EP2651611A1 - Dispositif de sécurité pour un manipulateur, en particulier un robot industriel, et procédé pour faire fonctionner le dispositif de sécurité - Google Patents

Dispositif de sécurité pour un manipulateur, en particulier un robot industriel, et procédé pour faire fonctionner le dispositif de sécurité

Info

Publication number
EP2651611A1
EP2651611A1 EP11794157.5A EP11794157A EP2651611A1 EP 2651611 A1 EP2651611 A1 EP 2651611A1 EP 11794157 A EP11794157 A EP 11794157A EP 2651611 A1 EP2651611 A1 EP 2651611A1
Authority
EP
European Patent Office
Prior art keywords
sensor
handling device
detection
handling
industrial robot
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.)
Ceased
Application number
EP11794157.5A
Other languages
German (de)
English (en)
Inventor
Peter Schlaich
Joachim Frangen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2651611A1 publication Critical patent/EP2651611A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/141—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using sound propagation, e.g. sonar
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/148—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using capacitive technology
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40559—Collision between hand and workpiece, operator

Definitions

  • Securing device for a handling device in particular an industrial robot, and method for operating the securing device
  • the invention relates to a securing device for a handling device, in particular an industrial robot, according to the preamble of claim 1. Furthermore, the invention relates to a method for operating such a security device.
  • Such a security device is known from EP 1 738 882 A2.
  • two independent sensor devices are provided, of which one sensor device is arranged as a tactile sensor device on the gripper arm of an industrial robot, while the other sensor device is designed in particular as a capacitive sensor device, which is a close range to the industrial robot, for example, a range within 10cm the sensor device detected.
  • This means that the last-mentioned sensor device does not respond until an object or a person is at a distance from a moving gripper device which is less than 10 cm.
  • the first-mentioned sensor device only responds when a collision or contact between the object and the gripping device has already occurred.
  • the safety device known from EP 1 738 882 A2 therefore operates particularly reliably due to the redundant or double design of the sensor devices, early detection of objects approaching the industrial robot results in a targeted reduction in speed or collision avoidance between the object and the gripping device , However, is not possible with the known safety device. Therefore, the traversing Speed of the robot to safely avoid collisions limited by the range of the proximity sensor and the braking distance of the robot.
  • the invention has the object, a safety device for a handling device, in particular an industrial robot, according to the preamble of claim 1 such that on the one hand, the movement, for example, a gripping arm can be influenced such that a collision with an object is reliably avoided and that, on the other hand, despite the approach between the object and gripping arm, further operation of the handling device is made possible, so that a particularly high performance can be achieved.
  • This object is achieved with a securing device for a handling device, in particular an industrial robot, having the features of claim 1.
  • the invention is based on the idea to extend the detection ranges of the two sensor devices outside the handling device, so that a timely detection of a possible collision between an object and the handling device is made possible.
  • an intermediate zone is formed between the two detection areas, which is monitored by neither of the two sensor devices.
  • a corresponding signal of a possible collision between the object and the handling device is generated even at a relatively large distance between an object and the handling device, whereby the traversing speed of, for example, a gripper can be reduced in good time, ie with possibly a relatively slow deceleration speed.
  • the second sensor device is arranged outside the handling device. This means that the handling device only carries the first sensor device.
  • the second sensor device is arranged on a frame.
  • the frame may, for example, carry the handling device.
  • the first sensor device has a plurality of sensor elements operating on a capacitive measuring principle, which are arranged, in particular, on the outer surface of the handling device and encase them.
  • the reliability of the handling device or the detection of possible objects in the collision area increased requirements
  • the invention also includes a method for operating a safety device according to the invention for a handling device. It is provided that when the second sensor device responds to the second detection range, the control device reduces the travel speed of the handling device compared to a normal operation. With such a method, collisions can be safely avoided since the handling device is already delayed in its traversing speed in a region in which the object is still relatively far away from the handling device. Furthermore, due to the reduced travel speed, normal operation or operation with reduced power of the handling device is nevertheless made possible.
  • the respective speed of movement of the handling device is monitored or regulated. This means that not only a corresponding signal for reducing a travel speed of the handling device is output by the control device, but that the Speed is also monitored in the sense of a control or regulation.
  • Fig. 1 is a simplified side view of a equipped with a securing device according to the invention handling device and
  • FIG. 2 shows a block diagram for explaining the evaluation of the measurement signals generated by the sensor elements of the safety device.
  • FIG. 1 shows a handling device 10 in the form of an industrial robot 100.
  • the industrial robot 100 is arranged as a tabletop device on a frame 1 1 standing.
  • the industrial robot 100 has a column 13 which can move in the direction of the double arrow 12, a horizontally arranged arm 14 being fastened to one end of the column 13.
  • the arm 14 in turn carries a gripper 15 which can be moved up and down and pivoted, for example, with two gripper fingers 16, 17.
  • a handling device 10 formed in this way, components arranged on the frame 11 can be moved from a first position to a second position, for example For example, an assembly process of various components can be performed.
  • the handling device 10 has a securing device 50. It is essential here that the securing device 50 is designed as a two-stage securing device 50 with two independent sensor devices 51, 52. In this case, both sensor devices 51, 52 are connected to the control device 20.
  • control device 20 has two different evaluation circuits 61, 62 for the signals of the first and second sensor elements 54, 57.
  • the outputs of the two evaluation circuits 61, 62 are each connected via a central unit 63, 64 to a safety controller 65, which in turn controls the handling device 10, in particular its drives, not shown.
  • the handling device 10 described so far can be modified or modified in many ways, without deviating from the inventive idea.
  • This consists in a two-stage detection approaching Objects or persons 1 in the action area or in the trajectory of the industrial robot 100, whereupon this makes an adapted reduction or increase in the travel speed of his gripper 15.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de sécurité (50) pour un manipulateur (10), en particulier un robot industriel (100), comprenant au moins un bras de préhension (15) mobile et un dispositif de préhension (16, 17) placé sur le bras de préhension (15), ainsi qu'un premier dispositif capteur (51) pour la détection de collision, associé au moins au bras de préhension (15) et couplé à un dispositif de commande (20), le premier dispositif capteur (51) comprenant une première zone de détection (55), et un second dispositif capteur (52) relié au dispositif de commande (20) et comprenant une seconde zone de détection (58), la seconde zone de détection (58) couvrant une zone qui se trouve à une plus grande distance du manipulateur (10) que la première zone de détection (55). Selon l'invention, les deux zones de détection (55, 58) s'étendent à l'extérieur du manipulateur (10).
EP11794157.5A 2010-12-16 2011-12-09 Dispositif de sécurité pour un manipulateur, en particulier un robot industriel, et procédé pour faire fonctionner le dispositif de sécurité Ceased EP2651611A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010063214A DE102010063214A1 (de) 2010-12-16 2010-12-16 Sicherungseinrichtung für eine Handhabungsvorrichtung, insbesondere einen Industrieroboter, sowie Verfahren zum Betreiben der Sicherungseinrichtung
PCT/EP2011/072337 WO2012080130A1 (fr) 2010-12-16 2011-12-09 Dispositif de sécurité pour un manipulateur, en particulier un robot industriel, et procédé pour faire fonctionner le dispositif de sécurité

Publications (1)

Publication Number Publication Date
EP2651611A1 true EP2651611A1 (fr) 2013-10-23

Family

ID=45315806

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11794157.5A Ceased EP2651611A1 (fr) 2010-12-16 2011-12-09 Dispositif de sécurité pour un manipulateur, en particulier un robot industriel, et procédé pour faire fonctionner le dispositif de sécurité

Country Status (6)

Country Link
US (1) US9475200B2 (fr)
EP (1) EP2651611A1 (fr)
JP (1) JP5805208B2 (fr)
CN (1) CN103260834B (fr)
DE (1) DE102010063214A1 (fr)
WO (1) WO2012080130A1 (fr)

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JP2013545625A (ja) 2013-12-26
CN103260834A (zh) 2013-08-21
DE102010063214A1 (de) 2012-06-21
CN103260834B (zh) 2016-09-07
US20130338829A1 (en) 2013-12-19
WO2012080130A1 (fr) 2012-06-21
US9475200B2 (en) 2016-10-25
JP5805208B2 (ja) 2015-11-04

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