DE202018104132U1 - Sensor system and distance sensor module - Google Patents

Abstract

Distance sensor module (2), characterized in that the distance sensor module (2) has a housing (8) with at least one distance sensor (9), wherein the housing (8) has at least one rotary joint (10) with a rotation axis (11) and two on the housing (8) mutually oppositely disposed connection points (12), wherein each connection point (12) has a connecting element (13) for connection to an adjacent distance sensor module (2).

Description

The present invention relates to a distance sensor module according to the preamble of claim 1 and a sensor system according to the preamble of claim 7.

To protect tools on robots or the processes of the tools with the workpieces contactless protective devices are often used.

The protection with only one example, always the same sensor arrangement is a challenge, because the geometries of the tools and workpieces are application-specific very different.

The EP 1 813 967 B1 discloses a light grid with modules that can be strung together.

The US 2001/0040213 A1 discloses light grid modules which are connected to each other via a hinge.

The DE 10 2015 112 656 A1 discloses a robot with individual sensors on a robot arm.

An object of the invention is to provide a distance sensor module which can be combined with other distance sensor modules to form a protective field around a tool or a workpiece on a robot arm.

The object is achieved according to claim 1 by a distance sensor module, wherein the distance sensor module has a housing with at least one distance sensor, wherein the housing has at least one rotary joint with a rotation axis and two opposite connection points, each connection point has a connection element for connection to an adjacent distance sensor module ,

The object is further achieved according to claim 7 by a sensor system with optoelectronic distance sensor modules for monitoring a danger zone on a movable machine part with at least one protective field, wherein the optoelectronic distance sensors are arranged annularly in a first ring on the movable machine part, wherein on the movable machine part a tool is arranged, wherein the distance sensor modules each having a housing with at least one distance sensor, wherein the housing has at least one rotary joint with a rotation axis and two opposite connection points, each connection point has a connecting element for connection to an adjacent distance sensor module.

The sensor system is used to safely monitor the danger zone or a monitoring area of the movable machine part.

Safety according to the present invention is safety in the sense of machine safety. For example, the rules Standard EN / IEC 61496 the requirements for a safe sensor or a safe non-contact protective device (ESPE) for the protection of hazardous areas. Machine safety is regulated in the EN 13849 standard. The security is ensured, for example, by a two-channel or two-channel diversitären structure of an evaluation unit for fault detection and functional testing. The distance-measuring sensor or distance sensor according to the present invention, for example, intrinsically safe and detects internal errors. When an error is detected, for example, an error signal is generated. Furthermore, the sensor or distance sensor optionally has a sensor test.

An evaluation unit detects protective field violations and can output a safety-related shutdown signal in order to stop a dangerous movement of the part or the robot or to decelerate the part or the robot. This can z. Via secure switching signals, e.g. OSSD signals (output safety switching device signals) or safe distance data, distance data or safe location data of the intervention event can be realized. For example, the evaluation unit is designed with two channels.

The distance sensor modules form a holder, in which the non-contact distance sensors can be integrated. Due to the housing of the distance sensor module, a movable chain can be formed with which a wide variety of arrangements of the distance sensor modules can be realized. This makes it possible to secure human-robot collaboration applications with different robot tool geometries or workpiece geometries.

The housing consists of at least two housing parts, which are connected to each other via the rotary joint.

The plurality of distance sensors are connected to an evaluation unit for evaluation of the distance sensors. The routing of the individual distance sensors can be done easily via the hinge. In this case, the lines must not be interrupted because the mechanically detachable interface to the structure of the sensor system is not the hinge, but the detachable connection point.

The sensor system according to the present invention may be constructed by the user himself, according to the given geometrical conditions. Due to the swivel joints, the geometry can be precisely adapted to predefined mechanical adapters.

However, it can also be provided to set up the sensor system directly at the manufacturer in production and deliver it to the user in a tamper-proof manner.

The distance sensors are spaced apart, for example, along the ring, with each sensor forming a planar protective field. The protective fields together approach, for example, the lateral surface of a cylinder or truncated cone or hyperboloid of revolution.

Optionally, the distance sensors have uniform distances. Due to the uniform distances of the sensors and each identical angular orientation of the detection beams a nearly uniform resolution within the protective field is achieved.

The distance sensors are non-contact distance-measuring distance sensors, wherein the distance sensors have a detection beam for detecting objects in the monitoring area.

The distance sensors can each have a linear or flat protective field. The flat protective field is fan-shaped with a certain opening angle of for example 2 ° to 20 °.

In a development of the invention, the housing has at least two distance sensors, the rotary joint being arranged between the distance sensors.

In this case, the distance sensors are optionally arranged in the housing in such a way that equidistant distances, ie equal distances between the optical axes of the distance sensors, the distance sensors of a distance sensor module and adjacent distance sensor modules, are present for a joint of distance sensor modules. By arranging at least two distance sensors per distance sensor module, the number of hinges is quasi halved.

In a further development of the invention, the connecting element is an electrical and mechanical plug connection. This provides a simple electrical connection between the modules. The connector has this optional locking means to secure the connection mechanically. The connector defines the mechanical distances between the distance sensors.

In a further development of the invention, at least one spacer is arranged between the distance sensor modules. Thereby, a distance of the distance sensor modules to each other can be adjusted. By using multiple spacers, the distance can be increased modular. The spacers form a modular sensor system which can be flexibly adapted to the desired dimensions and to the desired number of distance sensors.

In a further development of the invention, a longitudinally adjustable holding arm is arranged on at least one housing. By the holder arm, the distance sensor module can be attached to the robot arm or a receiving body of the robot arm. The support arm is optionally designed to be adjustable in length. Preferably, each distance sensor module, each with a holding arm attached to the receiving body.

In a further development of the invention, the longitudinally adjustable retaining arm is attached to the rotary joint. As a result, the axis of rotation of the rotary joint is identical to the mounting axis of the support arm.

• 1 ein Distanzsensormodul mit einem Distanzsensor und einem Drehgelenk;
• 2 ein Distanzsensormodul mit zwei Distanzsensoren und einem Drehgelenk zwischen den Distanzsensoren;
• 3 ein Sensorsystem aus Distanzsensormodulen;
• 4 ein Sensorsystem aus Distanzsensormodulen und Haltearmen;

The invention will be explained below with regard to further advantages and features with reference to the accompanying drawings with reference to embodiments. The figures of the drawing show in:

• 1 a distance sensor module with a distance sensor and a hinge;
• 2 a distance sensor module with two distance sensors and a pivot between the distance sensors;
• 3 a sensor system of distance sensor modules;
• 4 a sensor system of distance sensor modules and holding arms;

In the following figures, identical parts are provided with identical reference numerals.

1 shows a distance sensor module 2 , wherein the distance sensor module 2 a housing 8th with at least one distance sensor 9 having, wherein the housing 8th at least one swivel joint 10 with a rotation axis 11 and two oppositely disposed joints 12 having, each junction 12 a connecting element 13 has for connection to an adjacent distance sensor module.

The housing 8th consists of at least two housing parts 17 . 18 the over the swivel 10 connected to each other.

The distance sensors 9 are non-contact distance-measuring distance sensors 9 , where the distance sensors 9 have a detection beam for detecting objects in the surveillance area.

According to 1 is the connecting element 13 an electrical and mechanical plug connection 14 , This provides a simple electrical connection between the modules 2 provided. The plug connection 14 has this optional locking means to mechanically secure the connection. The plug connection 14 defines the mechanical distances between the distance sensors 9 ,

According to 2 shows the case 8th at least two distance sensors 9 on, being between the distance sensors 9 the hinge 10 is arranged.

The distance sensors 9 are optional in the case 8th arranged that when connecting distance sensor modules 2 at equal joint angles equidistant distances, ie equal distances between the optical axes of the distance sensors 9 a distance sensor module 2 and adjacent distance sensor modules 2 available. By the arrangement of at least two distance sensors 9 per distance sensor module 2 will be the number of hinges 10 almost halved.

3 shows a sensor system 1 with optoelectronic distance sensor modules 2 for monitoring a hazardous area 3 on a movable machine part with at least one protective field 5 , wherein the optoelectronic distance sensors 9 are annularly arranged in a first ring on the movable machine part, wherein on the movable machine part a tool is arranged, wherein the distance sensor modules 2 one housing each 8th with at least one distance sensor 9 have, wherein the housing 8th at least one swivel joint 10 having a rotation axis and two opposite joints 12 having, each junction 12 a connecting element 13 has for connection to an adjacent distance sensor module 2 ,

The sensor system 1 is used for safe monitoring of the danger zone 3 or a monitoring area of the movable machine part.

The distance sensors 9 form according to 3 a holder into which the non-contact distance sensors 9 can be integrated. Due to the case 8th of the distance sensor module 2 a movable chain can be formed, with the most diverse arrangements of the distance sensor modules 2 can be realized. This makes it possible to secure human-robot collaboration applications with different robot tool geometries or workpiece geometries.

The multiple distance sensors 9 are equipped with an evaluation unit for evaluation of the distance sensors 9 connected. The routing of the individual distance sensors 9 can easily over the hinge 10 respectively. In this case, the lines must not be interrupted because the mechanically detachable interface to the structure of the sensor system 1 not the hinge 10 is, but the detachable connection point 12 ,

The sensor system 1 according to 3 The user can build himself, according to the given geometrical conditions. Through the swivel joints 10 The geometry can be adapted exactly to given mechanical adapters.

The distance sensors 9 can each have a linear or flat protective field 5 respectively. The flat protective field 5 is fan-shaped with a certain opening angle of for example 2 ° to 20 °.

According to 4 is on at least one housing 8th a longitudinally adjustable arm 15 arranged. Through the holder arm 15 can the distance sensor module 2 be attached to the robot arm or a receiving body of the robot arm. The holding arm 15 is optionally adjustable in length. Preferred is each distance sensor module 2 each with a holding arm 15 attached to the receiving body.

According to 4 is the longitudinally adjustable support arm 15 at the hinge 10 attached. As a result, the axis of rotation of the rotary joint 10 identical to the mounting axis of the support arm.

The distance sensors 9 are for example according to 4 spaced along the ring, each distance sensor forms a flat protective field. The protective fields together approach, for example, the lateral surface of a cylinder or truncated cone or hyperboloid of revolution
Optionally have the distance sensors 9 even distances on. Due to the uniform distances of the distance sensors 9 and a respective identical angular orientation of the detection beams becomes a nearly uniform resolution within the protective field 5 reached.

According to one embodiment, not shown, at least one spacer is arranged between the distance sensor modules. Thereby, a distance of the distance sensor modules to each other or a distance of the distance sensors can be adjusted to each other. By using multiple spacers, the distance can be increased modular. The spacers form a modular sensor system which can be flexibly adapted to the desired dimensions and to the desired number of distance sensors.

LIST OF REFERENCE NUMBERS

1

sensor system

2

Distance sensor modules

3

danger area

5

protection field

8th

casing

9

Distance sensor

10

swivel

11

axis of rotation

12

joints

13

connecting element

14

connector

15

holding arm

16

spacer

17

housing part

18

housing part

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

• EP 1813967 B1 [0004]
• US 2001/0040213 A1 [0005]
• DE 102015112656 A1 [0006]

Cited non-patent literature

• Standard EN / IEC 61496 [0011]

Claims (7)

Distance sensor module (2), characterized in that the distance sensor module (2) has a housing (8) with at least one distance sensor (9), wherein the housing (8) has at least one rotary joint (10) with a rotation axis (11) and two on the housing (8) mutually oppositely disposed connection points (12), wherein each connection point (12) has a connecting element (13) for connection to an adjacent distance sensor module (2). Distance sensor module (2) after Claim 1 , characterized in that the housing has at least two distance sensors, wherein between the distance sensors, the rotary joint is arranged. Distance sensor module (2) according to at least one of the preceding claims, characterized in that the connecting element (13) is an electrical and a mechanical plug connection (14). Distance sensor module (2) according to at least one of the preceding claims, characterized in that at least one spacer is arranged between the distance sensor modules. Distance sensor module (2) according to at least one of the preceding claims, characterized in that a longitudinally adjustable holding arm (15) is arranged on the housing (8). Distance sensor module (2) according to at least one of the preceding claims, characterized in that the longitudinally adjustable retaining arm (15) on the rotary joint (10) is attached. Sensor system (1) with optoelectronic distance sensor modules (2) for monitoring a danger zone (3) on a movable machine part with at least one protective field (5), the optoelectronic distance sensor modules (2) being arranged annularly in a ring on the movable machine part (4), wherein a tool is arranged on the movable machine part, characterized in that the distance sensor modules according to one of Claims 1 to 6 are formed.

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