DE202005002475U1 - Foam covering for industrial robots reduces collision force with tactile sensors detecting proximity directly under the outer skin of the foam covering - Google Patents
Foam covering for industrial robots reduces collision force with tactile sensors detecting proximity directly under the outer skin of the foam covering Download PDFInfo
- Publication number
- DE202005002475U1 DE202005002475U1 DE200520002475 DE202005002475U DE202005002475U1 DE 202005002475 U1 DE202005002475 U1 DE 202005002475U1 DE 200520002475 DE200520002475 DE 200520002475 DE 202005002475 U DE202005002475 U DE 202005002475U DE 202005002475 U1 DE202005002475 U1 DE 202005002475U1
- Authority
- DE
- Germany
- Prior art keywords
- foam covering
- foam
- directly under
- tactile sensors
- industrial robots
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- 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
- B25J19/0091—Shock absorbers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
Description
Die Erfindung betrifft einen Industrieroboter mit spezieller Schutzeinrichtung zur Vermeidung von Kollisionen mit der Roboterstruktur oder der Minderung der Kontaktkraft im Falle einer Kollision.The The invention relates to an industrial robot with a special protective device to avoid collisions with the robot structure or the Reduction of contact force in the event of a collision.
Normalerweise findet bei Industrierobotern keinerlei Überwachung auf Kollisionen statt. Für spezielle Anwendungen, insbesondere wenn Industrieroboter in direktem Kontakt mit Menschen arbeiten sollen ist eine besondere Schutzeinrichtung zur Vermeidung von Kollisionen bzw. zur Minderung der Kontaktkraft im Falle einer Kollision erforderlich.Usually There is no monitoring for collisions with industrial robots instead of. For special applications, especially when industrial robots in direct Working with people is a special protection to avoid collisions or to reduce the contact force in case of a collision required.
Es
ist bekannt annäherungserkennende Sensoren
in Kombination mit taktilen Sensoren zu verwenden. Weiterhin ist
bekannt, starre Sensoren auf bzw. unter Abdeckungen des Roboters
anzubringen und darüber
eine dämpfende
Schutzschicht anzubringen (
Durch die Überdeckung der Sensoren mit einer dämpfenden Schaumstoffschicht wird die Sensibilität der auf bzw. unter den Abdeckungen des Roboters angebrachten Annäherungssensoren reduziert, da die Messung zuerst den Schaumstoff durchdringen muß, bevor die eigentliche Annäherungsmessung erfolgt. Ein weitere Nachteil dieser Anordnung ist, daß die Messung an der Oberfläche der starren Robotermechanik erfolgt, die Außenkontour aber durch die Schaumstoffabdeckung gebildet wird. Dadurch wird die effektive Reichweite der Annäherungsmessung um die Dicke des Schaumstoffes reduziert.By the overlap the sensors with a damping Foam layer will increase the sensitivity of the cover or under the covers of the robot mounted proximity sensors reduced because the measurement must first penetrate the foam before the actual approach measurement he follows. Another disadvantage of this arrangement is that the measurement on the surface the rigid robot mechanism takes place, the Außenkontour but through the foam cover is formed. This will determine the effective range of the proximity measurement reduced by the thickness of the foam.
Der Erfindung liegt die Aufgabe zugrunde die Reichweite und Zuverlässigkeit der Annäherungserkennung für das beschriebene System zur Kollisionsvermeidung oder Minderung der Kontaktkraft im Falle einer Kollision zu erhöhen.Of the Invention is the object of the range and reliability the proximity detection for the described system for collision avoidance or reduction of Increase contact force in case of a collision.
Erfindungsgemäß wird die Aufgabe dadurch gelöst, daß die Annäherungssensoren innerhalb der Schaumstoffabdeckung unter der Außenhaut angeordnet sind.According to the invention Task solved by that the proximity sensors are arranged inside the foam cover under the outer skin.
Durch die erfindungsgemäße Lösung wird die Dämpfung der Sensorsignale minimiert, da die Distanz, die ein Meßsignal durch den Schaumstoff zurück legen muß sehr gering ist. Weiterhin erfolgt die Abstandsmessung am äußersten Rand des geschützten Robotersystems. Dadurch ergibt sich bei gegebener Erkennungsreichweite der Sensoren ein maximaler Abstand zur Erkennung der Annäherung von Objekten zum Roboter.By the solution according to the invention is the damping the sensor signals minimized because the distance that a measurement signal back through the foam must lay very much is low. Furthermore, the distance measurement takes place utmost Edge of the protected Robot system. This results in a given detection range the sensors a maximum distance to detect the approach of Objects to the robot.
Eine bevorzugte Ausgestaltung sieht eine Anordnung von kapazitiven Annäherungssensoren über taktilen Sensoren in Form von Schaltleisten vor. In den Schaltleisten erfolgt bei Druck ein Kontakt zwischen zwei elektrischen Leitern. Der durch diesen Kotakt entstehende Kurzschluß dient als Kontaktsignal. Kapazitive Sensoren und Schaltleisten sind in einem elastischen energieabsorbierenden Schaumstoff angeordnet. Die Sensorelemente in dem Schaumstoff sind ebenfalls elastisch, um im Falle einer Kollision sich der Verformung des Schaumstoffes anzupassen. Dadurch soll im Fall der Kollision verhindert werden, daß die Sensorelemente beschädigt werden oder das Objekt, das kollidiert ist, beschädigt wird. Die Schaumstoffabdeckung ist lösbar durch Verschraubung an der Roboterstruktur angebracht. Die Sensorsignale werden über eine Steckverbindung übertragen.A A preferred embodiment provides an arrangement of capacitive proximity sensors via tactile Sensors in the form of safety edges before. In the safety edges takes place when in contact, a contact between two electrical conductors. The through This contact resulting short circuit serves as a contact signal. Capacitive sensors and safety edges are in an elastic Energy absorbing foam arranged. The sensor elements in the foam are also elastic, in case of a collision to adapt to the deformation of the foam. This should be in the Case of collision can be prevented that the sensor elements are damaged or the object that collided is damaged. The foam cover is solvable attached by screwing to the robot structure. The sensor signals be over transmit a plug connection.
Weitere Vorteile und Merkmale der Erfindung ergeben sich aus den Ansprüchen und aus der nachfolgenden Beschreibung, in der ein Ausführungsbeispiel unter Bezugnahme auf die Zeichnung im einzelnen erläutert ist. Dabei zeigtFurther Advantages and features of the invention will become apparent from the claims and from the following description, in which an embodiment is explained in detail with reference to the drawing. It shows
In
die elastische, energieabsorbierende Schaumstoffabdeckung
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200520002475 DE202005002475U1 (en) | 2005-02-15 | 2005-02-15 | Foam covering for industrial robots reduces collision force with tactile sensors detecting proximity directly under the outer skin of the foam covering |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200520002475 DE202005002475U1 (en) | 2005-02-15 | 2005-02-15 | Foam covering for industrial robots reduces collision force with tactile sensors detecting proximity directly under the outer skin of the foam covering |
Publications (1)
Publication Number | Publication Date |
---|---|
DE202005002475U1 true DE202005002475U1 (en) | 2006-06-22 |
Family
ID=36650966
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200520002475 Expired - Lifetime DE202005002475U1 (en) | 2005-02-15 | 2005-02-15 | Foam covering for industrial robots reduces collision force with tactile sensors detecting proximity directly under the outer skin of the foam covering |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE202005002475U1 (en) |
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009029021A1 (en) | 2009-08-31 | 2011-03-03 | Robert Bosch Gmbh | Sensor system for environmental monitoring on a mechanical component and a method for controlling and evaluating the sensor system |
US8033189B2 (en) * | 2005-12-28 | 2011-10-11 | Honda Motor Co., Ltd. | Robot skin |
WO2012080134A1 (en) | 2010-12-16 | 2012-06-21 | Robert Bosch Gmbh | Device for removing heat from an automated handling device, in particular a handling robot, and use of the device |
WO2012089486A1 (en) | 2010-12-29 | 2012-07-05 | Robert Bosch Gmbh | Sensor system for monitoring surroundings on a mechanical component, and method for actuating and evaluating the sensor system |
JP2013533952A (en) * | 2010-05-07 | 2013-08-29 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | Finder |
WO2015074841A1 (en) * | 2013-10-30 | 2015-05-28 | Kuka Systems Gmbh | Working device and operating method |
DE102013021387A1 (en) * | 2013-12-13 | 2015-06-18 | Daimler Ag | Robot and method for operating such a robot |
DE102015000793A1 (en) * | 2015-01-23 | 2016-07-28 | Daimler Ag | Sensor device for different robot variants |
DE102015223072A1 (en) * | 2015-11-23 | 2017-05-24 | Bayerische Motoren Werke Aktiengesellschaft | Protective device for securing an effector of a robot |
KR20170129616A (en) * | 2016-05-17 | 2017-11-27 | 꼼마우 에스.피.에이. | Automated device with a movable structure, in particular a robot |
KR20170129617A (en) * | 2016-05-17 | 2017-11-27 | 꼼마우 에스.피.에이. | Sensorized covering for an industrial device |
WO2018069064A1 (en) | 2016-10-10 | 2018-04-19 | Compagnie Generale Des Etablissements Michelin | Inflatable gripping device |
WO2018195569A1 (en) * | 2017-04-24 | 2018-11-01 | Blue Danube Robotics Gmbh | Detecting a collision of a manipulator device with an obstacle |
DE102017218229A1 (en) * | 2017-10-12 | 2019-04-18 | Dr. Doll Engineering Gmbh | Protective device for an industrial robot and protective element for such a protective device |
DE102018110852A1 (en) * | 2018-05-07 | 2019-11-07 | Kinotex Sensor Gmbh | Device and method for securing a mechanically or automatically controlled moving device and sensor tile |
US10828791B2 (en) | 2013-12-25 | 2020-11-10 | Fanuc Corporation | Human-cooperative industrial robot including protection member |
EP4360812A1 (en) * | 2022-10-24 | 2024-05-01 | Hilti Aktiengesellschaft | Universally applicable mobile construction robot with a temperature-controlled manipulator and use of such a construction robot |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2854459A1 (en) * | 1978-12-16 | 1980-08-28 | Fraunhofer Ges Forschung | SAFETY DEVICE FOR SYSTEMS WITH PARTS MOVED IN THE SPACE |
EP0138461A2 (en) * | 1983-10-03 | 1985-04-24 | AT&T Corp. | Protective robot covering |
EP0518836A1 (en) * | 1991-06-06 | 1992-12-16 | GOVERNMENT OF THE UNITED STATES OF AMERICA as represented by THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND SPACE ADM. | Driven shielding capacitive proximity sensor |
JP2002352370A (en) * | 2001-05-28 | 2002-12-06 | Japan Science & Technology Corp | Tactile sensation detecting system |
DE10162412A1 (en) * | 2001-12-19 | 2003-07-10 | Kuka Roboter Gmbh | Device and method for securing devices with freely movable parts |
-
2005
- 2005-02-15 DE DE200520002475 patent/DE202005002475U1/en not_active Expired - Lifetime
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2854459A1 (en) * | 1978-12-16 | 1980-08-28 | Fraunhofer Ges Forschung | SAFETY DEVICE FOR SYSTEMS WITH PARTS MOVED IN THE SPACE |
EP0138461A2 (en) * | 1983-10-03 | 1985-04-24 | AT&T Corp. | Protective robot covering |
EP0518836A1 (en) * | 1991-06-06 | 1992-12-16 | GOVERNMENT OF THE UNITED STATES OF AMERICA as represented by THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND SPACE ADM. | Driven shielding capacitive proximity sensor |
JP2002352370A (en) * | 2001-05-28 | 2002-12-06 | Japan Science & Technology Corp | Tactile sensation detecting system |
DE10162412A1 (en) * | 2001-12-19 | 2003-07-10 | Kuka Roboter Gmbh | Device and method for securing devices with freely movable parts |
Cited By (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8033189B2 (en) * | 2005-12-28 | 2011-10-11 | Honda Motor Co., Ltd. | Robot skin |
US20110050256A1 (en) * | 2009-08-31 | 2011-03-03 | Joachim Frangen | Sensor system for monitoring surroundings on a mechanical component and a method for activating and evaluating the sensor system |
DE102009029021A1 (en) | 2009-08-31 | 2011-03-03 | Robert Bosch Gmbh | Sensor system for environmental monitoring on a mechanical component and a method for controlling and evaluating the sensor system |
DE102009029021B4 (en) | 2009-08-31 | 2022-09-22 | Robert Bosch Gmbh | Sensor system for monitoring the surroundings of a mechanical component and a method for controlling and evaluating the sensor system |
US8653837B2 (en) * | 2009-08-31 | 2014-02-18 | Robert Bosch Gmbh | Sensor system for monitoring surroundings on a mechanical component and a method for activating and evaluating the sensor system |
JP2013533952A (en) * | 2010-05-07 | 2013-08-29 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | Finder |
DE102010063223A1 (en) | 2010-12-16 | 2012-06-21 | Robert Bosch Gmbh | Device for removing heat from an automated handling device, in particular a handling robot, and use of the device |
WO2012080134A1 (en) | 2010-12-16 | 2012-06-21 | Robert Bosch Gmbh | Device for removing heat from an automated handling device, in particular a handling robot, and use of the device |
DE102010064328A1 (en) | 2010-12-29 | 2012-07-05 | Robert Bosch Gmbh | Sensor system for environmental monitoring on a mechanical component and method for controlling and evaluating the sensor system |
WO2012089486A1 (en) | 2010-12-29 | 2012-07-05 | Robert Bosch Gmbh | Sensor system for monitoring surroundings on a mechanical component, and method for actuating and evaluating the sensor system |
US9513321B2 (en) | 2010-12-29 | 2016-12-06 | Robert Bosch Gmbh | Sensor system for monitoring surroundings on a mechanical component, and method for actuating and evaluating the sensor system |
WO2015074841A1 (en) * | 2013-10-30 | 2015-05-28 | Kuka Systems Gmbh | Working device and operating method |
DE102013021387A1 (en) * | 2013-12-13 | 2015-06-18 | Daimler Ag | Robot and method for operating such a robot |
DE102013021387B4 (en) * | 2013-12-13 | 2019-09-12 | Daimler Ag | Robot and method for operating such a robot |
DE102014019033B4 (en) | 2013-12-25 | 2023-02-16 | Fanuc Corporation | Industrial robot that works together with a human and includes a protective element |
US10828791B2 (en) | 2013-12-25 | 2020-11-10 | Fanuc Corporation | Human-cooperative industrial robot including protection member |
DE102015000793A1 (en) * | 2015-01-23 | 2016-07-28 | Daimler Ag | Sensor device for different robot variants |
DE102015223072A1 (en) * | 2015-11-23 | 2017-05-24 | Bayerische Motoren Werke Aktiengesellschaft | Protective device for securing an effector of a robot |
DE102015223072B4 (en) | 2015-11-23 | 2022-03-24 | Bayerische Motoren Werke Aktiengesellschaft | Protective device for protecting an effector of a robot |
CN107436159A (en) * | 2016-05-17 | 2017-12-05 | 康茂股份公司 | Sensorised covering for commercial plant |
CN107436159B (en) * | 2016-05-17 | 2021-05-28 | 康茂股份公司 | Sensorized covers for industrial devices |
KR102281660B1 (en) * | 2016-05-17 | 2021-07-30 | 꼼마우 에스.피.에이. | Automated device for an industrial device |
KR102318069B1 (en) | 2016-05-17 | 2021-10-28 | 꼼마우 에스.피.에이. | Automated device with a movable structure, in particular a robot |
JP2017213674A (en) * | 2016-05-17 | 2017-12-07 | コマウ・ソシエタ・ペル・アチオニComau Societa Per Azioni | Sensorized covering for industrial device |
KR20170129617A (en) * | 2016-05-17 | 2017-11-27 | 꼼마우 에스.피.에이. | Sensorized covering for an industrial device |
KR20170129616A (en) * | 2016-05-17 | 2017-11-27 | 꼼마우 에스.피.에이. | Automated device with a movable structure, in particular a robot |
WO2018069064A1 (en) | 2016-10-10 | 2018-04-19 | Compagnie Generale Des Etablissements Michelin | Inflatable gripping device |
WO2018195569A1 (en) * | 2017-04-24 | 2018-11-01 | Blue Danube Robotics Gmbh | Detecting a collision of a manipulator device with an obstacle |
DE102017218229A1 (en) * | 2017-10-12 | 2019-04-18 | Dr. Doll Engineering Gmbh | Protective device for an industrial robot and protective element for such a protective device |
DE102018110852A1 (en) * | 2018-05-07 | 2019-11-07 | Kinotex Sensor Gmbh | Device and method for securing a mechanically or automatically controlled moving device and sensor tile |
EP4360812A1 (en) * | 2022-10-24 | 2024-05-01 | Hilti Aktiengesellschaft | Universally applicable mobile construction robot with a temperature-controlled manipulator and use of such a construction robot |
WO2024088744A1 (en) * | 2022-10-24 | 2024-05-02 | Hilti Aktiengesellschaft | Universally deployable mobile construction robot with temperature-controlled manipulator and use of such a construction robot |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE202005002475U1 (en) | Foam covering for industrial robots reduces collision force with tactile sensors detecting proximity directly under the outer skin of the foam covering | |
DE10114465B4 (en) | Contact sensor and method for evaluating the signal of the contact sensor | |
EP1019271B1 (en) | Device for protecting motor vehicle occupants | |
DE112015003942T5 (en) | Device for mounting an impact pressure sensor on a dry side | |
EP2938987B1 (en) | Pressure sensor arrangement and method for mounting a pressure sensor arrangement | |
DE102006058863B4 (en) | Apparatus for detecting a collision load and apparatus for discriminating a collision obstacle using the same | |
DE102006040665A1 (en) | Pressure sensor for vehicle, has first and second opening whereby first opening lead inside housing and second opening lead from outside housing, and breathable filter with air passage is provided to cover first and second opening | |
DE102014217801A1 (en) | Towing device for a towing vehicle | |
ATE387343T1 (en) | DEVICE FOR TRIGGERING A SAFETY SYSTEM IN A VEHICLE | |
DE102013211409A1 (en) | Distance sensor for a motor vehicle and arrangement of several distance sensors | |
EP3116762B1 (en) | Obstacle detection device for railway vehicles | |
EP2654478B1 (en) | Protective device for a diabetic foot and method for protecting the diabetic foot from lack of circulation | |
EP3370041A1 (en) | Weighing cell for a weighing device | |
DE102009021648A1 (en) | Sensor arrangement for e.g. detecting relative position of chassis to chassis frame of motor vehicle, has sensor unit detecting acceleration of chassis or chassis frame in/along Z-direction perpendicular to roadway surface | |
DE202006005593U1 (en) | Motor vehicle steering wheel, with grip pressure sensitivity, has a capacitative proximity switch and the metal wheel as an electrode to sound a warning if the driver falls asleep at the wheel | |
EP2767658B1 (en) | Door handle for a motor vehicle | |
EP2862278B1 (en) | Approach detection device | |
DE102010004830B4 (en) | Arrangement for determining the angular position of a rotatably mounted part | |
EP2628646A1 (en) | Impact sensor system with at least one pressure sensor | |
DE102012012469B4 (en) | Device for detecting a drawbar angle of a truck | |
DE102013101342B4 (en) | Method for controlling protective devices for vehicle occupants and/or people outside the vehicle | |
BR9914999A (en) | Elevation rate detector for use with explosion detection and suppression equipment | |
EP3242400B1 (en) | Electronic sensor unit for detecting a contact-free actuation of a door or hatch on a motor vehicle | |
DE20180368U1 (en) | Exercise and training facility | |
DE10050646C1 (en) | Device for recording safety-relevant influencing variables in skis |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R163 | Identified publications notified | ||
R207 | Utility model specification |
Effective date: 20060727 |
|
R150 | Term of protection extended to 6 years |
Effective date: 20080903 |
|
R157 | Lapse of ip right after 6 years |
Effective date: 20110901 |