DD207669A1 - COLLISION PROTECTION DEVICE FOR FREEPROGRAMMABLE WORK EQUIPMENT - Google Patents

Abstract

The invention relates to a device for collision protection for programmable work equipment such as industrial robots, handling equipment and the like. Which has a limited flexibility in schaedigenden actions on the Arbeitsgeraet from any direction and triggers a certain force on this a self-acting protection shutdown of the drive. While maintaining a high positioning accuracy, the object is to provide a collision protection device, which has small radial dimensions and allows axial passage of leads, auxiliaries and the like. By the device itself. According to the invention, this is achieved in that a continuous, rohrfoermige recording is provided, which is guided on the one hand in a double-conical bore of a Grundkoerpers, on the other hand connected to a centering cone, wherein the centering cone in a Zentrierhülse and stored by a spring-loaded, on the Centering cone is fixed on seated bumpers.

Description

Title of the invention:

Device for collision protection for freely programmable implements

Field of application of the invention:

The invention relates to a device for collision protection for programmable equipment such as industrial robots, handling equipment and the like. In the course of a power transmission element of the implement with a drive that has a limited compliance with damaging effects from any sighting and triggers an automatic protection shutdown from a certain force on the implement ·;

Characteristic of the known technical solutions:

In the case of automatically guided, freely programmable implements, for example B industrial robots, there is the danger, especially in confined spaces, that the implements inadvertently collide with workpieces, devices, parts and thereby become damaged or destroyed. This often results in unreasonably high costs for their repair as well as loss of production · Due to the elastic arrangement of the tools, it is possible to conditionally compensate for minor inaccuracies and component tolerances and to possibly damage the tools

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be reduced, however, especially in operationally acting on the implements external forces through attached cables or hoses often causes excessive deterioration of positioning accuracy. , '

From DD-PS 143 226 a device for collision protection for industrial robots is already known, which ensures the implement sufficient positioning accuracy. Only after the external forces in a collision have exceeded a certain, structurally set threshold, the implements can escape by means of a gimbal, while a switching device is triggered, which stops the drives. The disadvantage of this device is the fact that only external moments can cause the function of the device and that this device can be used only for selected implements due to their constructive, relatively bulky structure »In DE-OS 27 17 871 is a securing device for a handling device described, the. at dangerous high external forces from arbitrary sightings ensures compliance of the implements and simultaneously shuts off the associated drives. For this purpose, in the course of a power transmission member of a handling device with a drive an approximately cup-shaped receptacle is provided in which a disc is arranged, which by at least three eccentrically clamped springs are held against the bottom of the receptacle at a distance and between both an outwardly reaching, switching element is introduced ·. ,

This solution has the disadvantage that in order to ensure a sufficient positioning accuracy relatively large radial dimensions of the receptacle are required so that the external moments occurring in normal operation do not lead to a deflection of the implements. Another disadvantage is also that the operation

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of the switching element in the middle of the devices is triggered to an independent of the direction of movement Ab-. ensure switching. As a result, a central feedthrough of power and Hilfssstbffe is not possible *.

Finally, DE-OS 3 004-015 describes a releasable holding device between a holding arm and a carrier of a handling device, which improves the aforementioned securing device with respect to sliding movement when the arm is touched and the tool is changed. In one embodiment, two base plates are interspersed centrally of pipe sections that lie within these parts of splashing together with the interposition of a seal. , This solution has the disadvantage that in order to achieve a reliable signal delivery and thus a safety shutdown a relatively large radial receptacle with at least three contact switches is necessary.

Object of the invention:

The invention aims to ~ at devices of the type mentioned damage to the implements or "other parts to prevent by the implements.

Wes, en of the invention:;

The invention has for its object to provide a device for collision protection for programmable tools, especially for MAG welding robot, which has a small size in the radial direction while maintaining a high positioning accuracy, an axial feedthroughs, auxiliaries and the like. Through the Device itself allowed as well as a limited evasion of the tools in any direction with delivery of a

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Signals guaranteed.

Another object of the invention is to provide a compact, space-saving unit of collision protection device and implement.

According to the invention, this object is achieved in that the device has a continuous tubular receptacle, which is guided on the one hand in a double-conical bore of a body, on the other hand connected to a centering cone, wherein the centering cone in a extending between the base body and Zentrierkegelspitze hollow cone-shaped centering supports and of a spring-loaded, seated on the centering cone cup-shaped ram is fixed ·

According to a feature of the invention, the plunger relative to the wall of the centering sleeve on a radially circumferential Hing- • groove, which is opposite to a hole in the centering sleeve in the resting state of the plunger and in the bore a ball is arranged, to which directly or indirectly a switching element attacks *

In a particularly advantageous manner, parts or punctures of the implement can be integrated within the collision protection device, if, according to another feature of the invention, the receptacle is designed as a burner tube receptacle, such that the one widening end of the receptacle is formed as a hollow cable connection, while the opposite End serving as a receiving piece for a welding torch and between two, preferably below the extension of the receptacle, a protective gas connection is supplied ·

Finally, it is a feature of the invention that the centering cone is axially adjustable on the receptacle. Act on the recording lateral forces that exceed a predetermined size, this can twist in the double-conical bore and displaced simultaneously by the sliding of the centering cone in the centering and causes, as with a direct axial force, a displacement of the spring-loaded

Pestle, while doing the ball. The particular advantage of the invention is to be seen in the fact that the device has very small rings radial dimensions and a central feedthrough of conduits or flow channels allowed, so properties, as used especially for the application as a welding torch on welding robots, but are not limited thereto alone.

Ausführungsbeispie1:

The invention will be explained in more detail using an exemplary embodiment. In the accompanying drawing show:

Referring to Fig. 1, a longitudinal section through the device follows

the invention, .

Pig · 2 a representation as in Pig »1, partly in

Cut, .

FIGS. 3 and 4: a representation according to Pig. 2 in each one

deflected state of the recording, Pig · 5 the device according to the invention in conjunction with a MAG welding torch.

Construction:

In a double-conical bore of a main body 1 connected to a drive, not shown, a tubular receptacle 8 is pivotally mounted. A second bearing point for the receptacle 8 forms a centering cone 7, which is firmly connected to the receptacle 8. The centering cone 7 is seated in a hollow cone-shaped centering sleeve 6 which is open at the bottom and extends to the base body 1 and is connected thereto. · A cup-shaped ram 5 is provided inside the centering sleeve 6 and rests with its base 15 on the centering cone 7 otherwise extends parallel to the wall ^{1 of} the centering sleeve 6 ·

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On the bottom 15 is a compression spring 4-, the sieve, supported on a projection of the base body 1 and thus fixes the centering cone 7 in the centering sleeve 6 in its working position. , At the end of the plunger 5 facing the main body 1, a radially encircling annular groove 16 is machined, which is introduced into a bore opposite a point in the centering sleeve 6. In this hole, a ball 2 is arranged, which partially engages in the hat 16 and acts directly or indirectly on a switching element 3. In the embodiment shown in FIG. 5, the receptacle 8 is designed as a burner tube receptacle for a MAG welding robot. The base body 1 here consists of an electrically non-conductive material to an isolated attachment of equipment, eg. B. a welding torch 13 »to allow. To the tubular receptacle 8, a hollow cable 10 is attached to the power and welding wire feed for the welding torch 13. Below the extended end of the receptacle 8, a protective gas connection 12 is attached. In order to better adapt the implement, in particular the welding torch 13, to given external working conditions, a length adjustability of the same is provided. For this purpose, a protruding part of the centering cone 7 is provided with a threaded piece 17, as well as the associated receiving piece carries thread. The respective setting is secured by a lock nut 14 against automatic adjustment. Likewise, the ⁵ recording is "8 engages against unintentional rotation by a pin 9 in an axial groove 18, secured.

Compared with the illustrations in FIGS. 1 to 4, in which the switching element 3 engages directly on the ball 2, an indirect actuation of the same via a two-sided, non-isosceles lever 11 is provided in FIG. The lever 11, in conjunction with an adjusting screw 19 allows a larger switching path and a better adjustability of the switching operation.

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Mode of action: ^x ''

Acts below the centering cone 7 on the receptacle 8, 'which z. B. is provided with a welding torch 13, an impermissibly large force from any radial direction, so the receptacle initially a limited piece laterally dodge (Fig · 3) · The centering cone 7 against the force of the compression spring 4- from his Normal position shifted in the centering sleeve 6 and slides upwards. This movement also causes a lifting in the spring-loaded plunger 5 »whereby the ball 2 is pressed out of the annular groove 16 and thereby a switching element 3 is directly or indirectly actuated« The switching element ^V 3 can interrupt the drive of the implement, other circuits or switch the flow circuit of a Controlling the print medium · Immediately after the limited avoidance with further increase of these forces an immediate protection shutdown of the welding robot is effected ·

Act as in Pig. 4, unacceptably large loads in the axial direction on the receptacle 8, the centering cone 7 pushes the plunger 5 directly upwards and triggers the same process as in a radial force engagement on the receptacle. 8

The device for collision protection therefore protects the implements by means of protective shutdown against impermissibly high forces from any direction. From FIG. 5, the advantageous and space-saving accommodation of parts or functions of a working device within the collision protection device according to the invention is particularly visible.

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Claims (3)

.ι ..i Ii üjrfindungsanspruch: 1. Einrichiitüng for collision protection for programmable equipment such as industrial robots, handling equipment and the like · in the course of ^ a power transmission element of the implement with a drive, the adverse effects from any sightings a limited compliance   and starting from a certain force on the implement triggers an automatic protection shutdown, characterized characterized in that the device has a continuous tubular receptacle (8), which is guided on the one hand in a double-conical bore of a basic body (1), and on the other hand is connected to a centering cone (7), the centering cone (7) being arranged in a housing between (1) and centering cone tip extending, hollow cone-shaped centering sleeve (6) mounted and fixed by a spring-loaded, on the centering cone (7) seated cup-shaped plunger (5). 2. device according to point 1,
characterized by that the plunger (5) relative to the wall of the centering sleeve (6) has a radially encircling Eingnut (16) in the resting state of the plunger (5) of a bore in-centering centering sleeve (6) opposite and in the bore a ball (2 ) is arranged, to which directly or indirectly a switching member (3) acts. 3. device according to point 1 and 2,
characterized by that the centering cone (7) on the receptacle (8) is axially adjustable. whether a u Einrichtung · device according to point 1 to 3 »in which the working device is a MAG welding torch, characterized by that the receptacle (8) is designed as a burner tube receptacle, such that the one widening end of the receptacle (8) is designed as a hollow cable connection (10), while the opposite end serves as a receiving piece for a welding torch (13) and between the two, preferably below the extension of the receptacle (8), a protective gas connection (12) is fed, For this! 2___Seiten drawings