DE202013105504U1 - working device - Google Patents

Abstract

Working device with an industrial robot (2) suitable for human-robot cooperation or collaboration (MRC), which carries a process tool (3), wherein the industrial robot (2) has a plurality of movable, in particular rotatable, interconnected links (7, 8, 9, 10) and one or more force-controlled or force-controlled robot axes (I-VII) having an integrated, acting loads of the respective robot axis (I-VII) sensing sensor (11), and wherein additionally in the region of the process tool (3) a person Protective device (4) is arranged, which allows for a body contact with a worker (6) an evasive movement of the process tool (3) or a tool part.

Description

The invention relates to a working device having the features in the preamble of the main claim.

The DE 199 38 114 A1 shows a bonnet opener with a position-controlled robot and a gripper, with an overload clutch between the tool and robot flange is arranged to avoid collision damage.

The DE 10 2007 038 922 B3 relates to a conventional collision protection device for a guided by a handling device tool. The main element is a curved membrane with a certain rigidity, which turns over when a force threshold is exceeded in the other direction of curvature.

The DE 30 04 014 A1 also discloses an overload protection for a handling device to avoid collision damage to the tool and robot. In a housing a connectable to the robot via an arm plate-shaped element is arranged and is held in a form-fitting manner via compression springs with conical stops in the housing openings. When external forces exceed the spring force and depress the element, a switch is actuated. Instead of the springs, a magnet arrangement can also be used.

The US 4,673,329 A shows another mechanical overload protection between robot hand and workpiece, which is equipped with spring detents and with a ball. The robotics is position-controlled. The overload protection serves to avoid excessive power transmission and damage in the event of a collision.

The DE 10 2010 004 316 A1 and DE 103 91 972 T5 show robotic accident protection devices that are installed between the robot and the tool and operate when a load threshold is exceeded a switch.

In modern working devices known in practice, people can cooperate or collaborate with industrial robots, in particular tactile robots. This is referred to as human-robot cooperation or collaboration (abbreviated MRK). Touch contacts between the human body and the industrial robot or its process tool are admittedly permitted by the use of protective measures which have a touching effect. In the case of an MRI and the use of tactile protective measures, certain limit values must be observed which differ with respect to the type of stress and which are also dependent on the affected body region of the human, in particular a worker.

A contact with the human body can be distinguished according to two types of stress, namely the impact force occurring and the clamping and squeezing force that occurs. The impact force is a dynamic force that is transmitted in the first momentum in contact with the human body (peak). The clamping and squeezing force is the static force that remains after a first momentum. The force limit values for the respective types of stress are defined for individual body regions in a body model.

Standardization, especially the ISO / TS 15066 and the EN ISO 10218-1,2 include specifications for the MRK with regard to protective measures, sensory failure safety and the like. In the MRC, a collision of the robot or its tool with an obstacle, in particular with a worker, is detected with a detection device and for safety a protective measure, in particular a standstill or a Backward movement of the robot, initiated. The collision detection can be done touching and possibly with a measurement of occurring collision forces. For this purpose, tactile articulated arm industrial robots are for example from DE 10 2007 063 099 A1 . DE 10 2007 014 023 A1 . DE 10 2007 060 680 A1 and DE 10 2007 028 758 B4 known.

The DE 10 2009 047 033 A1 also deals with MRK aspects, wherein the entire manufacturing or assembly machine is mounted on a machine frame via a force-moment sensor such that a comprehensive load monitoring can be made and worker collisions are detectable.

The US 2008/0188985 A1 relates to a speed limit for the robot movements. In addition, an external force is detected by means of a sensor on the robot hand. The robot movements are controlled accordingly by a robot controller.

It is an object of the present invention to provide an improved working technique.

The invention solves this problem with the features in the main claim.

The claimed working technique, the working device and the working method, have the advantage that with the personal protection device, the working device can be optimized in terms of protective effect on the one hand and performance, in particular robot speed, on the other.

The personal protection device can be used to effectively complement other MRK security measures. In conjunction with an MRK-compatible industrial robot, in particular a tactile robot, an optimal solution results.

There are various possibilities for the design of the personal protection device. Training as a decoupling device can reduce the effective body contact and thus the body load occurring. Alternatively or additionally, the robot speed can be increased thanks to mass reduction. On the other hand, the personal protection device, in particular the decoupling device and its decoupling element, can be designed so stiff that collisions with a worker can still be detected by the MRK-compatible, preferably tactile industrial robot.

Of particular advantage is the ability to decouple the mass of the entire industrial robot regardless of the robot poses. The working device can also be designed more easily and with better performance orientation according to MRK requirements.

In the subclaims further advantageous embodiments of the invention are given.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

1 a working device with an industrial robot and a process tool and a personal safety device with a decoupling device,

2 to 8th : Different variants of the decoupling device in a broken schematic side view and

9 a preferred embodiment of a tactile, multi-axis industrial robot.

The invention relates to a working device ( 1 ) and a working procedure.

The working device ( 1 ) and the working procedure are for cooperation with a worker ( 6 ) and for a so-called human-robot cooperation or collaboration (abbreviated MRK) according to the standards mentioned above and trained.

The working device ( 1 ) according to 1 a multi-axis industrial robot ( 2 ) with a process tool ( 3 ) on. The industrial robot ( 2 ) is preferably designed as a tactile robot. It has an associated, load-bearing sensors ( 11 ) and an integrated or external controller ( 26 ) on. A preferred embodiment is in 9 and will be explained later. The industrial robot ( 2 ) and the process tool ( 3 ) can also be present several times. The process tool ( 3 ) can be exchanged if necessary by means of an exchangeable coupling.

The process tool ( 3 ) can be configured arbitrarily. In the embodiment shown, it is a gripping tool for assembly purposes. Alternatively, a design as a joining tool, application tool, forming tool or the like. Possible.

In the area of the process tool ( 3 ) is a personal safety device ( 4 ) arranged. This can also be referred to as MRK protection device. It is passive and permanently in function. The personal protection device ( 4 ) allowed in contact with the worker ( 6 ) an evasive movement of the process tool ( 3 ) or a tool part. It has corresponding yielding properties.

The personal protection device ( 4 ) can be designed differently. 2 to 8th show various embodiments.

In the variants shown, the personal safety device ( 4 ) as a decoupling device ( 17 ) is formed, with which the mass acting on a person contact can be reduced. This effective mass is also called reflected mass in MRK practice. It is determined by the mass and the center of gravity which are moved by the industrial robot with a so-called robot speed and hit the body in case of collision.

The decoupling device ( 17 ) is arranged between the parts to be decoupled. For example, it can be used between the process tool ( 3 ) and the industrial robot ( 2 ), as in 1 to 8th is shown. Alternatively, the decoupling device ( 17 ) elsewhere, eg between parts of the process tool ( 3 ), be arranged.

1 shows a schematic diagram of the decoupling device ( 17 ). By the decoupling device ( 17 ), the process tool ( 3 ) from the industrial robot ( 2 ) are decoupled such that between these parts ( 2 . 3 ) a relative movement is possible. This reduces the mass acting on a person contact or the reflected mass on the mass and the center of mass of the process tool ( 3 ). The much larger mass of the industrial robot ( 2 ) is decoupled.

In addition, the industrial robot ( 2 ) the process tool ( 3 ) in its delivery movement to the work or processing location in a load reduction and for the response of the decoupling device ( 17 ) favorable orientation, eg hanging down, lead and transport.

The reduction in mass can reduce the momentum that occurs in contact with a person and the resulting body strain and the risk of injury. The momentum is calculated according to the reflected mass and the speed at which it is detected by the industrial robot ( 2 ) is moved.

On the other hand, by reducing the mass in compliance with the above-mentioned load limit values, the robot speed can be correspondingly increased. As long as the decoupling device ( 17 ), the parts are ( 2 . 3 ) coupled. They are preferably rigid and accurately connected to each other.

The decoupling device ( 17 ) has interfaces ( 24 . 25 ) for connection with the parts to be decoupled. In the exemplary embodiments shown, these parts are the industrial robots ( 2 ), in particular its output member ( 10 ), and the process tool ( 3 ). The interfaces ( 24 . 25 ) can constructively in any way, for example, as flanges or mounting plates, be formed.

Between the interfaces ( 24 . 25 ) and with force-transmitting connection thereto is a decoupling element ( 28 ), which can be designed differently. In addition, the decoupling device ( 17 ) a detection device ( 27 ) having a response of the decoupling element ( 28 ) in the event of a collision and a relative movement of the interfaces ( 24 . 25 ) detected. she is in 2 indicated schematically and may also be present in the other embodiments. The detection device ( 27 ) may be formed, for example, as a non-contact distance sensor or the like.

In the embodiment of 2 is the decoupling element ( 28 ) as a spring arrangement ( 29 ) educated. In the embodiment shown, it is a single spring, which is designed for example as a metallic coil spring, possibly as a compression spring. By the spring arrangement ( 29 ) are relative movements between the parts to be decoupled ( 2 . 3 ) possible. Alternatively, the single spring can also be designed in another way.

3 shows a variant of the spring arrangement ( 29 ), which is designed here as a spring package. This consists of several axially aligned and each end with the interfaces ( 24 . 25 ) associated metallic individual springs, such as coil springs or compression springs. These can be arranged in a ring or in any two-dimensional grid and ensure the said decoupling of the parts ( 2 . 3 ).

In 4 is another variant of a spring arrangement ( 29 ), which in turn is designed as a spring assembly. In this case, the said individual springs are arranged obliquely and form a conical spring package. Again, a ring or grid arrangement is possible. At the end, the individual springs are each connected to a support ring, which consists for example of an elastomeric plastic. Through along the axial connecting line between the interfaces ( 24 . 25 ) oriented cone shape is greater lateral stability than in the previous variant of 3 achieved. The cone shape can be designed differently. In the illustrated and preferred embodiment, it tapers from the robot side to the process tool ( 3 ). The interfaces or flanges ( 24 . 25 ) may have different sizes according to cone taper.

5 shows a variant in which the decoupling element ( 28 ) as magnetic coupling ( 32 ) is trained. It consists of two or more magnetically conductive coupling parts, one of which is for example designed as a permanent magnet and the other consists of a ferromagnetic material or is also a permanent magnet with reversed polarity. The coupling parts may have a mutually adapted and, for example, complementary contour with axial projections and recesses at the contact point and form a positive connection with each other. In the event of a collision, the magnetic holding force can be overcome, whereby the coupling parts can move relative to each other and possibly separate from each other. To a falling apart of the magnetic coupling ( 32 ) in the decoupling case, one or more resilient retaining means ( 18 ), for example, between the coupling parts and / or between the interfaces ( 24 . 25 ) are arranged. The resilient retaining means ( 18 ) may be formed, for example, as ropes or chains. On the other hand, they can consist of a flexurally elastic and possibly also axially resilient material and can be designed, for example, as a flexible sleeve which seals the magnetic coupling (FIG. 32 ) surrounds the outside.

In the variant of 6 is the decoupling element ( 28 ) as a ball joint ( 30 ), which has a ball head and a ball socket, with the respective adjacent interface ( 24 . 25 ) are firmly connected. About the ball joint ( 30 ) are for decoupling rotational movements possible. By means of friction or other suitable measures, an adhesive effect or other resistance can be generated, which enable such rotational movements only when a predetermined collision or reaction force occurs in the event of a collision.

In the embodiment of 7 becomes the decoupling element ( 28 ) of one or more overload elements ( 31 ) are formed, which give in a collision case when a sufficient large collision or reaction force occurs in a suitable manner. This can, for example, cancel or otherwise destroy the overload element (s) ( 31 ) be. On the other hand, an overload element ( 31 ) Also consist of a resilient and rubber-like material, for example, which deforms in load and Entkopoppelungsfall.

For the captive security in this, as well as the other suitable embodiments, a resilient retaining means ( 18 ) (not shown), which allows the relative movement during decoupling and an uncontrolled falling apart of the parts to be decoupled ( 2 . 3 ) prevented.

8th shows a further variant in which the decoupling element ( 28 ) of the combination of a ball joint ( 30 ) with one or more overload elements ( 31 ) is formed. The overload elements ( 31 ) stabilize the ball joint ( 30 ) until the occurrence of a predetermined collision or reaction force in the event of a collision, in which case they then yield and the ball joint ( 30 ) provides a controlled rotating decoupling movement.

The industrial robot ( 2 ) has several interconnected links ( 7 . 8th . 9 . 10 ) and can at its output member ( 9 ) the process tool ( 3 ) wear. The industrial robot ( 2 ) can have multiple rotational and / or translational axes in any combination and design. In the illustrated embodiment of 1 and 9 he is trained as Gelenkarmroboter, which is a base member ( 7 ) or a pedestal and a robot arm mounted pivotably about a horizontal axis ( 8th ) having. At its free end another robot arm ( 9 ) be mounted pivotably about a horizontal axis, which in turn at the free end of the pivotable output member ( 10 ), which may be designed as a multi-axis robot hand, for example. Said pedestal may also rotate about an upright axle relative to the ground. The robot arms ( 8th . 9 ) can according to 6 be formed in several parts and rotatable by means of axes (III) and (V). The industrial robot ( 2 ) in 9 has eg seven robot axes (I-VII).

The industrial robot ( 2 ) can be designed as a multi-axis or multi-unit robot in a conventional design and can have position-controlled axes or axle drives. Such an industrial robot ( 2 ) requires special MRC protection measures to meet the requirements of accident prevention. This can for example take place a movement and work space monitoring with optical detection systems or the like. In addition, external shielding by a spacious enclosure, a fence or the like. Possible.

Preferably, the industrial robot ( 2 ) is designed as a tactile robot and has an external or integrated sensor system ( 11 ), which from the outside on the industrial robot ( 2 ) absorbs and evaluates acting loads. An external sensor can eg between the industrial robot ( 2 ) and the process tool ( 3 ) can be arranged. It is preferred according to 1 and 9 the integrated sensor system ( 11 ).

Alternatively or additionally, another MRK sensor system on the industrial robot ( 2 ) and / or on the process tool ( 3 ), which detects impending collisions and which is designed, for example, as a proximity sensor.

The tactile industrial robot ( 2 ) may have one or more force-controlled or force-controlled robot axes. This allows a controllable or controllable response to externally applied loads.

Preferably, the tactile industrial robot ( 2 ) at least one compliant robot axis with a compliance control. This can be, for example, a pure force control or a combination of a position and force control. Such a training is in combination with an integrated sensor system ( 11 ) are particularly advantageous, wherein, for example, one or more, the externally acting forces and / or moments receiving sensors are arranged on the robot axes or the local axle bearings. Furthermore, wegaufnehmende sensors may be present.

A tactile industrial robot ( 2 ) can be switched to different operating modes. This allows different responses to the occurrence of external loads, especially unexpected or unforeseen stress. In such a case, the tactile industrial robot ( 2 ) are switched to a spring mode, for example, in which he resiliently evades the external load until the load disappears. On the other hand, a switch to a powerless mode is possible in which the industrial robot ( 2 ) stops when such an external load occurs and moves on only after elimination of the load. In a powerless mode, the industrial robot ( 2 ) can also be guided and taught by hand, in which one eg at its output member ( 9 ) or on the process tool ( 3 ) attacks. The occurring robot and member movements are registered and stored in order to generate a train or movement program for the robot operation on this basis.

A tactile industrial robot ( 2 ) of the type described above is particularly suitable for implementation of compliant robot axes for human-robot cooperation or collaboration (abbreviated MRK). He can stand with a person in an unfamiliar or unexpected in the program flow contact with a person, dodging or possibly even move actively in another operating mode backwards, thereby avoiding injury or at least reduce.

Such a tactile robot can eg according to DE 10 2007 063 099 A1 . DE 10 2007 014 023 A1 or DE 10 2007 028 758 B4 be educated.

The industrial robot ( 2 ) preferably has a relatively low weight of less than 100 kg, especially 50 kg or less. He also has a correspondingly limited load capacity. The industrial robot ( 2 ) can be designed as a small robot. Also preferred is a design as a lightweight robot, which is constructed of particularly lightweight materials, in particular plastic, at least in parts.

Variations of the embodiments shown and described are possible in various ways. In particular, the features of the various embodiments and their modifications can be arbitrarily combined with each other or swapped.

LIST OF REFERENCE NUMBERS

1

 working device

2

 Industrial robot, tactile robot

3

 process tool

4

 MRK protection device, personal protection device

5

6

 improvement

7

 Limb, base, pedestal

8th

 Limb, robotic arm

9

 Limb, robotic arm

10

 Link, output link, robot hand

11

 sensors

12

13

14

15

16

17

 uncoupling

18

 Holding means yielding

19

20

21

22

23

24

 Interface, attachment to robots

25

 Interface, attachment to tool

26

 control

27

 detection device

28

 decoupling

29

 Spring arrangement, single spring, spring package

30

 ball joint

31

 Overload element

32

 magnetic coupling

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 19938114 A1 [0002]
• DE 102007038922 B3 [0003]
• DE 3004014 A1 [0004]
• US 4673329A [0005]
• DE 102010004316 A1 [0006]
• DE 10391972 T5 [0006]
• DE 102007063099 A1 [0009, 0053]
• DE 102007014023 A1 [0009, 0053]
• DE 102007060680 A1 [0009]
• DE 102007028758 B4 [0009, 0053]
• DE 102009047033 A1 [0010]
• US 2008/0188985 A1 [0011]

Cited non-patent literature

• ISO / TS 15066 [0009]
• EN ISO 10218-1,2 [0009]

Claims (14)

Working device with an industrial robot suitable for human-robot cooperation or collaboration (MRK) ( 2 ), which is a process tool ( 3 ), whereby the industrial robot ( 2 ) a plurality of movable, in particular rotatable, interconnected members ( 7 . 8th . 9 . 10 ) and one or more force-controlled or force-controlled robot axes (I-VII) with an integrated, acting loads of the respective robot axis (I-VII) sensing sensor ( 11 ) and in addition in the area of the process tool ( 3 ) a personal protection device ( 4 ) which is in physical contact with a worker ( 6 ) an evasive movement of the process tool ( 3 ) or a tool part. Working device according to claim 1, characterized in that the personal safety device ( 4 ) as a decoupling device ( 17 ) is designed to reduce the mass acting on people contact. Working device according to claim 1 or 2, characterized in that the decoupling device ( 17 ) between the parts to be decoupled, in particular between the process tool ( 3 ) and the industrial robot ( 2 ) and / or between process tool parts. Working device according to claim 1, characterized in that the decoupling device ( 17 ) when in physical contact with a worker ( 6 ) yielding decoupling element ( 28 ) having. Working device according to one of the preceding claims, characterized in that the decoupling device ( 17 ) Interfaces ( 24 . 25 ) for connection to the parts to be decoupled ( 2 . 3 ) having. Working device according to one of the preceding claims, characterized in that the decoupling device ( 17 ) a compliant and with the interfaces ( 24 . 25 ) connected holding means ( 18 ) having. Working device according to one of the preceding claims, characterized in that the personal safety device ( 4 ) a detection device ( 27 ) for detecting a response of the decoupling device ( 17 ), in particular the decoupling element ( 28 ) having. Working device according to one of the preceding claims, characterized in that the decoupling element ( 28 ) as a spring arrangement ( 29 ), in particular as a single spring or as a spring assembly is formed. Working device according to one of the preceding claims, characterized in that the decoupling element ( 28 ) as a ball joint ( 30 ) is trained. Working device according to one of the preceding claims, characterized in that the decoupling element ( 28 ) as an overload element ( 31 ) is trained. Working device according to one of the preceding claims, characterized in that the decoupling element ( 28 ) as magnetic coupling ( 32 ) is trained. Working device according to one of the preceding claims, characterized in that the industrial robot ( 2 ) has at least one compliant robot axis (I-VII) with a compliance control, in particular a pure force control or a combination of position and force control having. Working device according to one of the preceding claims, characterized in that the industrial robot ( 2 ) an integrated sensor system ( 11 ) with one or more sensors, in particular force or torque sensors, on one or more robot axes (I-VII). Working device according to one of the preceding claims, characterized in that the industrial robot ( 2 ) a controller ( 26 ) having.

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