DE202020101253U1 - system - Google Patents

Abstract

System (1) with a sensor system (2) with distance sensors (3) for monitoring a danger area on a movable machine part (5) with at least one protection area (6), a tool (7) being arranged on the movable machine part (5),
wherein the distance sensors (8) are arranged on a holder (9),
wherein a plurality of distance sensors (3) are arranged, the detection beams (10) of the distance sensors (8) forming a protective field jacket (11), the holder (9) having the distance sensors (8), the holder (9) being disk-shaped Has housing (12), wherein the disc-shaped housing (12) has round surfaces (13) and has no corners on the outer surfaces, the system comprising a fastening system (14),
characterized in that the fastening system (14) comprises a first fastening adapter (15) on which the holder (9) is arranged for fastening the holder (9) to the tool (7), the first fastening adapter (15) having a central continuous Has opening (20) for the tool (7),
or the fastening system (14) comprises a second fastening adapter (16) on which the holder (9) is arranged for fastening the holder (9) to the movable machine part (5), the second fastening adapter (16) having two legs (23, 24) which are arranged at right angles to one another, the holder (9) being fastened to the first leg (23) and the second fastening adapter (16) connected to the movable machine part (5) on the second leg (24) is.

Description

The present invention relates to a system with a sensor system with distance sensors.

The DE 10 2015 112 656 A1 discloses a plurality of optoelectronic distance sensors on a movable machine part.

In today's production environment, there are more and more tasks in which humans and robots have to work hand in hand in a confined space. It is not possible to protect humans from the robot by means of mechanical protective devices such as fences or barriers, but must be relocated to the immediate vicinity of the robot.

In order to make this type of cooperation possible in principle, robot manufacturers have developed robots with a power and force limit. The maximum force that a robot can exert before the movement is automatically stopped can be set here so that in the event of a collision between the robot and a person, the application of force cannot lead to serious injuries. The motor control and the rotary encoders, which determine the position of the robot arm, are safety components with the corresponding certification.

In addition, when designing the mechanical robot components, attention is consciously paid to edge-free, round or soft outer contours so that a possible collision force is distributed over the largest possible area and there is no risk of cuts or the like.

The increasing spread of safe small robots with safe motion controls and power-limited drives reduces the sources of danger on the tool attachment at the end of the robot arm. A problem that has not yet been satisfactorily resolved is the protection of the tool on the robot itself. The tool itself often consists of sharp or pointed parts, parts that rotate or are hot, etc. in order to be able to carry out its task at all. Examples are drills, screwdrivers, milling cutters, blades, sharp-edged grippers for filigree parts, welding tongs, soldering tips, etc.

There is thus an increased risk of injury on the tool, even when the robot's force is safely limited, due to the tool's own movement or sharp-edged parts. Even blunt tools can pose a hazard in a sharp-edged work area or surrounding area. A tool attachment is usually small in size and well localized. At the same time, the large variety of possible tool geometries, the fast movement in many degrees of freedom and the requirement for quick adaptation and change geometries of the tool attachment make new demands on a protection solution that existing safety sensors cannot or can only inadequately meet.

Robots are not finished machines because they are delivered without tools. For this reason, even inherently safe HRC robots do not receive a CE mark. Safety sensors designed as ESPE can be used to secure a robot including tool and workpiece. These sensors must be attached to the robot.

One object of the invention is to provide an improved system with a sensor system.

The object is achieved according to claim 1 by a system with a sensor system with distance sensors for monitoring a danger area on a movable machine part with at least one protection area, a tool being arranged on the movable machine part, the distance sensors being arranged on a holder, with a plurality of distance sensors are arranged, the detection beams of the distance sensors forming a protective field jacket, the holder having the distance sensors, the holder having a disc-shaped housing, the disc-shaped housing having round surfaces and no corners on the outer surfaces, the system comprising a fastening system , wherein the fastening system comprises a first fastening adapter on which the holder is arranged for fastening the holder to the tool, wherein the first fastening adapter has a central through opening for the tool, or the fastening ssystem comprises a second fastening adapter on which the holder is arranged for fastening the holder to the movable machine part, the second fastening adapter having two legs which are arranged at right angles to one another, the holder being attached to the first leg and to the second leg of the second fastening adapter is connected to the movable machine part.

The holder with the distance sensors forms an EOAS (EOAS, End-of-Arm-Safeguarding), i.e. a protection system at one end of the arm.

The fastening system is preferably fixed on the last axis of a robot. The fastening system thus has a defined Orientation or a defined angle to the last axis.

A longitudinal axis of the tool is preferably arranged at an angle of 90 ° to a last axis of the movable machine part.

According to the invention, the tool is secured in the application. This enables direct collaboration between humans and robots, including tools. This increases the throughput time, increases work safety and significantly less space is used for safeguarding, since only the direct hazard area is secured.

The disc-shaped housing has round surfaces and no corners on the outer surfaces.

Here there is a fastening system for the holder and thus for the distance sensors, which represents a flexible solution for application-specific requirements. In particular, an adapter function for various robot flanges and end effectors is provided here by the fastening system or the fastening adapter. In addition, the sensor system with the disk-shaped housing with the fastening system is inherently safe in shape and material as well as mechanically stable, on the one hand to prevent manipulation of the safety devices and on the other hand to pass on forces to a possibly power and force-limited robot.

Due to the round surface of the disc-shaped housing, there is a possible collision surface at every point and no collision edge or collision corner, which minimizes the risk of injury. The outer contours of the disc-shaped housing are optionally round, also circular or arc-shaped.

The system has no sharp edges. Rather, an organic shape is provided that results in a low surface pressure when touched. The system has no gaps in which the workers' fingers or clothing could get caught.

Cable guides and / or hose feeds are also designed to be inherently safe, so that they do not have any corners and are designed to be flexible when a force is applied. The cable guides and / or hose feeds are in particular guided closely in order to prevent the human hand from getting caught.

The holder that holds the distance sensors can be monolithic or modular.

The holder or the receptacle for the distance sensors are firmly connected to the fastening adapters so that they do not become detached from the fastening adapters in the event of a collision between the person and the holder. In this way, forces can be passed on to the robot. The mechanical design is so stable that forces can be passed on to the robot and its power and force limitation.

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

According to the present invention, safety is safety in the sense of machine safety. For example, the EN / IEC 61496 standard regulates the requirements for a safe sensor or a safe electro-sensitive protective device (ESPE) for protecting hazardous areas. Machine safety is regulated in the EN13849 standard. Safety is guaranteed, for example, by a single-channel structure with testing, a two-channel or two-channel diverse structure of a control and evaluation unit for fault detection and functional testing. The distance-measuring sensor or distance sensor according to the present invention is designed, for example, to be intrinsically safe and detects internal errors. When an error is discovered, for example, an error signal is generated. The sensor or distance sensor also has an optional sensor test.

The control and evaluation unit detects violations of the protective field and can output a safety-related switch-off signal in order to stop a dangerous movement of the part or to brake the part. This can be E.g. via safe 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. For example, the control and evaluation unit has two channels.

The multiple distance sensors are connected to the control and evaluation unit for evaluating the distance sensors.

The distance sensors are optionally arranged at a distance from one another along a ring, the sensors forming a flat protective field jacket which extends, for example, in the shape of a cylinder or a truncated cone.

Optionally, the distance sensors are evenly spaced. Due to the uniform The distances between the sensors and an identical angular alignment of the detection beams results in an almost uniform resolution within the protective field.

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

The distance sensors can each have a linear or flat protective field. The flat protective field is designed in the shape of a fan with a certain opening angle of, for example, 2 ° to 20 °.

The monitoring takes place with a number of simple, one-dimensional scanning distance measuring sensors.

For example, the distance sensors are time-of-flight sensors. A time-of-flight sensor or a distance sensor or a light sensor based on the time-of-flight principle has at least one light transmitter that emits successive light pulses into a measuring area or monitoring area and at least one light receiver that picks up the light pulses reflected on an object in the measuring area and in the form of electrical reception signals a control and evaluation unit which, taking into account the speed of light, determines a distance signal representative of the distance between the object and the light scanner from the time between emission and reception of the light pulse.

A modular construction of the holder is also provided. A submodule of the holder only contains a limited number of distance sensors. Any number of safety contours can be created by combining different submodules.

To generate a quasi-closed protective field jacket from the distance sensors, an adaptation of the number of sensors is provided: For example, the number of sensors can be changed. The more distance sensors are arranged, the closer the optical axes of the distance sensors are next to each other, so that the protective field jacket has a higher resolution.

The wavelength of the light emitted by the distance sensors is preferably a wavelength that is invisible to the human eye, for example infrared light. This makes targeted intervention in possible protection gaps more difficult, as these are not visible.

Optionally, receptacles of the holder for the distance sensors have at least one mechanical fastening for the distance sensors, on which the distance sensors can be mounted in at least one predefined position.

The holder or a receptacle in the holder is implemented in such a way that all distance sensors have a fixed position relative to one another, which is compatible with the protection concept.

The distance sensors are optionally installed via Poka Yoke, after which the sensors must automatically be installed in the correct position.

The recording is optionally implemented in such a way that the individual distance sensors can be orientated several times, each of which is compatible with the protection concept.

The position and alignment of the individual ESPE sensors can no longer be recognized by the worker in the final installed state, so that manipulation is made more difficult.

The holder optionally has receptacles for printed circuit boards, electronic assemblies and / or cable connections.

The holder can also serve as a receptacle for further electronic assemblies, such as cable collector boards, logic units for initial data processing and / or further sensors.

The cable routing is designed in such a way that the user or worker cannot get caught in the cables.

The holder optionally provides strain relief for the cables of the distance sensors.

The fastening system is designed in such a way that manipulation is not possible due to the fastening mechanism. This means that the holder or the EOAS (EOAS, End-of-Arm-Safeguarding) must be installed first, followed by the tool. The fastening system is designed in such a way that the holder can only be removed after the tool has been dismantled

The fastening system is designed so that the tool can be adjusted in height relative to the holder or EOAS. This means that the protective field jacket can always be adapted to the application and the dimensions of the tool and workpiece. In this way, the technical limits of the EOAS and the security of the application can be reconciled.

The fastening system is designed so that the tool can be changed easily. This can preferably also take place during operation, for example during a work cycle when the tool is stationary or moving at a safe movement speed.

The fastening system is designed in such a way that the tool does not slip in its position and location after assembly, since the position of the tool length to the protective field jacket must be guaranteed.

The fastening system is designed in such a way that strain relief for cables and lines is provided on the fastening system.

The first and / or second fastening adapter is made of steel, in particular stainless steel, for example. However, fastening adapters made of plastic can also be provided.

In a further development of the invention, the first fastening adapter or the second fastening adapter are screwed to the holder by means of a single screw connection, the screw connection having a diameter that is larger than the central through opening for the tool.

The holder can be fitted very quickly thanks to the single screw connection. Because the diameter has a size that is larger than the central through opening for the tool, the screw connection can enclose the central opening and the screw connection can be loosened and fastened or fixed, for example, with the bare hand.

In a further development of the invention, the first fastening adapter has an annular fastening unit, the annular fastening unit enclosing the central opening and fastening means being arranged symmetrically on the annular fastening unit.

As a result, a central axis of the first fastening adapter can be arranged congruently with a central axis of the tool. The tool is arranged centrically to the first fastening adapter and centrically to the holder.

In a further development of the invention, the first leg of the second fastening adapter has an opening for the tool.

As a result, a central axis of the opening of the first leg of the second fastening adapter can be arranged congruently with a central axis of the tool. The tool is arranged centrally to the opening of the first leg of the second fastening adapter and centrally to the holder.

In a further development of the invention, the first leg and the second leg each have fastening holes.

As a result, the holder can be easily attached to the first leg, for example by means of assembly screws, and the second leg of the second fastening adapter can be connected to the movable machine part, for example, by means of assembly screws.

In a further development of the invention, the first leg and the second leg are each designed to be round at the ends.

The round surface of the ends means that there are no sharp edges or corners, which minimizes the risk of injury. The outer contours of the legs are optionally circular or arcuate.

The design exposed to the worker must not have any sharp edges. Rather, an organic shape is provided that results in a low surface pressure when touched. The design exposed to the worker has no gaps in which the workers' fingers or clothing could get caught.

In a further development of the invention, a material feed device is arranged and fastened to the fastening system.

The fastening system is designed in such a way that applications can be implemented with and without the supply of assembly parts. In the case of screwing applications, for example, it can happen that screws are delivered to the assembly point through a feed along the tool, for example a screwing tool.

The fastening system is designed in such a way that the feed does not disturb or shade the protective field jacket. The material feed device is guided within the holder, i.e. not through the protective field jacket, or the material feed device is guided, for example, between two detection beams near the origin of the detection beams, whereby the protective field jacket is also not impaired or shaded.

In a further development of the invention, the tool is an assembly tool, a screwing tool, an adhesive tool, a cleaning tool, a Drilling tool, a milling tool, a grinding tool or a deburring tool.

Such tools can be used in an automated manner, which means that manual use is no longer necessary. This can significantly increase the degree of automation.

In a further development of the invention, the system comprises a control and evaluation unit, the distance sensors being connected to the control and evaluation unit, the first detection beams of the distance sensors forming the protective field jacket and second detection beams of the distance sensors forming a warning field jacket, the warning field jacket enveloping the protective field jacket.

The outer warning field jacket leads to a weaker safety measure in the event of an intervention such as an alarm or a certain speed reduction and only the inner protective field jacket functions as a protective field with real protection by stopping, evading or greatly reducing the speed of the tool. This increases the availability of the system.

In a further development of the invention, the control and evaluation unit is designed to change a movement speed of the movable machine part, the movement speed being slowed down when the warning field jacket is reached and stopped when the protective field jacket is reached. This increases the availability of the system.

In a further development of the invention, the control and evaluation unit is designed to activate the tool only when there is a minimum distance between the tool and a workpiece, the minimum distance being based on anthropometric data.

In a further development of the invention, the control and evaluation unit is designed to activate the tool only when there is a minimum distance between the tool and a workpiece, the minimum distance being 10 mm to 20 mm.

In a further development of the invention, the control and evaluation unit is designed to activate the tool only when there is a minimum distance between the tool and a workpiece, the minimum distance being 14 mm.

The system or the control and evaluation unit is designed so that the protective field jacket is designed so that when approaching a process point, for example the point at which the screw is mounted, the movable machine part or the robot when intervening in the Warning field jacket slows down or stops when the protective field jacket is interfered with.

The system or the control and evaluation unit is designed so that the protective field jacket is designed in such a way that the tool and robot are switched off or stopped in the event of an intervention. In particular, the tools are only operated (e.g. rotating the screw head / drill or the deburrer, operating the adhesive nozzle, etc.) when the distance between the tool tip and the surface to be processed is less than a minimum distance. This minimum distance is linked to anthropometric data. For example, if you want to avoid injuring / crushing a finger, the tool may only be operated when the distance is less than 14 mm, in accordance with the EN349 standard.

• 1 ein System mit einem Sensorsystem mit einem ersten Befestigungsadapter;
• 2 ein System mit einem Sensorsystem mit einem zweiten Befestigungsadapter;
• 3 und 4 jeweils einen zweiten Befestigungsadapter;
• 5 und 6 jeweils einen ersten Befestigungsadapter;
• 7 jeweils einen Halter mit Distanzsensoren;
• 8 ein Sensorsystem mit einem Schutzmantelfeld und einem Warnmantelfeld;
• 9 und 10 jeweils ein Sensorsystem mit einem Schutzmantelfeld;

The invention is explained below also with regard to further advantages and features with reference to the accompanying drawings using exemplary embodiments. The figures in the drawing show in:

• 1 a system with a sensor system with a first mounting adapter;
• 2 a system with a sensor system with a second mounting adapter;
• 3 and 4th a second mounting adapter in each case;
• 5 and 6th a first mounting adapter in each case;
• 7th each a holder with distance sensors;
• 8th a sensor system with a protective jacket field and a warning jacket field;
• 9 and 10 one sensor system each with a protective jacket field;

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

1 shows a system 1 with a sensor system 2 with distance sensors 8th for monitoring a danger area on a movable machine part 5 with at least one protection area 6th , on the movable machine part 5 a tool 7th is arranged, the distance sensors 8th on a holder 9 are arranged, wherein a plurality of distance sensors 8th are arranged, the detection beams 10 of the distance sensors 8th a protective field jacket 11 form, the holder 9 the distance sensors 8th having, the holder 9 a disc-shaped housing 12th having, the disc-shaped housing 12th round surfaces 13th and has no corners on the outer surfaces, the system 1 a Fastening system 14th comprises, wherein the fastening system 14th a first mounting adapter 15th includes on which the holder 9 is arranged for fastening the holder 9 on the tool 7th , the first mounting adapter 15th a central through opening 20th for the tool 7th having,

2 shows a system 1 with a sensor system 2 with distance sensors 8th for monitoring a danger area on a movable machine part 5 with at least one protection area 6th , on the movable machine part 5 a tool 7th is arranged, the distance sensors 8th on a holder 9 are arranged, wherein a plurality of distance sensors 8th are arranged, the detection beams 10 of the distance sensors 8th a protective field jacket 11 form, the holder 9 the distance sensors 8th having, the holder 9 a disc-shaped housing 12th having, the disc-shaped housing 12th round surfaces 13th and has no corners on the outer surfaces, the system 1 a fastening system 14th comprises, wherein the fastening system 14th a second mounting adapter 16 includes on which the holder 9 is arranged for fastening the holder 9 on the movable machine part 5 , the second mounting adapter 16 two legs 23 , 24 which are arranged at right angles to one another, on the first leg 23 the holder 9 is attached and on the second leg 24 the second mounting adapter 16 with the movable machine part 5 connected is.

The fastening system 14th is preferably fixed on the last axis of a robot. The fastening system 14th a defined orientation or a defined angle to the last axis.

A longitudinal axis of the tool 7th is preferably at an angle of 90 ° to a last axis of the movable machine part 5 arranged.

The disc-shaped housing 12th has round surfaces and no corners on the outer surfaces.

Because of the round surface 13th of the disc-shaped housing 12th There is a possible collision area at every point and there is no collision edge or collision corner, which minimizes the risk of injury. The outer contours of the disc-shaped housing are optionally round, also circular or arc-shaped. The system has no sharp edges.

The holder 9 that the distance sensors 8th can be monolithic or modular.

The holder 9 or the receptacle for the distance sensors 8th are fixed to the mounting adapters 15th , 16 connected so that in the event of a collision between the person and the holder 9 not from the mounting adapters 15th , 16 solves.

The sensor system 2 is used for safe monitoring of the danger area or a monitoring area of the movable machine part 5 .

The control and evaluation unit 28 detects protective field jacket violations and can output a safety-related switch-off signal to prevent dangerous movement of the moving machine part 5 to stop or to brake the part. This can be implemented, for example, using safe 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. For example, the control and evaluation unit 28 designed with two channels.

The multiple distance sensors 8th are with the control and evaluation unit 28 for evaluating the distance sensors 8th connected.

The distance sensors 8th are optionally arranged spaced apart from one another along a ring, the distance sensors 8th a flat protective field jacket 11 form, which extends, for example, cylindrical or frustoconical.

Optionally, the distance sensors 8th evenly spaced. Due to the even spacing of the distance sensors 8th and an identical angular alignment of the detection beams 10 an almost uniform resolution is achieved within the protective field.

The distance sensors 8th are non-contact distance sensors 8th , the distance sensors 8th have a detection beam for detecting objects in the surveillance area. The distance sensors are preferred 8th optoelectronic distance sensors 8th .

The distance sensors 8th can each have a linear or flat protective field. The flat protective field is designed in the shape of a fan with a certain opening angle of, for example, 2 ° to 20 °.

The monitoring is optionally carried out with a number of simple, one-dimensional scanning distance measuring sensors.

For example, the distance sensors 8th Time of flight sensors.

A modular structure of the holder 9 is also provided. A submodule of the holder 9 contains only a limited number of distance sensors 8th . Any number of safety contours can be created by combining different submodules.

To create a quasi-closed protective field jacket 11 from the distance sensors 8th an adaptation of the number of sensors is provided: For example, the number of sensors can be changed. The more distance sensors 8th are arranged, the closer the optical axes of the distance sensors are 8th next to each other, which means that the protective field jacket has a higher resolution.

Optionally have recordings of the holder 9 for the distance sensors 8th at least one mechanical attachment for the distance sensors to which the distance sensors 8th can be mounted in at least one predefined position.

The holder 9 or a receptacle in the holder 9 is realized in such a way that all distance sensors 8th have a fixed relative position to each other that is compatible with the protection concept.

The recording is optionally realized in such a way that several orientations of the individual distance sensors 8th are possible that are compatible with the protection concept.

The fastening system 14th is designed in such a way that no manipulation is possible due to the fastening mechanism. Ie the holder 9 must be assembled first, then the tool 7th . The fastening system 14th is designed so that the holder 9 only after dismantling the tool 7th can be removed

The fastening system 14th is designed so that the tool 7th relative to the holder 9 or EOAS is height adjustable. This allows the protective field jacket 11 always to the application and the dimension of the tool 7th be adjusted.

The fastening system 14th is designed so that the tool 7th can easily be changed. This can preferably also be done during operation.

The fastening system 14th is designed so that the tool 7th does not slip in its position and location after installation, as the position varies from tool length to protective field jacket 11 must be guaranteed.

The fastening system 14th is designed in such a way that strain relief for cables and lines is provided on the fastening system.

According to 3 and 4th are the second mounting adapter 16 with the holder 9 by means of a single screw connection 19th screwed, the screwing 19th has a diameter which is larger than the central through opening 20th for the tool 7th is.

In that the diameter has a size that is larger than the central through opening 20th for the tool 7th is, the screw connection 19th the central opening 20th enclose and the screw connection 19th can for example be loosened and fastened or fixed with the bare hand.

According to 5 and 6th has the first mounting adapter 15th an annular fastening unit 21 on, the annular fastening unit 21 the central opening 20th encloses or surrounds and on the annular fastening unit 21 symmetrical fasteners are arranged.

This allows a central axis of the first fastening adapter 15th congruent with a central axis of the tool 7th to be ordered. There is the tool 7th centric to the first mounting adapter 15th and centric to the holder 9 arranged.

According to 3 and 4th has the first leg 23 of the second mounting adapter 16 an opening for the tool 7th on.

This allows a central axis of the opening of the first leg 23 of the second mounting adapter 16 congruent with a central axis of the tool 7th to be ordered. There is the tool 7th centric to the opening of the first leg 23 of the second mounting adapter 16 and centric to the holder 9 arranged.

According to 3 and 4th point the first leg 23 and the second leg 24 each has mounting holes.

This allows on the first leg 23 easily, for example by means of mounting screws of the holder 9 be attached and the second leg 24 of the second mounting adapter 16 for example by means of mounting screws with the movable machine part 5 get connected.

According to 3 and 4th are the first leg 23 and the second leg 24 round at the ends.

The round surface of the ends means that there are no sharp edges or corners, which minimizes the risk of injury. The Outer contours of the legs 23 , 24 are optionally circular or arcuate.

According to an embodiment not shown, is on the fastening system 14th a material feed device is arranged and fastened.

The fastening system 14th is designed in such a way that applications can be implemented with and without the addition of assembly parts. In screwing applications, for example, it can happen that screws are fed along the tool 7th , for example a screwdriver to be delivered to the assembly site.

The fastening system 14th is designed in such a way that the feed line covers the protective field 11 not impaired or shadowed. The material feed device is, for example, inside the holder 9 out, i.e. not through the protective field jacket 11 , or the material feed device is between two detection beams 10 near the origin of the detection beams 10 out, whereby the protective field jacket 11 is also not impaired or shaded.

According to 2 the tool is an assembly tool 27 , a screwing tool, an adhesive tool, a cleaning tool, a drilling tool, a milling tool, a grinding tool or a deburring tool.

7th shows the arrangement of the distance sensors in different holders 9 .

According to 8th includes the system 1 the control and evaluation unit 28 , the distance sensors 8th with the control and evaluation unit 28 are connected, wherein first detection beams of the distance sensors 8th the protective field jacket 11 and form second detection beams of the distance sensors 8th a warning field coat 31 form, with the warning field jacket 31 the protective field jacket 11 enveloped.

The outer warning field jacket 31 leads to a weaker safety measure in the event of an intervention such as an alarm or a certain speed reduction and only the inner protective field jacket 11 acts as a protective field with real protection by stopping, evading or reducing the speed of the tool 7th .

According to 8th is the control and evaluation unit 28 formed, a moving speed of the movable machine part 5 to change, the speed of movement in the event of an intervention in the warning field jacket 31 is slowed down and when there is an intervention in the protective field jacket 11 is stopped.

According to 9 is the control and evaluation unit 28 trained the tool 7th to be activated only when between tool 7th and there is a minimum distance to a workpiece, the minimum distance being 14 mm.

The system 1 or the control and evaluation unit 28 is designed so that the protective field jacket 11 is designed so that when approaching a process point, for example the point at which the screw is mounted, the movable machine part 5 or the robot when intervening in the warning field jacket 31 becomes slower or when there is an intervention in the protective field jacket 11 stops.

The system or the control and evaluation unit 28 is designed so that the protective field jacket is designed so that the tool 7th and the robot is switched off or stopped in the event of an intervention. In particular, the tools 7th only actuated (e.g. rotating the screw head / drill or the deburrer, actuating the adhesive nozzle, etc.) when the distance between the tool tip and the surface to be processed is less than a minimum distance.

List of reference symbols

1

system

2

Sensor system

5

movable machine part

6th

Protection area

7th

Tool

8th

Distance sensors

9

holder

10

Detection beams

11

Protective field jacket

12th

disc-shaped housing

13th

round surfaces

14th

Fastening system

15th

first mounting adapter

16

second mounting adapter

19th

Screw connection

20th

central through opening

21

annular fastening unit

22nd

Fasteners

23

first leg

24

second leg

25th

Mounting holes

27

Assembly tool

28

Control and evaluation unit

29

first detection beams

30th

second detection beams

31

Warning field coat

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 102015112656 A1 [0002]

Claims (13)

System (1) with a sensor system (2) with distance sensors (3) for monitoring a danger area on a movable machine part (5) with at least one protection area (6), a tool (7) being arranged on the movable machine part (5), the distance sensors (8) being arranged on a holder (9), a plurality of distance sensors (3) being arranged, the detection beams (10) of the distance sensors (8) forming a protective field jacket (11), the holder (9) the distance sensors (8), the holder (9) having a disk-shaped housing (12), the disk-shaped housing (12) having round surfaces (13) and no corners on the outer surfaces, the system comprising a fastening system (14) comprises, characterized in that the fastening system (14) comprises a first fastening adapter (15) on which the holder (9) is arranged for fastening the holder (9) to the tool (7), wherein the first fastening adapter (1 5) has a central through opening (20) for the tool (7), or the fastening system (14) comprises a second fastening adapter (16) on which the holder (9) is arranged for fastening the holder (9) to the movable one Machine part (5), the second fastening adapter (16) having two legs (23, 24) which are arranged at right angles to one another, the holder (9) being attached to the first leg (23) and to the second leg (24) the second fastening adapter (16) is connected to the movable machine part (5). System (1) according to Claim 1 , characterized in that the first fastening adapter (15) or the second fastening adapter (16) are screwed to the holder (9) by means of a single screw connection (19), the screw connection (19) having a diameter which is greater than the central continuous Opening (20) for the tool (7) is. System (1) according to at least one of the preceding claims, characterized in that the first fastening adapter (15) has an annular fastening unit (21), the annular fastening unit (21) enclosing the central opening (20) and on the annular fastening unit (21 ) symmetrically fastening means (22) are arranged. System (1) according to Claim 1 , characterized in that the first leg (23) of the second fastening adapter (15) has an opening for the tool (7). System (1) according to at least one of the preceding Claims 1 or 4th , characterized in that the first leg (23) and the second leg (24) each have fastening holes. System (1) according to at least one of the preceding Claims 1 or 4th to 5 , characterized in that the first leg (23) and the second leg (24) are each designed to be round at the ends. System (1) according to at least one of the preceding claims, characterized in that a material feed device is arranged and fastened on the fastening system (14). System (1) according to at least one of the preceding claims, characterized in that the tool (7) is an assembly tool (27), a screwing tool, an adhesive tool, a cleaning tool, a drilling tool, a milling tool, a grinding tool or a deburring tool. System (1) according to at least one of the preceding claims, characterized in that the system comprises the control and evaluation unit (28), the distance sensors (8) being connected to the control and evaluation unit (28), with first detection beams (29 ) of the distance sensors (8) form the protective field jacket (11) and second detection beams (30) of the distance sensors (8) form a warning field jacket (31), the warning field jacket (31) enveloping the protective field jacket (11). System (1) according to at least one of the preceding claims, characterized in that the control and evaluation unit (28) is designed to change the speed of movement of the movable machine part (5), the speed of movement being slowed down when the warning field jacket (31) is intervened and is stopped when there is an intervention in the protective field jacket (11). System (1) according to at least one of the preceding claims, characterized in that the control and evaluation unit (28) is designed to activate the tool (7) only when there is a minimum distance between the tool (7) and a workpiece, where the minimum distance is based on anthropometric data. System (1) according to at least one of the preceding claims, characterized in that the control and evaluation unit (28) is designed to activate the tool (7) only when there is a minimum distance between the tool (7) and a workpiece, whereby the minimum distance is 10 mm to 20 mm. System (1) according to at least one of the preceding claims, characterized in that the control and evaluation unit (28) is designed to activate the tool (7) only when there is a minimum distance between the tool (7) and a workpiece, the minimum distance is 14 mm.

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