, can treatment theory value and/or actual value, so as to
Limit critical gap A1.
Deceleration to the control especially reduction of movement velocity, the i.e. movement of the movement of at least one component of commanding apparatus
Or stop.This can be for example by the power that reduces driving effect and/or by braking to obtain.Here, the control energy of movement
It is enough to be carried out in the case where handling the signal by sensor output.
Sensor especially sets up the event for detecting within the critical gap A1 on commanding apparatus.At least one biography
Sensor can be arranged at commanding apparatus and/or be arranged in the outside of commanding apparatus.
In a kind of designing scheme, set up for the sensor of the spacing between measurement event and commanding apparatus.Here,
Spacing can equally be used for example in a top view to the projection in the horizontal plane of working region.
Critical gap A1 particularly along the different directions of commanding apparatus can be it is different, on around commanding apparatus in two dimension
Or adopt different values in three-dimensional.Control device is set up to limit critical gap A1 in this case with directional correlation.
In the situation of the movement of the component of commanding apparatus, such as along the direction of motion, in the moveable element of commanding apparatus
Before compared to the protection zone that bigger is needed after the moveable element of commanding apparatus.Equipment according to the present invention as a result,
Realize the space and movement velocity of bigger.The equipment in component at layout change (Layout nderung), for example draw
It is flexible when entering aspect variation.
In particular, the not only restriction of the critical gap A1 but also detection of event all exists under regularly time interval, usually
In the range of several seconds or continuously or in real time carry out.
It is possible that make the protection zone limited by critical gap A1 in a manner that vision is appreciable to export.This
Such as realized by means of augmented reality solution (Augmented Reality-L sung) such as data glasses, and energy
Enough for example for quality assurance or for check protection region.
In other words, depending on commanding apparatus, executed the and/or pending work of such as robot or movement come into
The restriction of row protection zone.This can be, for example, the limiting in advance of protection zone, i.e. protection zone and robot be at hand
Movement matching, wherein, back side in robot, the side edge i.e. away from the direction of motion are compared at it towards the direction of motion
Side edge needs smaller protection zone.
Because detection is based on sensor result, institute is so as in order to control its course of work be to obtain thing independent of robot
First limited, the i.e. fixed control instruction control instruction that still alternatively acquisition can be flexibly matched with is detected.
Because the collision between object such as people or machine and commanding apparatus can reliably be prevented from, no longer need to face
When solution as reduced the power that occurs when colliding using lightweight structure robot.The standard of cost-effective can be used
Robot.When detecting three-dimensional events within critical gap A1, it is furthermore possible to compared to traditional face formula laser is being used to sweep
Guard space infringement is more reliably detected when retouching device.
Because fence, rolling door or other safety equipments physically need not be protected, so as to realizing working region
Preferably make full use of and the reduction of cost of investment.Commanding apparatus, the i.e. movement possibility of such as industrial robot such as may
Speed be equally increased like that.It need not maintain the static guard space with larger security.
In one design of the present invention, control device, which is set up, is used for, by means of be used for commanding apparatus at least one
The processing of a control instruction limits critical gap A1.
It means that it is for example obtained for manipulating the signal of the driver of the moveable element of commanding apparatus (Antrieb)
Processing.The protection zone limited as a result, by critical gap A1 temporarily and corresponding to safety requirements can arrange this
The required place in protection zone.Because corresponding control instruction is usually generated or is handled in control device, draw
The use that following advantage, i.e. these control instructions are used to limit critical gap A1 is simple and is less susceptible to be disturbed.
In another designing scheme of the present invention, at least one sensor is radar instruments.I.e. the radar instruments are to be based on
The sensor of radar, the sensor launch electromagnetic wave in radar-frequency band and receive the reflection of these ripples.This biography
Sensor is suitable for detecting object.The sensor usually can measure counterbody by the traveling time (Laufzeit) sensed
Distance.
In order to detect event, multiple sensors are particularly based on different detection methods and so can set up and arrange so that its
Search coverage is at least partially overlapped and/or penetrates.
It is here, that search coverage is especially covered in such as down space by sensor or overlayable, at least two-dimentional
Region, set up to detect within this space event, such as object appearance sensor.
In other words, the sensor of at least local redundancy is disposed with, so as to realize multiple independent sensors or sensing
The detection of device type.Such as radar, laser scanner, photoelectric sensor can be used as detection method
(Lichtschranke), ultrasonic wave or image processing system such as camera or 3D cameras.Such as using two or three not
Same detection method, such as radar system are combined with image processing system, such as including 3D cameras.Alternatively, can
Use detection method and computational methods.Here, detection method obviously also includes measuring method.
In general, the result of detection and/or measurement result to different sensors periodically or continuously are compared, and inclined
Difference can reduce speed or the stop motion of movement when excessive.Thus, it is possible to detection protection zone is invaded in a particularly reliable manner
Violate.
Multiple sensors can be arranged so that can carry out the spy of event in the entire working region of commanding apparatus
It surveys.
In general, multiple sensor arrangements are at the different position in the working region of commanding apparatus, entirely to work
Event of the detection within critical gap or to monitor entire working region in region.Working region include commanding apparatus or
The moving region of the component of commanding apparatus.Commanding apparatus can be mobile robot and its can sense entire moving region
And/or working region.Sensor can be coupled to each other by means of signal handling equipment and is connected with control device.The design
The advantages of scheme is that collide can be by reliable ground resistance in entire working region and equally in the case of mobile robot
Only.
In another designing scheme of the present invention, control device, which is set up, to be used for, on especially on commanding apparatus
The signal of the event detected within critical gap A1 is handled, and it is consistent with the information on the event limited up to
Few position on event redefines critical gap A1.
In other words, the speed of movement need not reduce in the event that identification has limited.Following guard space is expanded,
The guard space around event region or around it is being limited by critical gap A1, in the guard space around the region.
This event for example limited within the working region of commanding apparatus can be, for example, going out for workpiece to be processed and/or deposit
Existing, commanding apparatus is at least temporarily located near the workpiece and/or deposit.Alternatively, such as can be for example due to Welder
Heat release caused by skill.Information on the event limited is sent to control device, detected thing in a suitable manner in advance
Part is compared with the event.
Especially critical gap is redefined in the region of event.That is, in a certain direction, from event
Region is set out, and other critical gaps are applicable in, thus these critical gaps include the region of event.It is empty usually to there is following protection
Between, which surrounds the position of robot and event.It it is further possible to will be in the critical gap A1 on commanding apparatus
Outside regional ensemble into protection zone.
It is used in particular, control device is set up, receives and handle corresponding signal by sensor.The position of event can be except
Also in other ways for the position used beyond value measured by control device, for example, commanding apparatus, for from deposit
Take out the known typical position of component to be assembled or workpiece to be processed or deposit, such as attachment parts or auxiliary material
The position regularly limited.
In general, the restriction of critical gap A1 temporarily, i.e. for example only carries out in the time interval, in these time intervals
Interior, commanding apparatus is located near the position of corresponding event or corresponding equipment.
The second aspect of the present invention is for being applied to the method on object.This method comprises the following steps：Offer is used for
It manufactures and/or assembles or for transporting the commanding apparatus of object, especially industrial robot；And it provides to control commanding apparatus
Control device.In addition, this method include by control device and by means of be directed to commanding apparatus the course of work, especially for
The processing of the information of motion process limits the critical gap A1 on commanding apparatus.By at least one sensor come on
The especially touchless detection of event is carried out within the critical gap A1 of commanding apparatus, and carries out the life of at least one signal
The control of the assessment of signal and movement and especially at least one component of commanding apparatus are carried out into and by control device
Movement velocity reduction.
The method according to the invention can be performed especially with equipment according to the present invention.
In general, control device handles the corresponding signal of sensor and correspondingly in the case where detecting event
Control commanding apparatus.In the case of detecting event within critical gap A1, carried out for the purpose of controlling commanding apparatus critical
The restriction of spacing A1.
Be used for here, sensor can also be set up, between measurement event and commanding apparatus or the component of commanding apparatus between
Away from.In order to detect event, in this case by the measured spacing between commanding apparatus and event and critical gap A1 phases
Compare.
In order to perform this method, external safety control is not required compared with prior art, signal transfers usual
With longer traveling time, and delay is thus brought therewith.The control that the signal of sensor is directly used robot is set
In standby.Therefore, it is necessary to which safety zone is dimensioned to less greatly, this brings smaller protection zone and thus brings therewith
Optimization in terms of operational process.The construction of this system also due to the component of lesser amt and simpler, more cost-effective and
It is less expensive.
In a design of this method, for different in at least two-dimentional region on commanding apparatus
Individual critical gap A1 is limited for direction respectively.The detection of event is realized in a direction such, is limited in this direction
There is corresponding critical gap A1.
In a kind of designing scheme, the control of movement can be by means of the movement side on movable event that is sensed
To and/or the information of movement velocity carry out.For example, the movement of people can sense and be flowed into machine by means of sensor
In the control of the reduction of people's movement.Can also exist in addition to limit critical gap A1 in addition to the detection of event as a result,
Control variable, by means of it is described control variable can influence robot movement control.The sensing of these information can be same
Sample is carried out using sensor.Thereby, it is possible to carry out the prediction of the position to the future of event.The advantages of designing scheme is machine
The movement possibility further improved of device people, because situation about being reduced in robot wherein compared with the relative velocity of event
Under by the way that the movement of event is included, it is thus only necessary to smaller deceleration.In a kind of favourable designing scheme of this method,
Individual critical gap A1 is limited for each direction, if critical gap A1 limit on commanding apparatus, it is possible that
The virtual protection region irregularly shaped detects event in the virtual protection region.It can be from the every of the surface of commanding apparatus
A point sets out or at least limits critical gap A1 from a large amount of points on surface.In particular, the detection of event so carries out, even if
Critical gap is obtained to be vertically defined in the respective section of commanding apparatus.In the situation on the surface irregularly shaped, it can adopt
Shape that is Utopian or simplifying is received, to limit critical gap or to detect event.It is limited in the two dimension of critical gap
Situation in, this is especially carried out in a top view.
Therefore, critical gap A1 can be different along the different directions of commanding apparatus, on commanding apparatus in 3-dimensional,
Adopt different values.Therefore, depending on direction the situation not less than critical gap A1 is detected or measured.
In a design of this method, by control device by means of being directed to the course of work, outstanding of commanding apparatus
It limits the second critical gap A2 for the processing of the information of motion process.Think, the second critical gap A2 is less than critical gap
A1, critical gap A1 are alternatively referred to as the first critical gap A1.And it in the event of detection, especially touchless is detected
When, the movement of at least one component of commanding apparatus is made to stop within the second critical gap A2 on commanding apparatus.
I.e. control device can be set up and be used for, in the case of the second critical gap A2 not less than relative manipulation equipment
(second critical gap A2 compares critical gap A1 closer to the commanding apparatus), in the feelings for the signal that processing is exported by sensor
Stop the movement of at least one component of commanding apparatus under condition.In other words, the two level variation of movement is possible, wherein, make
With larger critical gap A1 for the deceleration of movement and using smaller second critical gap A2 for the stopping of movement.So
Can by means of the second critical gap A2 inside limit protection zone, and around the outside the protection zone by means of critical
Spacing A1 limits warning zone, the deceleration moved within the warning zone, to make by second critical
The protection zone limited away from A2 keeps as small as possible.
It is capable of the spacing of measurement event and commanding apparatus using sensor.Here, at least one component of commanding apparatus
The reduction of the control of movement and especially movement velocity can be carried out depending on the spacing of event relative manipulation equipment.
The stepless of the movement velocity of commanding apparatus reduces depending on it is facing compared with event or the spacing of object as a result,
It is especially possible between boundary spacing A1 and the second critical gap A2 or between critical gap A1 and robot shells.As a result,
The larger or smaller reduction of speed can for example be promoted according to spacing, i.e., depending on spacing promotes stepless speed to reduce.
By means of the second critical gap A2 can limit near the commanding apparatus inside protection zone, in the protection zone
In, movement is stopped.Under larger spacing warning zone, warning zone construction transition, in the transition are limited by means of A1
Within the deceleration depending on spacing that is moved.In the region of the larger spacing compared with commanding apparatus, at critical
Outside A1, it is possible not have the appearance of influential event or object on commanding apparatus.
The advantages of this designing scheme of this method is maximum movement and the flexibility of commanding apparatus, without
It is lost in terms of security.
In addition, the object of the present invention is a kind of computer program, which can included in non-provisional computer
In the medium of reading, and the computer program includes the computer code for performing steps of a method in accordance with the invention.
Description of the drawings
The present invention is illustrated below with respect to the embodiment being shown in the drawings.
Wherein：
Fig. 1 shows the schematic plan for manually assembling situation using traditional automation,
Fig. 2 shows the schematic plan of the automatic assembling situation using commanding apparatus according to the present invention,
Fig. 3 shows the schematic plan of the other step of the automatic assembling situation of Fig. 2, wherein, commanding apparatus implements root
According to the present invention method,
Fig. 4 shows the schematic plan of the other step of the automatic assembling situation of Fig. 2 and Fig. 3, wherein, commanding apparatus is real
Apply the method according to the invention and
Fig. 5 shows the schematic perspective diagram of the equipment according to the present invention for being used to be applied on object.
List of numerals
10 are used for the equipment being applied on object
12 commanding apparatus
14 events
20 sensors
21 control devices
22 spacing
24 signals
A1 critical gaps
The second critical gaps of A2
30 movements
40 working regions
42 workpiece
44 deposits
50 introduce and draw
52 protection fence
54 rolling doors
56 attachment parts or auxiliary material
58 personnel
60 protection zones
62 warning zone.
Specific embodiment
A kind of assembling situation is shown in FIG. 1, in the assembling situation, personnel 58 should implement the work to workpiece 42.It can
Attachment parts or auxiliary material 56 are taken out from deposit 44 and is assembled at workpiece 42.The introducing and extraction 50 of component 42 are certainly
It carries out dynamicly.Protection fence 52 and 54 protection staff 58 of rolling door are from the introducing for being used for component 42 and the movement for the equipment for drawing 50
Injury, which can be industrial robot.It is arranged to, in order to assemble, one opening of difference in rolling door 54, and another
It remains turned-off, and the introducing of component 42 and extraction 50 occurs at this.
Fig. 2 shows the assembling situation that can be compareed, according to the present invention to be used to be applied on object in the assembling situation
The commanding apparatus 12 of equipment performs the assembling of attachment parts or auxiliary material 56 from deposit 44.Commanding apparatus 12, industrial machine
Device people is lain in the position between deposit 44 and workpiece 42.Around the commanding apparatus 12 show protection zone 60 and with compared with
Big spacing shows warning zone 62.In addition, the working region 40 of commanding apparatus 12 is shown.Commanding apparatus 12 is for being applied to
A part for equipment on 10 (not shown) of object, including for controlling the control device of commanding apparatus 12 and at least one
20 (not shown) of sensor.Control device limits critical gap A1 in the case where handling the control instruction for commanding apparatus,
Critical gap A1 is shown herein as protection zone 60.If event is detected by sensor, such as object enters
It in region within critical gap A1, enters in protection zone, then carries out the reduction of the movement velocity of commanding apparatus 12；
Stop its movement under present case.
Warning zone 62 is limited by means of the second critical gap A2 (not shown) by control device.Depending on opposite behaviour
Standby spacing is longitudinally set with, the detection of event in this region causes the movement speed of the corresponding component of commanding apparatus 12 or commanding apparatus 12
The reduction of degree causes stepless deceleration herein.It is limited respectively in the 2 dimensional region around commanding apparatus for different directions
Individual critical gap A1 and A2, and along the detection of following direction progress event, define in the direction critical corresponding
Away from.The protection equipment on substance is no longer needed as protected fence and rolling door, because reliably true by the method according to the invention
The protection of personnel and object is protected.
Another step of assembling is shown in FIG. 3.Commanding apparatus 12 already takes up following location, which, which allows to accommodate, stores up
Standby 44, that is, accommodate attachment parts or auxiliary material 56 from suitable temporary storage.Critical gap A1 and A2 (not shown)
It is limited in advance, that is to say, that control device uses the information on real-time and upcoming movement for restriction A1
Or A2：Commanding apparatus 12 should take out deposit；Therefore protection zone is made to expand on corresponding temporary storage.
The close or relative position of deposit relative manipulation equipment 12 is the event 14 limited, which is set by control
It is standby to identify.Control device redefines critical gap A1 on the position of event and carries out protection zone 60 and warning area
The expansion in domain 62, so that these protection zones and warning zone include the position of temporary storage together.For this purpose, control
Control equipment has been obtained to the access on working space or the information of the event limited 14 in a suitable manner in advance.
Similar image show that in the images, warning zone 62 and protection zone 60 are expanded in workpiece 42 in Fig. 4
One on, attachment parts or auxiliary material 56 may fitted to thereon in the work step shown.
Fig. 5 shows the schematic perspective diagram of the equipment 10 according to the present invention for being used to be applied on object.The left side is shown
Commanding apparatus 12, is implemented as industrial robot, which just implements movement 30.Three 20 such cloth of sensor
It puts so that they monitor the entire working region 40 of commanding apparatus 12, wherein, search coverage is at least partially overlapped and wears
Thoroughly, corresponding signal 24 is provided when and detecting event 14 within the critical gap A1 and/or A2 around commanding apparatus 12.
Such event 14 is, for example, the appearance of personnel or vehicle in corresponding region.
Sensor 20 shown herein is for example for setting up measuring the radar sensor and/or laser scanner of spacing.
The signal 24 of sensor 20 is bundled and is conveyed at control device 21 by means of signal handling equipment 21, again by the signal
It is converted into for the control instruction of commanding apparatus 12.Shown event 14 is to projection (this in the horizontal plane of working region
Place is the appearance of object respectively) with the moveable element of commanding apparatus 12 to the projection in just that (ebenjene) plane
The spacing 22 measured in a top view is more than critical gap A1 and A2.In addition, direction and/or the speed of movement 30 on event 14
The information of degree is sent at control device, and is used for control robot at this.In the current situation, only in upper left
The direction of the movement 30 of the event 14 just shown stretches towards warning or guard space.Because certain similarly commanding apparatus 12 is with phase
The movement 30 that same speed implementation is directed toward in this direction, so the movement of commanding apparatus is uncontrolled or will not slow down.In order to
It expresses clearly, the critical gap A1 and A2 to stretch on the direction of the event shown in lower right or object 14 is shown, they are in phase
The extension of warning zone 62 and protection zone 60 is limited on the direction answered.
Claims (10)
1. one kind is used for the equipment being applied on object (10), including
- commanding apparatus (12), especially industrial robot are used to manufacture and/or assemble or for transporting object,
- at least one sensor (20) is used to detecting event (14), particularly for touchless detection, and for generating
At least one signal (24) and
- control device (21), wherein, the control device (21), which is set up, to be used for, on the critical of the commanding apparatus (12)
The movement (30) of at least one component of the commanding apparatus (12) is controlled in the case of event (14) is detected within spacing A1
And especially reduce movement velocity,
It is characterized in that, the control device (21) sets up be used in addition, by means of the work for being directed to the commanding apparatus (12)
Process limits the critical gap A1 especially for the processing of the information of upcoming motion process.
2. the equipment according to claim 1 for being used to be applied on object (10), which is characterized in that the control device
(21) set up and be used for, it is described critical to limit by means of being used for the processing of at least one control instruction of the commanding apparatus (12)
Spacing A1.
3. the equipment for being used to be applied on object (10) according to any one of claim 1 and 2, which is characterized in that extremely
A few sensor (20) is radar instruments.
4. according to the equipment for being used to be applied on object (10) described at least one of in claims 1 to 3, which is characterized in that
In order to detect event (14), multiple sensors (20) are particularly based on different detection methods and so set up and arrange so that it is detected
Region is at least partially overlapped and/or penetrates.
5. according to the equipment for being used to be applied on object (10) described at least one of in Claims 1-4, which is characterized in that
Multiple sensors (20) in the entire working region (40) of the commanding apparatus (12) arranged so that can carry out event
(14) detection.
6. according to the equipment for being used to be applied on object (10) described at least one of in claim 1 to 5, which is characterized in that
The control device (21), which is set up, to be used for, on especially being detected within the critical gap A1 on the commanding apparatus (12)
The signal of event (14) handled, and at least with the event when consistent with the information on the event limited
(14) position redefines the critical gap A1.
7. it is a kind of for being applied to the method on object, include the following steps
- provide to manufacture and/or assemble or for transporting the commanding apparatus of object (12), especially industrial robot,
- control device (21) is provided, it is used to control the commanding apparatus (12),
- by the control device (21) by means of being directed to the course of work of the commanding apparatus (12), especially for being moved through
The processing of the information of journey limits the critical gap A1 on the commanding apparatus (12),
- especially touchless within the critical gap A1 on the commanding apparatus (12) by least one sensor (20)
Ground detection event (14), and generate at least one signal (24) and
- signal assessed by the control device (21) and controlled motion (30) and especially reduces the commanding apparatus
(12) speed of the movement (30) of at least one component.
8. the method according to claim 7 for being used to be applied on object, which is characterized in that
- limit in at least two-dimentional region on the commanding apparatus (12) for different directions and individually face respectively
Boundary spacing A1 and
The detection of-event (14) is realized in a direction such, defines corresponding critical gap A1 in this direction.
9. the method for being used to be applied on object according to any one of claim 7 and 8, which is characterized in that pass through institute
State control device (21) by means of be directed to the commanding apparatus (12) the course of work, especially for motion process information place
Reason limits the second critical gap A2, wherein, the second critical gap A2 is less than the critical gap A1, and in detection event
(14) in situation, especially make in the situation of touchless detection the commanding apparatus (12) at least one component movement
(30) stop within the second critical gap A2 on the commanding apparatus (12).
10. according to the method for being used to be applied on object described at least one of in claim 7 to 9, which is characterized in that utilize
Sensor (20) measures the spacing (22) of the event (14) and the commanding apparatus (12), and depending on the event
(14) spacing of relatively described commanding apparatus (12) come realize it is described movement (30) control and especially described commanding apparatus (12)
At least one component movement (30) speed reduction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| DE102016222245.7 | 2016-11-14 | ||
| DE102016222245.7A DE102016222245A1 (en) | 2016-11-14 | 2016-11-14 | Device and method for acting on objects |
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| CN108068140A true CN108068140A (en) | 2018-05-25 |
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| WO2023066465A1 (en) * | 2021-10-19 | 2023-04-27 | Abb Schweiz Ag | Methods of handling safety of industrial robot, control systems, and robot system |
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| JP7243979B2 (en) * | 2018-12-14 | 2023-03-22 | オムロン株式会社 | Robot interference determination device, robot interference determination method, robot control device, robot control system, human motion prediction device, and human motion prediction method |
| DE102020102916A1 (en) | 2020-02-05 | 2021-08-05 | Carl Cloos Schweißtechnik Gesellschaft mit beschränkter Haftung | Method for safety control of a beam source arranged on a multi-axis manipulator and associated device |
| DE102022110645B3 (en) | 2022-05-02 | 2023-05-17 | Sick Ag | Method for improving a pre-planned motion sequence for controlling a robot |
| CN115056263A (en) * | 2022-06-16 | 2022-09-16 | 芜湖赛宝机器人产业技术研究院有限公司 | Robot collision avoidance test detection device |
| DE202022106140U1 (en) | 2022-11-02 | 2023-08-01 | Leuze Electronic Gmbh + Co. Kg | monitoring device |
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