DE102016003816A1 - Industrial robot with a monitoring space carried by the manipulator - Google Patents

Abstract

The invention relates to an industrial robot (1) with a robot base (2) and a manipulator (3) arranged movably thereon with an effector (4, 4.1) designed as a gripper (4.1) or tool. According to the invention, the manipulator (3) is formed with a plurality of laser scanners (5.1, 5.2, 5.3, 5.4), which are arranged in a circle around the effector (4) and the laser scanners (5) are used to generate monitoring surfaces (5.10, 5.20 , 5.30, 5.40) are formed, which together form a funnel-shaped widening from the effector (4) extending monitoring space (6), which surrounds the effector (4) like a frame.

Description

The invention relates to an industrial robot with a robot base and a manipulator movably arranged thereon with a designed as a gripper or tool effector.

Industrial robots are used in various fields of industry, in particular in the automotive industry and are equipped with several arrangements of serially coupled drive axles, the rotational and / or pivoting and / or a translational movement of an effector, for example. A gripper or a processing tools within a generate specific workspace.

In the cooperation between human and robot (MRK system) without separating protective device according to the principle of force and power limitation, painful or even injurious loads must never act on the operator (eg by collision or crushing). Robots that are equipped with a force-torque sensor and partially damping sheaths and / or secure tactile switching elements to limit these loads are known.

A generic industrial robot is from the DE 10 2010 046 397 A1 known, which has a monitoring device for monitoring a manipulator of the industrial robot. This monitoring device consists of two arranged at diametrically opposite corners of a mobile rectangular base of the industrial robot laser scanners, each monitoring a horizontal circular segment area. Together, these two circular segment surfaces form a horizontal safety surface to be monitored. By means of suitable deflection mirrors, the laser beams can also be deflected vertically upwards, whereby a vertically extending safety surface is formed.

From the DE 10 2012 007 242 A1 For example, a human-robot cooperation (MRK) monitoring system is known which is intended to meet high standards of operator safety while allowing for effective collaboration between operators and a robot. In this known human-robot cooperation system, a detection unit for an operator, at least one monitoring sensor and a control unit are provided. The detection unit is used for detecting a position of the operator and / or a movement behavior of at least a body part of the operator and for controlling the robot. With the monitoring sensor, a danger area is set around the robot, in which the residence of the operator is not or only partially allowed. Furthermore, an area crossing of the operator and / or the robot in and out of the danger area is detected with this monitoring sensor. With such a monitoring system, a collision of the operator with the robot is to be prevented.

Such stationary arranged and non-contact protective devices, such as. Laserscanner with which all robot movements are switched off in case of injury of a danger area, have the disadvantage that such protective devices must be located at each exposed danger point and thus increased effort.

Further protective measures to prevent collisions with an operator with the industrial robot, consists in a mechanical decoupling, d. H. the notching of mechanical elements when the force increases. Analogous realizations are also used when closing grippers to avoid injurious crushing. Furthermore, upholstery and resilient elements are used to mitigate injuries in collisions. This leads disadvantageously to process interruptions by a renewed mechanical coupling or latching.

The use of tactile sensors to avoid injurious collisions would require a full-surface protection also on the workpiece to be machined, whereby the cost is very high. In addition, compliance with permissible biomechanical limit values would have to be demonstrated by complex measurements.

It is an object of the invention to develop an industrial robot of the type mentioned in such a way that the safety of the operating personnel is increased.

This object is achieved by an industrial robot having the features of patent claim 1.

• – der Manipulator mit mehreren Laserscannern ausgebildet ist, die kreisförmig um den Effektor angeordnet sind, und
• – die Laserscanner zur Erzeugung von Überwachungsflächen ausgebildet sind, die zusammen einen von dem Effektor ausgehenden, trichterförmig sich erweiternden Überwachungsraum bilden, der den Effektor rahmenartig umschließt.

Such an industrial robot with a robot base and a manipulator movably arranged thereon in a plurality of axes of movement with an effector designed as a gripper or tool is characterized according to the invention in that

• - The manipulator is formed with a plurality of laser scanners, which are arranged in a circle around the effector, and
• - The laser scanner for generating monitoring areas are formed, which together form an outgoing from the effector, funnel-shaped widening interstitial space, which surrounds the effector like a frame.

The most important advantage of this industrial robot according to the invention is that the monitoring space is carried along with the manipulator. Furthermore, the use of laser scanners allows non-contact protection of the effector without hurtful contact between the operator and the industrial robot. Because of the non-contact protection, no force / pressure measurements and associated documentation are required to demonstrate compliance with permissible biomechanical loads.

Furthermore, it is possible to adapt the interstitial space without hardware changes and to realize a switchover between different interstitial spaces, which may differ in size and shape, automatically in the program sequence of the control of the industrial robot.

Finally, the number of hardware components is reduced, since not all critical areas in the range of motion of the industrial robot must be secured.

According to an advantageous embodiment of the invention, the manipulator is formed with at least three laser scanners whose monitoring surfaces form a pyramid-truncated monitoring space. Furthermore, it is of course also possible to equip the manipulator with more than three laser scanners.

It is particularly advantageous if, in accordance with further development, the laser scanners are designed in such a way that a component picked up by a gripper is separated from the monitoring space generated by the laser scanners. is enclosed like a frame. Thus, at the same time a hedging of a recorded by a gripper of the industrial robot component is realized.

The invention will now be described in detail by means of an embodiment with reference to the accompanying figures. Show it:

1 a schematic and perspective view of an industrial robot according to the invention, and

2 a schematic perspective detail of the industrial robot according to 1 in a plan view of the gripper.

The in the 1 and 2 illustrated industrial robot 1 includes a manipulator 3 rotatable about a vertical axis on a stationary robot base 2 stands. The manipulator 3 has a plurality of serially coupled drive axles, which include a rotational and / or pivoting and / or a translational movement of one at the end of the manipulator 3 arranged effector 4 enable. In the 1 and 2 is the effector 4 as a gripper 4.1 with three gripper fingers 4.10 executed. Instead of a gripper 4.1 can also be a machining tool, eg. A welding tool on the manipulator 3 be flanged.

On the manipulator 3 are laser scanner on the end 5 arranged the gripper 4.1 enclose circular. Such is a first laser scanner 5.1 , a second laser scanner 5.2 , a third laser scanner 5.3 and a fourth laser scanner 5.4 each radially about the longitudinal axis A of the effector 4 offset by 90 ° between the gripper 4.1 and the end of the manipulator 3 arranged.

Each of these laser scanners 5.1 to 5.4 creates a surveillance area, the first laser scanner 5.1 a surveillance area 5.10 , the second laser scanner 5.2 a surveillance area 5.20 , the third laser scanner 5.3 a surveillance area 30.5 and the fourth laser scanner 5.4 a surveillance area 5:40 that are mutually to one of the gripper 4.1 outgoing funnel-shaped interstitial space 6 complete. Within this surveillance room 6 is the gripper 4.1 with the gripper fingers 4.10 , When using four laser scanners 5.1 to 5.4 has this monitoring room 6 the contour of a truncated pyramid with a rectangular cross-section. With three laser scanners used, a truncated pyramid with a triangular cross-section results, wherein these three laser scanners are circumferentially arranged at equal intervals. Of course, more than four laser scanners can be used.

The surveillance areas 5.10 . 5.20 . 30.5 and 5:40 be from the laser scanners 5.1 to 5.4 so generated that the interstitial space 6 in the axial direction with respect to the longitudinal axis A via the end of the gripper fingers 4.10 protrudes, so also one of the gripper 4.1 absorbed component 10 (see. 2 ) from the interstitial space 6 is framed. Therefore, according to 1 the surveillance room 6 starting from the end of the manipulator 3 not just until the end of the gripper fingers 4.1 with a height H, but beyond that with a height H + ΔH.

This surveillance room 6 can by means of laser scanners 5.1 to 5.4 be generated so that the gripper 4.1 or a corresponding tool and that of the gripper 4.1 recorded components 10 each completely or at least the dangerous parts or sections of this surveillance space 6 be wrapped.

The the surveillance room 6 forming surveillance surfaces 5.10 to 5:40 become application-specific in size and shape using the laser scanner 5.1 to 5.4 generated, ie, for example, depending on the trajectories of the manipulator 3 , configured by the geometric and mechanical properties involved potential collision partners and speeds and in the safety control of the industrial robot 1 integrated.

Will be a violation of this surveillance space 6 Thus, when a dive of an obstacle detected, a reaction of the industrial robot 1 , ie usually triggered a safety stop to prevent a collision with the detected obstacle. Such an obstacle may represent an operator, in particular a body part of this operator or any other objects. The surveillance room 6 can be configured with minimum clearances between the monitoring surfaces and the gripper or the recorded component so that one by violation of the interstitial space 6 initiated reaction of the industrial robot 1 , usually a safety stop, due to inertia and system response times yet to a, but mitigated contact, for example. Can lead with an operator, but then still permissible and justifiable because of compliance with biomechanical limits.

The laser scanner 5.1 to 5.4 each comprise a laser transmitter and a laser receiver with associated optics. With the laser transmitter, a continuously scanning the monitoring surface laser beam is generated. In an evaluation unit, the scan images generated by the laser transmitter and the laser receiver are evaluated and, depending on the evaluation results of a control unit control signals for controlling the industrial robot 1 generated.

LIST OF REFERENCE NUMBERS

1

industrial robots

2

robot base

3

manipulator

4

effector

4.1

grab

4.10

Gripper fingers of the gripper 4.1

5

laser scanner

5.1

first laser scanner

5.10

Monitoring area of the first laser scanner 5.1

5.2

second laser scanner

5.20

Monitoring area of the second laser scanner 5.2

5.3

third laser scanner

30.5

Monitoring area of the third laser scanner 5.3

5.4

fourth laser scanner

5:40

Monitoring area of the fourth laser scanner 5.4

6

monitoring room

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102010046397 A1 [0004]
• DE 102012007242 A1 [0005]

Claims (3)

Industrial robots ( 1 ) with a robot base ( 2 ) and a movably arranged manipulator ( 3 ) with a gripper ( 4.1 ) or tool-formed effector ( 4 . 4.1 ), characterized in that - the manipulator ( 3 ) with several laser scanners ( 5.1 . 5.2 . 5.3 . 5.4 ) formed in a circle around the effector ( 4 ) are arranged, and - the laser scanner ( 5 ) for the production of surveillance areas ( 5.10 . 5.20 . 30.5 . 5:40 ), which together form one of the effector ( 4 ) outgoing, funnel-shaped widening monitoring space ( 6 ), which is the effector ( 4 ) encloses like a frame. Industrial robots ( 1 ) according to claim 1, characterized in that the manipulator ( 4 ) with at least three laser scanners ( 5.1 . 5.2 . 5.3 ) whose monitoring surfaces ( 5.10 . 5.20 . 30.5 ) a pyramidal frustum-shaped monitoring space ( 6 ) form. Industrial robots ( 1 ) according to claim 1 or 2, characterized in that the laser scanners ( 5.1 . 5.2 . 5.3 . 5.4 ) are formed such that one of a gripper ( 4.1 ) received component ( 10 ) from that of the laser scanners ( 5.1 . 5.2 . 5.3 . 5.4 ) generated surveillance space ( 6 ) is enclosed like a frame.

Images