EP3066441A2

EP3066441A2 - Sensing device and sensing method

Info

Publication number: EP3066441A2
Application number: EP14805197.2A
Authority: EP
Inventors: Richard ZUNKE; Andreas Domke; Konrad Wirth; Thomas Rau; Julian STOCKSCHLÄDER
Original assignee: KUKA Systems GmbH
Current assignee: KUKA Systems GmbH
Priority date: 2013-11-08
Filing date: 2014-11-06
Publication date: 2016-09-14
Also published as: CN105705305A; WO2015067680A3; CN105705305B; DE202013105036U1; US20160279797A1; US9962836B2; WO2015067680A2

Abstract

The invention relates to a sensing device and to a sensing method for robot-induced loads that can act upon the human body in contact with the robot during a working process. The robot-induced loads, in particular forces, are measured by the measuring device (16) of an external sensing device (2). The measuring device (16) is suitably positioned and oriented in this process in the working area of an industrial robot (3) by means of a positioning device (15).

Description

DESCRIPTION

Detection device and detection method

The invention relates to a detection device and a detection method having the features in the preamble of the method and device main claim.

In modern work devices, people can cooperate or collaborate with industrial robots, particularly tactile robots. This is called human-robot cooperation or collaboration (MRC). 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. Suitable tactile for this purpose

Articulated arm industrial robots are e.g. from DE 10 2007 063 099 AI, DE 10 2007 014 023 AI and DE 10 2007 028 758 B4 known.

In a MRK and when using touch-acting

Protective measures must comply with certain limit values which differ with regard to the type of stress and which also depend on the affected body region of the body

People, especially a worker, are.

It is an object of the invention to improve the protection of MRK.

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

The claimed detection technique, in particular the detection device and the detection method, enables a realistic metrological detection of the robot-induced stresses possibly acting on the human body in the process. These are the mechanical loads, especially forces coming from Industrial robot or its process tool in the real process in a collision on the human body exercised or act there. This collision and injury relevant features of the industrial robot or its process tool, eg

sharp-edged or pointed forms of the colliding

Robot or tool area, during capture

Consideration. The claimed detection technique allows a

Optimization of the protective measures in the design of a MRK work device and in particular of a MRK-compatible industrial robot. The design can be based on the detected and the actual process conditions corresponding body stresses in case of contact. It is thus more precise than an interpretation based on assumptions.

On the other hand, this interpretation of the

Efficiency of the working device and the

Industrial robots, in particular with regard to

Robot speed (s) can be optimized. The

Capture technique can also be used to calibrate a MRK-enabled industrial robot associated with or integrated into this sensor. Furthermore, validation and proof of the MRK capability of the work apparatus and the industrial robot are possible.

A touch contact with the human body can be distinguished according to two types of stress, namely the impact force and the occurring

Clamping and squeezing force. 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 for individual ones Body regions set in a body model. With the claimed detection technique can be ensured that in the development of

MRK work devices and MRK-ready

Industrial robots, these specific force limits are met.

The claimed detection technique has the advantage that the measuring device is a realistic measurement of

Collision forces in a collision of humans and

Robot allows. The measuring device can process and practice-oriented via the positioning

be positioned and aligned. It can thereby simulate the affected and to be examined body region of a worker. This is a process-true simulation.

The detection technique can also be adapted to the reaction of the body part to be protected in the event of a collision. This concerns in particular the spring behavior and possibly also the damping behavior of the body part in

Event of a collision. This can be a special

Realistic detection of the loads occurring in the event of a collision, in particular the collision forces, can be achieved. In addition, the measurement of the impact forces as well as the clamping and squeezing forces in the actual program sequence of the working device or the industrial robot

respectively .

In the claimed working device, an industrial robot suitable for human-robot cooperation (abbreviated MRK) is preferably used. This one has

preferably one or more compliant robot axes. The robot axis (s) can / can

Have compliance. This can be designed differently and a different one

Create compliance behavior. This can be eg an intrinsic compliance, active or passive is trained. The compliance can also be a pure spring function. The MRK-fitness of the

Industrial robots may alternatively be provided in other ways, e.g. be achieved by an external sensor or work space monitoring.

In the subclaims are further advantageous

Embodiments of the invention indicated.

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

Figure 1: a workstation with a MRK-suitable

Industrial robots, a worker and a detection device for collision loads in a schematic side view, Figure 2 and 3: different perspective views of

Detection device of Figure 1,

Figures 4 and 5: a measuring device of

Detecting device of Figure 1 to 3 in different views,

Figures 6 and 7: a variant of the measuring device of

Figure 2 to 5 in perspective and

Side view and

FIG. 8 shows a MRK-compatible tactile robot.

The invention relates to a detection device (2) and a detection method for robot-induced loads, in particular forces, in a working process at

Contact with the human body

Worker (14) can act. The invention further relates to a working device (1) with a

Industrial robot (3) and a detection device (2).

The working device (1) has at least one

multi-axis and programmable industrial robot (3), which is preferably designed as a tactile robot and a process tool (4) carries and moves. A preferred embodiment of the invention shown in FIG

Industrial robot (3) is explained below. The industrial robot (3) with its tool (4) performs a process on a workpiece, not shown. The process and the process tool (4) can be configured as desired. Im shown

Embodiment is a joining process, in particular a mounting process, wherein the

Process tool (4) is designed as a gripper. Other alternative processes include other joining processes

Welding, gluing, soldering or the like Joining operations,

Application processes, forming processes or the like. The process tool (4) can also have one or more own axes of motion and drives. The working device (1) is designed for a human-robot cooperation or collaboration (abbreviated to MRK) with a worker (14) who can get into the work area of the industrial robot (3) with one or more body parts. In this case, touch contacts between the industrial robot (3) or the process tool (4) and the worker (14) are possible, whereby mechanical stress for an affected body part can arise. These

Strains, in particular the forces occurring, on the one hand to avoid or limit

On the other hand, the performance of the working device (1) and its industrial robot (3) should be as high as possible.

In the design of the working device or the

Industrial robot (3) and the processes to be performed or the robot programming are the

Robotic movements and in particular the occurring robot speeds on the one hand as high as possible

on the other hand, the starting from this

Exposure to bodily contact with the operator (14) must be limited to a permissible limit. The relevant limit for the affected body region can be taken from a body model.

With the detection device (2) is such

Body contact simulated, wherein the mechanical stresses occurring, in particular acting forces measured, evaluated and compared with the predetermined limits. The design and programming can be optimized based on the comparison results. The load is recorded under realistic

Process conditions, wherein the industrial robot (3) moves along its programmed path and in contact with a collision point (13) on its process tool (4) or on another robot part with the detection device (2) in contact or in collision. The

Collision point (13) is e.g. according to FIG. 1 at an edge of the process tool (4).

The resulting loads are also dependent on the shape of the collision point (13), with pointed or sharp-edged contact points (13) causing greater loads and a higher risk of injury than blunt collision points (13). The robot programming can be used to determine where the collision point (13) on the

Industrial robot (3) or on the process tool (4)

is arranged and what shape she has. This may affect the threshold comparison accordingly.

The detection device (2) is provided with a

Evaluation unit (29) equipped, to which via a

Signal connection (18), e.g. an electrical

Signal line, also the robot control (12) of the

Industrial robot (3) can be connected. The

Evaluation unit (29) can be a separate

Be evaluation. It can alternatively or

additionally designed as a software module and in an external evaluation or control device, in particular in the robot controller (12) be implemented.

The evaluation unit (29) or the controller (12) may be an evaluation of the measurement signals and possibly also a comparison with the predetermined limit values from a possibly in the

Evaluation unit (29) or in the controller (12)

perform stored body model. The optimization of motion programming and in particular the

Programmed robot speeds in the danger and collision area based on the limit value comparison can be performed manually by an operator or programmer. It can also be automated with appropriate software. The schematic in Figure 1 and in Figure 2 to 7 in two

Variants shown in more detail detection device (2) has a measuring device (16) for detecting the robot-induced loads, in particular the

occurring forces, and a positioning device (15) for process-oriented positioning and alignment of the measuring device (16) in the working range of

Industrial robot (3) on. The measuring device (16) can thereby be positioned and aligned at potential danger and collision points, thereby simulating a possible body contact with the worker (14). The positioning and alignment takes place according to the body region possibly located in such a region. In both variants, the measuring device (16) has a measuring means (17) as well as a collision element (19) movably and elastically deflectable for detection of a contact with a collision point (13). The collision element (19) simulates the

Body surface and can be suitably designed for this purpose. In the exemplary embodiments shown, the collision element (19) is plate-shaped, for example as circular plate, designed.

The avoidance capability of the collision element (19) can take place after one or more avoidance axes (28). In such a dodge can also be

Compliance behavior of the simulated body part, in particular a spring behavior and / or a

Damping behavior, be simulated. Between the collision element (19) and the measuring means (17) is an alternative and in both variants

Guiding means (20) arranged and with both parts

(17,19). The avoidance and guide means (20) has at least one escape axis (28), e.g. is aligned normal to the surface of the collision element (19). The avoidance and guide means (20) preferably has an adapted to the affected body part spring and / or damping behavior. For the constructive and functional design of the avoidance and guide means (20) there are various possibilities. FIGS. 2 to 5 and 6, 7 show two variants for this purpose. In the exemplary embodiments shown, a spring (21) is clamped between the collision means (19) and the measuring means (17) and is supported on both elements (17, 19). It is e.g. designed as a helical spring and guided with pins on the elements (17,19).

Furthermore, a guide (22) for the collision element (19) is present. This is preferably designed as a straight guide with a plurality of parallel guide sleeves, e.g. in the form of sliding bearing bushes, in which cylindrical

Guide rods slide at one end with the

Collision means (19) are connected and at the other end an optionally adjustable end stop for limiting the Wear extension length. The collision means (19) can be tilt-and rotationally guided along the escape axis (28). In the embodiment of Figures 2 to 5 are two parallel

Guide sleeves (22) provided. The variant of Figure 6 and 7 has three parallel guide sleeves (22), which in

Triangle are arranged. The guide rods are connected at the rear end by a three-armed coupling element (32), which for stabilization and

Synchronization ensures as well as can form an end stop.

The spring (21) has a spring stiffness which may correspond to or approximate the compression rate of the affected body part. The compression rate can also be taken from the body model. In the embodiment shown, the spring (21) as

Compression spring, in particular coil spring formed. It is aligned along the straight guide (22) and the escape axis (28) formed thereby.

The guide (22), in particular the straight guide, may have an optionally adjustable damping, which may be e.g. may be formed by an adjustable friction element (not shown). Also a fluidic, in particular hydraulic damping is possible, e.g. with one or more

Damping cylinders. The damping can be the reaction of the

Correspond to contacted body part or be approximated to this and can optionally be taken from the body model.

The measuring means (17) is designed as a Senoranordnung and preferably to the evaluation unit (29) or to the

Signal connection (18) connected. Im shown

Embodiment, a force sensor is provided, which is arranged on a holder (23) and rearwardly supported, which in turn with the positioning (15) is connected. The holder (23) is also connected to the avoidance and guide means (20), in particular the

Straight guide (22), connected. The force sensor is formed in the embodiment shown as a 3-D force sensor and is loaded on the top of the spring (21).

The holder (23) is adjustable on the positioning device (15) and in the desired position and

Orientation arranged fixable. In the first embodiment of Figures 2 to 5, the holder (23) is attached directly to the column (25). In the variant of Figures 6 and 7, a substructure (33) is present, which consists of a mounting plate attached to the column (25) and three support columns aligned along the axis (28). These are arranged in a triangle offset from the guides (22) and distance the holder (23) from the mounting plate. The coupling element protrudes with its arms in the gaps between the

Column pillar. The positioning device (15) allows a spatial adjustment of the measuring device (16) in one or

preferably a plurality of translatory and / or rotary adjusting axes (30, 31) and has a suitable one for this purpose

Education. The positioning device (15) has a frame (24), which may be formed in one or more parts and in itself rigid or movable. Furthermore, one or more adjusting means (27) are provided for defined adjustment and fixing. This can e.g.

straight or curved grooves with sliding blocks and

Fixing or slot guides with clamping screws or the like. be.

In the exemplary embodiment shown, the frame (24) has a base (26) for mounting on a work table or other base in the working area of the work table

Industrial robot (3) on. On the base (26) an upright column (25) is arranged. The measuring means (17) is for example via the holder (23) along the adjusting axis (30) height-adjustable mounted on the column (25) and can be fixed in the desired position. The column (25) may be rigid or rigid with the base (26)

be connected mobile. The column (25) is e.g. on a one- or multi-part foot plate rigid or

movably arranged. About a movable connection, a rotary adjusting axis (31) with suitable

Adjusting means (27) are formed, e.g. between column

(25) and the foot plate. Alternatively or additionally, one or more translatory adjusting axes may be present between the column (25) and the base (26). On the other hand, it is possible to form between two movable frame parts, in particular between the column (25) and the base (26), a further evasion axis.

The MRK capability of the working device (1) and possibly of the industrial robot (3) can be produced in different ways. In the embodiments shown, the industrial robot (3) is a tactile robot

trained and is MRK-suitable.

Preferably, it is a tactile

multiaxial industrial robot (3) with a preferably integrated sensor (11), which has sensitive properties and even a physical contact with the

detect and respond to human bodies or other obstacles. He can, for example, stay or even from the contact point if necessary

remove, in particular move back. The tactile

Industrial robot (3) detects a touch contact as an external load at a robot position

occurs when this burden is not expected. For the reaction to a touch contact it can

give different levels of stress and reaction thresholds. The tactile industrial robot (3) can with the Workers (14) work together in an open work area without a fence or other machine boundary. It can also come to painless contacts. The industrial robot (3) can eg according to DE 10 2007

063 099 AI, DE 10 2007 014 023 AI and / or DE 10 2007 028 758 B4 be formed. A preferred embodiment according to FIG. 8 will be explained below. The industrial robot (3) is connected to an external or

Integrated robot control (12) connected. The tactile industrial robot (3) can be the in Figure 8

indicated, preferably integrated sensor (11) for the detection of externally acting forces and / or

Have moments that is connected to the robot controller (12) and for control or regulation,

in particular compliance rule, the

Robot movements is used. The tactile

Industrial robots can in particular power or

have momentum-controlled axes.

The industrial robot (3) has several, e.g. four,

movable and connected members (5,6,7,8). The links (5, 6, 7, 8) are preferably articulated and connected to each other and to a pedestal via rotating robot axes I-VII. The socket may have a terminal for equipment shown in FIG. It is also possible that individual members (6,7) in several parts and in itself, in particular about the longitudinal axis

rotatable, are formed.

In the illustrated embodiment, the industrial robot (3) is designed as Gelenkarm- or articulated robot and has seven driven axes or axes of motion I-VII. The axes I-VII are connected to the robot controller and can be controlled and possibly regulated. The output side end member (8) of the robot (3) is eg trained as a robot hand and assigns this to a

Rotary axis (10) rotatable output element (9), eg an output flange on. The axis of rotation (10) constituting the last robot axis VII. An optionally hollow output member (9) and optionally other robot members (5,6,7), one or more lines for equipment, such as power and signal currents ^¬, fluids etc. out be and on the flange (9) to the outside. The robot (3) preferably has three or more movable members (5, 6, 7, 8). In the exemplary embodiment shown, it has a base member (5) connected to the ground via a base, and the abovementioned end member (8) and two intermediate members (6, 7). The intermediate links (6,7) are multi-part and rotatable by means of axes (III) and (V) is formed. The number of intermediate links (6,7) may alternatively be smaller or larger. In further

Modification may be single or all intermediate links (6,7) rotatably and without additional axis formed. The links (5, 6, 7, 8) may have a straight shape or angled as shown in FIG. 8. The industrial robot (3) can according to Figure 1 standing or hanging alternatively

be arranged. The robot axes I-VII each have an axle bearing, e.g. Swivel or a joint, and a here associated and integrated controllable, possibly adjustable final drive, e.g. Rotary drive, up. In addition, the robot axes I-VII can have a control or shiftable brake and possibly redundant sensors (11). The sensors can

integrated and can e.g. have one or more sensors on one or more robot axes I-VII.

These sensors can be the same or different

Have functions. They can be designed in particular for detecting acting loads, in particular moments. You can also detect rotational movements and possibly rotational positions. In another Embodiment, such connected to the robot control sensor on the industrial robot (3) externally

grown, e.g. on the output element (8) or on

Process tool (4).

The aforementioned force control or force control of the robot axes (I-VII) refers to the effect on the outside of the output element (9) of the end member (8) and on the reaction forces acting there. Robot-internally, a torque control or torque control takes place on the rotating axes or axle drives.

The industrial robot (3) can be one or more resilient axles (I-VII) for the MRK fitness

have compliant axle drives with a compliance control. The compliance rule can be a pure

Force control or a combination of a position and a force control. Such a compliant axle avoids accidents involving people and crashes

Objects in the work area by force limitation and possibly standstill or resilient Dodge in the case

unforeseen collisions. On the other hand, it can be used advantageously in various ways for the work sprozess. On the one hand, the springy

Dodge capability of the industrial robot (3) can be used for manual teaching and programming. Over a

Load detection with the robot sensors on the axles (I - VII) can also search and find the

Working position of the process tool (4) on the workpiece to be supported and facilitated. Also angular errors in the relative position of the links (5,6,7,8) can

be detected and corrected as needed. One or more compliant axes are also advantageous for tracking the process tool (4) according to the feed. The industrial robot (3) can also apply a defined pressing or pulling force as needed. In the different cases can also one Weight compensation done.

The illustrated industrial robot (3) can as

Lightweight robot be trained and off

lightweight materials, e.g. Light metals and

Plastic exist. He also has a small size. That simplified in its construction and function

Process tool (4) also has a low weight. The industrial robot (3) with its process tool (4) is thus lightweight overall and can be transported without much effort and moved from one location to another. The weight of

Industrial robot (3) and process tool (4) can be less than 50 kg, in particular about 30 kg. By the

Possibility of manual teaching, the

Industrial robots (3) quickly and easily programmed, put into operation and to different processes

be adjusted. The industrial robot (3) is programmable, wherein the robot controller (12) has a computing unit, one or more memories for data or programs as well as input and output units. The process tool (4) may be connected to the robot controller (12) or other common controller and may be e.g. when

controlled axis to be implemented in the robot controller. The robot controller may process relevant data, e.g. Sensor data, save and for a

Log quality control and backup.

The sensor system (11) can likewise be connected to the evaluation unit (29) of the detection device (2). An important element of the detection technique is time-synchronous evaluation and comparison of the signals of the robot-internal collision detection or sensor system (11) and the measured values of the external detection device (2). In this case, it can be determined whether, in the event of a collision, the sensors (11) of the MRK-capable industrial robot (3) and the

Detecting device (2) measure comparable forces. Also the time behavior, e.g. regarding

Quick response, force curve, etc., can be checked. A design of the evaluation unit (29) as a software module in the robot controller (12) is particularly suitable for this purpose.

On the one hand, the detection device (2) can be used to validate and prove an MRK capability of the industrial robot (3) and the workstation (1). In particular, compliance with the force and load limits can be demonstrated. The

Detecting device (2) can be mobile for this purpose and mounted at various relevant points in the work area of the industrial robot (3) for measurements and positioned according to the situation. In the

Evaluation unit (29) can display the measured values of the

Detection device (2) evaluated with location reference and stored and the validation results are logged and output.

The detection device (2) can also be used for calibrating the MRK-capable industrial robot (3) and in particular its sensor system (11). The calibration may relate in particular to the assignment of robot speeds to physical force or load limits.

Modifications of the shown and described

Embodiments are possible in various ways. On the one hand, the features of the embodiments and their modifications can be arbitrarily combined with each other and also replaced. The avoidance and guide means (20) may have a different structural design and a different kinematics. The escape axis (28) may possibly be bent. The leadership (22) may be designed as scissors or otherwise. As a spring (21) may alternatively be used a compressible body. The industrial robot (3) may optionally have one or more position-controlled robot axes without force control. Alternatively or in addition to the preferred, into one or more members (5,6,7,8)

integrated sensor (11) can be used externally on the robot (3) or on the process tool (4) Senorik. This can e.g. non-contact objects in the

Robot sensors have sensing sensors. These can be, for example, capacitive or inductive sensors. The MRK fitness may be due to another

Robot training, e.g. with the aforementioned external

Sensors, an optical work area monitoring or otherwise achieved.

The industrial robot (3) may also have a different number and design of its members and robot axes. It can have any number and combination of rotary and / or translatory robot axes with corresponding axis drives.

REFERENCE SIGN LIST

1 work device

2 detection device

3 industrial robots, tactile robots, lightweight robots

4 process tool, joining tool, screwdriver

5 link, base link

6 link, link

7 link, pontics

8 member, end member, hand

9 Output element, output flange, rotary flange

10 axis of rotation

11 sensors

12 control

13 collision point

14 workers

15 positioning device

16 measuring device

17 measuring equipment, sensor, force sensor

18 signal connection

19 collision element, contact plate

20 alternative and guiding means

21 spring

22 guide, straight guide

23 Holder for measuring equipment

24 frame

25 column

26 base

27 adjusting means

28 axis, alternative axis

29 evaluation unit, evaluation device, software module

30 axis, positioning axis

31 axis, positioning axis

32 coupling element, end stop

33 substructure

I - VII axis of robot

Claims

Detection device for robot-induced

Loads involved in a work process

Contact with the human body through it

There is no such thing as the

Detection device (2) has a measuring device (16) for the external detection of robot-induced loads, in particular forces, and a

Positioning device (15) for process-oriented positioning and alignment of the measuring device (16) in the work area of an industrial robot (3).

Detection device according to claim 1, characterized in that the

Detection device (2) has an evaluation unit (29) for the signals of the measuring device (16).

Detection device according to Claim 1 or 2, characterized in that the

Evaluation unit (29) has a signal connection to a robot controller (12) of the industrial robot (3).

Detection device according to claim 1, 2 or 3, characterized in that the

Evaluation unit (29) as an evaluation device

is formed or implemented as a software module in an external controller, in particular in a robot controller (12) of the industrial robot (3).

Detection device according to one of the preceding claims, characterized in that the evaluation unit (29) in the case of contact, the externally detected by the measuring device (16) forces with the from an internal sensor system (11) of the

Industrial robot (3) detected forces

time-synchronized evaluates and compares. 6.) detecting device according to one of the preceding

Claims, characterized in that the detection device (2) is provided and designed for a MRK capability of the

Industrial robot (3) and the workstation (1) to validate and prove.

7.) detecting device according to one of the preceding

Claims, characterized in that the measuring device (16) comprises a measuring means (17), in particular a sensor, as well as a movably and elastically evasive connected

Collision element (19) for contact with a collision point (13) on an industrial robot (3).

8.) detecting device according to one of the preceding

Claims, characterized in that between the collision element (19) and the

Measuring means (17) an evasion and guide means (20) having at least one escape axis (28) is arranged.

9.) detecting device according to one of the preceding

Claims, characterized in that the avoidance and guide means (20) has an adapted to the affected body part spring and / or damping behavior.

10.) Detection device according to one of the preceding claims, characterized in that the avoidance and guide means (20) one between the collision element (19) and the measuring means (17). clamped spring (21) and a guide (22), in particular a straight guide, for the

Collision element (19). 11.) detecting device according to one of the preceding

Claims, characterized in that the spring (21) one of the compression rate of

affected body part corresponding

Having spring stiffness.

12.) Detection device according to one of the preceding claims, characterized in that it e e n e e c e s e that the guide (22) has an attenuation. 13.) Detection device according to one of the preceding claims, characterized g e k e n n e c i n e t that the collision element (19) is plate-shaped. 14.) Detecting device according to one of the preceding claims, characterized in that it e e n e c e s e s that the measuring means (17) as a force measuring sensor,

In particular, 3D force measuring sensor, is formed. 15.) Detection device according to one of the preceding claims, characterized in that the measuring device (16) has a signal connection (18) to the industrial robot (3), in particular to a robot controller (12).

16) detecting device according to one of the preceding claims, characterized in that the measuring device (16) has a holder (23) for the measuring means (17).

17.) detecting device according to one of the preceding

Claims, characterized in that the holder (23) is connected to the avoidance and guide means (20).

18.) detecting device according to one of the preceding

Claims, characterized in that the holder (23) is adjustably connected to the positioning device (15).

19.) detecting device according to one of the preceding

Claims, characterized in that the positioning device (15) for an adjustment of the measuring device (16) in one or more translatory and / or rotational adjustment axes

(30,31) is provided and formed.

20.) detecting device according to one of the preceding

Claims, characterized in that the positioning device (15) with a frame (24)

Adjusting means (27) and with a base (26) for mounting on a base in the working area of the industrial robot (3). 21) working device with an industrial robot (3), which carries a process tool (4) and which is suitable for human-robot cooperation or collaboration (MRK), characterized

In the working area of the industrial robot (3), there is a detection device

(2) which is robot-induced

Encumbers burdens that contribute to the work process

Contact with the industrial robot (3) and / or the process tool (4) on the

human body can act.

22) working device according to claim 21, characterized

There is no such thing as the

Detection device (2) according to at least one of claims 1 to 20 is formed.

23.) A working device according to claim 21 or 22, characterized g e k e n e c i n e t that the

Industrial robot (3) as a tactile and multi-axis industrial robot with multiple links (5,6,7,8) is formed.

24.) A working device according to claim 21, 22 or 23, characterized in that it e e n e c e s e that the

Industrial robots (3) one or more

force-controlled or force-controlled robot axes (I

- VII) and an associated, acting loads acting stress sensing (11).

25.) Working device according to one of claims 21 to 24, characterized g e k e n e c i n e t that the

Industrial robot (3) 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, has.

26.) Working device according to one of claims 21 to

25, characterized in that the industrial robot (2) has an integrated sensor system (11) with one or more sensors, in particular

Force or torque sensors, on one or more robot axes (I - VII).

27.) A working device according to any one of claims 21 to 26, characterized g e k e n e c i n e t that the

Sensor system (11) with the evaluation unit (29)

is technically connected.

28.) Working device according to one of claims 21 to

27, characterized in that the detection device (2) is designed as a calibration device for the industrial robot (3) and the associated, in particular integrated sensor system (11).

29.) Working device according to one of claims 21 to

28, characterized in that the detection device (2) as a validation and detection device for the MRK fitness of the working device (1) and / or the tactile

Industrial robot (3) is formed.

30.) Method for detecting robot-induced

Loads involved in a work process

Contact with an industrial robot (3) or its process tool (4) can act on the human body, thereby

There is no such thing as the

robot-induced loads, in particular forces, with a measuring device (16) of an external

Detection device (2) are metrologically detected, wherein the measuring device (16) by means of a positioning device (15) process in the

Work area of an industrial robot (3)

is positioned and aligned. 31.) Method according to claim 30, characterized

There is no such thing as the

Stress detection under realistic

Process conditions takes place, the

Industrial robot (3) along its

programmed track moves and with a

Collision point (13) on his process tool (4) or on another robot part with the Detecting device (2) in touch contact or in collision device.

32.) Method according to claim 30 or 31, characterized

In the case of contact, the forces detected externally by the measuring device (16) correspond to those of an internal sensor system (11) of the

Industrial robot (3) detected forces

evaluated synchronously and compared.

33.) The method of claim 30, 31 or 32, characterized

g e n e c i n e s that by means of external acquisition of the robot-induced

Loads of industrial robots (3) and its internal sensors (11) are calibrated.

34.) Method according to one of claims 30 to 33,

In this way, a body surface is simulated with a collision element (19) of the measuring device (16), wherein the

Collision element (19) movable and elastically evasive with a measuring means (17) of

Measuring device (16) is connected. 35.) Method according to one of claims 30 to 34,

in this way, by means of the acquisition of the robot-induced loads, an MRK capability of the industrial robot (3) and the working device (1) is validated and

be detected.

36.) Method according to one of claims 30 to 35,

characterized in that by means of the detection of the robot-induced loads, the working device (1), the industrial robot (3) and the process to be carried out are designed. Method according to one of claims 30 to 36, characterized in that in the design of the working device (1), the

Industrial robot (3) and the to be performed

Process the robot movements and in particular the occurring robot speeds

On the one hand be selected as high as possible, on the other hand, the resulting outgoing loads are limited in a body contact to an allowable limit.

38.) Method according to one of claims 30 to 37,

By doing so, in the design of the working device (1), the

Industrial robot (3) and the to be performed

Process for each affected

Body region authoritative limit from a

Body model is taken. 39.) Method according to one of claims 30 to 38,

This is done by detecting, via robot programming, where a

Collision point (13) on the industrial robot (3) or on the process tool (4) is arranged and what shape it has.