DE102017202004A1 - Device for securing a machine-controlled handling device and method - Google Patents

Abstract

The invention relates to a device for securing a mechanically controlled handling device, in particular a robot, with a sensor system for detecting objects located in a monitoring device associated with the handling device and an evaluation unit for determining position data and movement data of the objects located in the interception space from sensor signals sensors.

Description

The invention relates to a device for securing a mechanically controlled handling device, in particular a robot, with a sensor system for detecting objects located in a monitoring device associated with the handling device and an evaluation unit for determining position data and movement data of the objects located in the interception space from sensor signals sensors.

The term handling device should be both mechanically controlled, fixed-programmed so-called pick-and-place devices, such as devices for loading, assembly or packaging, as well as universally applicable motion machines - so-called industrial robots - with multiple axes, their movements in terms of motion sequence and the trajectory are freely programmable, be understood.

Nowadays, machine concepts are demanded by the user in which a human-robot collaboration is implemented with a conventional industrial robot. The DIN EN ISO 10218 writes to protect the operator against hazards emanating from the industrial robot during operation, a distance and speed monitoring of the operator. In the event that only a permanently installed sensor is used, it is mandatory to monitor a large surveillance space around the industrial robot. If, for example, so-called floor scanners or running mats are used, they lead to a large minimum distance between the industrial robot and the operator. The reason for this is a detection of the feet or lower leg of the operator, so that after DIN EN ISO 13855 add a distance of 1.2m to a prescribed distance for the lower limbs to account for the reach of the outstretched arms. However, floor scanners and foot mats have the advantage that they can monitor a large interstitial space without gaps. In contrast, security cameras can not consistently monitor a surveillance space because movement of the industrial robot within the monitored area could result in undesirable emergency stops. Such a sensor is therefore not suitable to reduce the required safety distance between industrial robot and operator while maintaining a safe working environment so far that a direct cooperation between the industrial robot and the operator can be displayed. Such acting sensors, for example, in the WO 2006/024431 A1 described.

Another way to significantly reduce the required safety distance between industrial robot and operator while maintaining a safe working environment, consists in a protective sheath created by a sensor directly to an effector of the industrial robot or to the recorded there tool or component. Relative to the entire interstitial space, there is only monitoring in the vicinity. For this purpose, the sensors on the industrial robot must be co-moving, advantageously directly on the robot arm. So is out of the EP 2 323 815 B1 a robot assembly with a arranged in or at the end effector contactless distance sensor, which is a capacitive distance sensor. The robot is a so-called redundant robot that can perform motion in its null space, so can reconfigure its joints while maintaining the position of the effector. With such a sensor, it is not possible to monitor the movement of the industrial robot within a larger surveillance space around the industrial robot, that is in a remote area. Consequently, it is not possible to carry out continuous assembly work in collaboration with an operator with an industrial robot which is equipped with a sensor effective in the near range, since the industrial robot accommodates components stored in a component memory as well as supplies the picked-up component to the immediate mounting location then the operator, for example, performs a screwing of the component. Consequently, both the surveillance space in the remote area, namely for receiving the component and the supply to the installation site, as well as in the vicinity, namely the direct assembly operation by the operator, have to be implemented in order to implement concepts of human-robot collaboration.

Based on this, the object of the present invention is to provide a device for securing a handling device, which provides a suitable combination of sensors, which allows a human-robot collaboration with small working distances.

The object is achieved by a device for securing a mechanically controlled handling device, in particular a robot, comprising a sensor system for detecting objects located in a monitoring device associated with the handling device, an evaluation unit for determining position data and movement data of the objects located in the monitoring space Sensor signals of the sensor, wherein the sensor is designed such that with respect to the monitoring space a first, station-stationary monitoring area and a second, variable-origin monitoring area can be detected.

In this context, an origin-stationary monitoring area is to be understood as meaning that the origin of this area is immovable with respect to the entire apparatus or relative to a higher-order coordinate system. The origin here is the point from which the monitoring is carried out by suitable means. In contrast, an origin variable monitor area is understood to mean that the origin of this area is movable relative to the parent coordinate system. Thus, for example, the case may arise that the originating stationary surveillance area extends over the entire surveillance area, ie coincides with it, and the originally variable surveillance area covers and also moves in a partial area of the surveillance area. It may also be the case that the originating stationary monitoring area extends over a subarea of the entire surveillance space and the originally variable surveillance area covers and also moves in another subarea of the surveillance space.

By means of the device according to the invention, it is possible to implement concepts of human-robot collaboration, since it is advantageously possible to achieve basic protection of the handling device via the origin-stationary monitoring area and to ensure a well-resolving detection of a working area via the origin-variable monitoring area. Thus, it is particularly preferred that the origin-variable monitoring area is formed as a three-dimensional area. In this case, it is preferred that a three-dimensional monitoring area with a variable origin is placed around an effector of a handling device. This offers the advantage that, in the case of direct cooperation between the handling device, in particular its effector, and the operator, in particular their hands and fingers, a control of the handling device can take place at any time taking into account the proper movements of the operator. In particular, it is provided in this case that the evaluation unit determines position data and movement data of both the handling device and the operator and transfers them either as raw data or as processed data via a suitable interface to a machine control of the handling device. The machine control then imprints the handling device corresponding movements, so that there is no risk of injury to the operator. An advantageous embodiment of the invention accordingly provides that the first monitoring area is a remote area starting from a base of the handling device and the second monitoring area is a short range starting from a movable effector of the handling device. With the combination of long-range and near-range monitoring, and thus secure detection of the hands and / or fingers of the operator, the necessary safety margin between the machine-controlled manipulator and the operator can be minimized.

An advantageous embodiment of the invention provides that the first monitoring area is aligned close to the ground, in particular forms a plane parallel to a floor level. As a result, the basic security of the handling device is ensured so that it can be reliably detected that an operator is in the monitoring space around the handling device.

An advantageous embodiment of the invention provides that the evaluation unit is set up to distinguish position data and movement data acquired in the first monitoring area from position data and movement data acquired in the second monitoring area and / or to evaluate them in combination. Preferably, it is further provided that the evaluation unit can distinguish position data and movement data of a first object from position data and movement data of a second object. This makes it possible in an advantageous manner that a control of the handling device in dependence on a different detection of the objects can be done. Thus, for example, it is conceivable that initially only a detection takes place in the first monitoring area of both a first object, for example the handling device, and a second object, for example the operator. In the course of a production process, it is then conceivable that a detection in the second monitoring area also takes place of the first object and of a second object. In any case, it is crucial that the evaluation unit can distinguish the two objects from each other.

An advantageous embodiment of the invention provides that the evaluation unit assigns several monitoring levels representing Sensierungsfelder the interstitial space. This makes it possible to deposit different activation modes depending on the security levels in the evaluation unit. It is thus preferable to assign different traversing speeds to the handling device from the evaluation unit, at least indirectly, to the different security levels, depending on detection of the objects in the sensing fields.

• - Erfassen eines durch das Handhabungsgerät in einem ersten Sensierungsfeld des Überwachungsraums geführten ersten Objekts und Erfassen eines in einem zweiten Sensierungsfeld sich befindenden zweiten Objekts;
• - Aufprägen einer ersten Verfahrgeschwindigkeit zumindest mittelbar über die Auswerteeinheit auf das Handhabungsgerät;
• - Erfassen des in ein drittes Sensierungsfeld eintretenden zweiten Objekts;
• - Aufprägen einer gegenüber der ersten Verfahrgeschwindigkeit reduzierten zweiten Verfahrgeschwindigkeit zumindest mittelbar über die Auswerteeinheit auf das Handhabungsgerät;
• - Erfassen des durch das Handhabungsgerät in das zweite und/oder dritte und/oder vierten Sensierungsfeld geführten ersten Objekts und Erfassen des in das dritte Sensierungsfeld eintretenden zweiten Objekts;
• - Aufprägen einer gegenüber der zweiten Verfahrgeschwindigkeit reduzierten dritten Verfahrgeschwindigkeit zumindest mittelbar über die Auswerteeinheit auf das Handhabungsgerät;
• - Erfassen einer Bewegung des zweiten Objekts in dem vierten Sensierungsfeld;
• - Anhalten des Handhabungsgerätes zumindest mittelbar über die Auswerteeinheit.

The object is further achieved by a method for securing a mechanically controlled handling device with a device as described, with the following steps:

• Detecting a first object guided by the manipulator in a first sensing field of the surveillance space and detecting a second object located in a second sensing field;
• - Imprinting a first traversing speed at least indirectly via the evaluation unit to the handling device;
• - detecting the entering into a third Sensierungsfeld second object;
• - Imprinting a relation to the first traversing speed reduced second traversing speed at least indirectly via the evaluation unit to the handling device;
• Detecting the first object guided by the manipulator into the second and / or third and / or fourth sensing field and detecting the second object entering the third sensing field;
• - Imprinting a relation to the second traversing speed reduced third traversing speed at least indirectly via the evaluation unit to the handling device;
• Detecting a movement of the second object in the fourth sensing field;
• - stopping the handling device at least indirectly via the evaluation unit.

An advantageous embodiment of the method provides for detecting the first and second objects located in the first, second and third sensing fields via the first, stationary-stationary monitoring area.

An advantageous embodiment of the method provides for detecting the first object located in the fourth sensing field via the first, stationary-stationary monitoring area.

An advantageous embodiment of the method provides for detecting the second object entering the fourth sensing field via the second, originally variable monitoring area.

An advantageous embodiment of the method provides for detecting the first object guided by the handling device into the first sensing field and detecting a movement of the second object out of the fourth sensing field and imposing the second traversing speed in relation to the third traversing speed at least indirectly via the evaluation unit onto the handling device in front.

An advantageous embodiment of the method provides for detecting the second object entering into the first sensing field and for impressing the first traversing speed, which is increased relative to the second traversing speed, at least indirectly via the evaluation unit to the handling device.

• 1 eine prinzipieller Darstellung ein Handhabungsgerät mit einer Absicherungsvorrichtung;
• 2 ein Handhabungsgerät mit einer Absicherungsvorrichtung in einer ersten Arbeitssituation;
• 3 ein Handhabungsgerät mit einer Absicherungsvorrichtung in einer weiteren Arbeitssituation;
• 4 ein Handhabungsgerät mit einer Absicherungsvorrichtung in einer weiteren Arbeitssituation und
• 5 ein Ablaufschaubild eines möglichen Verfahrens zur Absicherung eines Handhabungsgeräts.

The invention is explained below with further features, details and advantages with reference to the accompanying figures. The figures illustrate only exemplary embodiments of the invention. Show here

• 1 a schematic representation of a handling device with a safeguard device;
• 2 a handling device with a security device in a first work situation;
• 3 a handling device with a safety device in another working situation;
• 4 a handling device with a safety device in another working situation and
• 5 a flowchart of a possible method for securing a handling device.

The 1 shows a schematic representation of a handling device in the form of an industrial robot 10 and an operator 12 working in a collaboration with the industrial robot 10 can occur. The industrial robot 10 and the operator 12 are thus installed or present in the same workroom. The industrial robot 10 indicates at a free end of a robot arm 14 an effector 16 on, which may for example be designed as a tool, gripper, screwdriver, camera or measuring device. The industrial robot may be an articulated robot or a robot with another arm kinematics. Furthermore, a device 20 shown for securing the handling device, which includes a sensor 22 and an evaluation unit 24 may include. Here, the sensors 22 first a permanently installed sensor 26 comprise, for example, on a frame element 18 of the industrial robot 10 is attached. It can also be provided that around the circumference of the frame element 18 several sensors 26 are arranged so that the frame element 18 and thus the industrial robot 10 surrounding sensor field 30 can be generated, as will be described later. At the sensor 26 it may be, for example, a laser sensor, a Fußschaltmatte, a camera or time-of-flight camera or an ultrasonic sensor. The sensors 22 can continue one on the robot arm 14 arranged sensor 28 include, due to the mobility of the robot arm 14 as a movable sensor 28 can be designated. The movable sensor 28 is preferably at the free end of the robot arm 14 adjacent to the effector 16 attached. It is useful if the movable sensor 28 in a position vertically above the effector 16 is arranged and a screen-shaped, the effector 16 enclosing sensor field 32 generated. The sensor field may, for example, be directed substantially downwards, but any other orientation is possible as needed. It is expedient in this case if the movable sensor 16 is arranged such that the generated sensor field 32 no shading by the effector 16 or other moving parts of the robotic arm 14 experiences. At the sensor 26 it may be, for example, a laser sensor, a camera or time-of-flight camera or an ultrasonic sensor.

The industrial robot 10 and the device 20 for its protection can be integrated into a workstation, which is not shown per se, and in which, for example, an assembly process is performed. It can also be provided that the workstation is processually linked via a transport system with one or more other workstations.

Furthermore, in the 1 a surveillance room 34 around the industrial robot 10 located. Appropriately, it is provided that the securing device 20 also within the surveillance area 34 is arranged. But it can also be provided that the hedging device 20 at least partially outside the surveillance area 34 is arranged.

The 2 to 4 show the industrial robot 10 , the security device 20 and the operator 12 in particular work situations. The sensor field 30 is drawn as a horizontally oriented plane. It can be provided that the sensor field 30 in several concentric with the sensor 26 extending subcircuits 30 ₁ to 30 _n divided, each subcircuit 30 ₁ to 30 _{n is assigned} a different security level. Here, a security level is to be understood as meaning a quantification of the danger potential emanating from the industrial robot to the operator when the operator is in one of the sensor fields 30 ₁ to 30 _n running in subcircuits. In a practical embodiment can be provided that different security levels and different traversing speeds of the industrial robot 10 assigned. So it is convenient the travel speeds of the industrial robot 10 to gradually reduce from an outer sensor fields towards an inner sensor field, if an operator is detected in a sensor field.

The 2 shows a situation where the industrial robot 10 at a Pufferplatz not shown in detail on its effector 16 picks up a component. Meanwhile, for example, the operator 10 in the outermost sensor field 30 ₁ , which is associated with the lowest security level with a high speed v ₁ . In the position of the operator, it is spatially impossible for the robot arm 14 in contact with the operator 12 comes. The travel speed v ₁ in this situation is, for example, 1000 mm / s.

The 3 shows a situation where the industrial robot 10 the component has moved into the area of the sensor fields 30 ₂ to 30 ₄ and at the same time has the operator 12 enter the next inner sensor field 30 ₂ . This sensor field 30 ₂ can be assigned a lower travel speed v ₂ compared to the travel speed v ₁ . Consequently recognizes the evaluation unit 24 via the sensors 22 that is an operator 12 moved from the sensor array 30 ₁ in the sensor array 30 ₂ , coins the evaluation unit 24 the industrial robot 10 or a control unit, not shown, of the industrial robot 10 the reduced travel speed v ₂ on. The travel speed v ₂ in this situation is, for example, 500 mm / s.

The 4 shows a situation compared to the 3 in which the operator 12 first entered the next inner sensor field 30 ₃ . This sensor field 30 ₃ can be assigned a lower travel speed v ₃ compared to the travel speed v ₂ . Detects the evaluation unit 24 entering the sensor field 30 ₃ , coins the evaluation unit 24 the industrial robot 10 or a control unit, not shown, of the industrial robot 10 the reduced travel speed v ₃ on. Furthermore, in the 4 shown a situation in which the operator 12 an arm in the direction of the effector 16 or of the component held thereon has extended and thereby into the by the sensor 28 generated sensor field 32 occurred. Detects the evaluation unit 24 about the sensors 22 in that the operator, at least with parts of her body - arms, hands, fingers or other body parts - in the sensor field 32 is located, sends the evaluation unit 24 a holding command to the industrial robot 10 or a control unit, not shown, of the industrial robot 10 so that this stops and remains in a position in which the operator 12 for example, can make the assembly of the component.

The 5 shows a flow chart of a possible method for securing a machine-controlled handling device 10 ,

In summary, the hedging device 20 via the evaluation unit 24 equipped with a control option with which the traversing speed of the industrial robot 10 can be reduced as soon as the distance to an operator 12 has reduced and with the traversing speed of the industrial robot 10 can be set to zero as soon as a specified minimum distance between industrial robots 10 and operator 12 is reached or fallen short of. In this case, it is advantageously provided that the sensor field 30 of the permanently installed sensor 26 and the sensor field 32 of the moving sensor 28 Depending on the situation, they are switched dynamically.

LIST OF REFERENCE NUMBERS

10

industrial robot

12

operator

14

robot arm

16

effector

18

frame element

20

contraption

22

sensors

24

evaluation

26

sensor

28

sensor

30

sensor field

32

sensor field

34

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

• WO 2006/024431 A1 [0003]
• EP 2323815 B1 [0004]

Cited non-patent literature

• DIN EN ISO 10218 [0003]
• DIN EN ISO 13855 [0003]

Claims (12)

Device (20) for securing a machine-controlled handling device (10), in particular a robot, comprising a sensor system (22) for detecting objects (10, 12) located in a monitoring space (34) associated with the handling device (10), an evaluation unit (24) for determining position data and movement data of the objects (10, 12) located in the monitoring space (34) from sensor signals of the sensor system (22), wherein the sensor system (22) is designed in such a way that, with respect to the monitoring space, a first, monitoring-station-side monitoring area (30) and a second, monitoring-variable monitoring area (32) can be detected. Device (20) according to Claim 1 , characterized in that the first monitoring area (30) is a remote area starting from a base of the handling device (10) and the second monitoring area (32) being a near area starting from a movable effector (16) of the handling device (10). is. Device (20) according to Claim 1 or 2 , characterized in that the first monitoring area (30) is aligned close to the ground, in particular forms a plane parallel to a floor. Device (20) according to one of Claims 1 to 3 , characterized in that the evaluation unit (24) is adapted to distinguish in the first monitoring area (30) detected position data and movement data captured in the second monitoring area (32) position data and movement data and / or evaluate combined. Device (20) according to one of Claims 1 to 4 , characterized in that the evaluation unit (24) the monitoring space (34) a plurality of different security levels representing Sensierungsfelder (30 ₁ ... 30 ₂ , 30 ₅ ) assigns. Device (20) according to Claim 5 , characterized in that the different security levels are assigned to the handling device (10) of the evaluation unit (24) at least indirectly traversing speeds (v _n ), depending on a detection of the objects (10, 12) in the Sensierungsfeldern (30 ₁ .. 30 ₂ , 30 ₅ ). Method for securing a machine-controlled handling device (10) with a device (20) according to one of the Claims 1 to 6 comprising the steps of: detecting a first object (10) guided by the manipulator (10) in a first sensing field (30 ₁ ) of the interstitial space (34) and detecting a second sensing field (30 ₂ ) of the interstitial space (34) second object (12); - Imprinting a first traversing speed (v ₁ ) at least indirectly via the evaluation unit (24) on the handling device (10); Detecting the second object (12) entering a third sensing field (30 ₃ ) of the interstitial space (34); - Imprinting a relation to the first traversing speed (v ₁ ) reduced second traversing speed (v ₂ ) at least indirectly via the evaluation unit (24) on the handling device (10); Detecting the first object (10) guided by the manipulator (10) into the second and / or third and / or fourth sensing field (30 ₂ , 30 ₃ , 30 ₄ ) of the interstitial space (34) and detecting it in the third sensing field ( 30 ₃ ) entering second object (12); - Imprinting a relation to the second traversing speed (v ₂ ) reduced third traversing speed (v ₃ ) at least indirectly via the evaluation unit (24) on the handling device (10); - Detecting a movement of the second object (12) in a fifth Sensierungsfeld (32) of the interstitial space (24); - stopping the handling device (10) at least indirectly via the evaluation unit (24). Method according to Claim 7 characterized by detecting the first and second objects (10, 12) located in the first, second, third and fourth sensing fields (30 ₁ ... 30 ₄ ) across the first, home-state monitoring area. Method according to Claim 8 characterized by detecting the first object (10) located in the fourth sensing field (30 ₄ ) over the first originating stationary monitoring area. Method according to one of Claims 7 to 9 characterized by detecting the second object (12) entering the fifth sensing field (32) via the second origin variable monitoring area. Method according to one of Claims 7 to 10 characterized by the further steps of: detecting the first object (10) guided by the manipulator (10) into the first sensing field (30 ₁ ) and detecting a movement of the second object (12) out of the fourth sensing field (30 ₄ ); - Imprinting of the second compared to the third speed (v ₃ ) increased second Traversing speed (v ₂ ) at least indirectly via the evaluation unit (24) on the handling device (10). Method according to Claim 11 characterized by detecting the second object (12) entering into the first sensing field (30 ₁ ) and impressing the first traversing speed (v ₁ ) with respect to the second traversing speed (v ₂ ) at least indirectly via the evaluation unit (24) onto the handling device (10). ,

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