EP3077163A1

EP3077163A1 - Working device and working method

Info

Publication number: EP3077163A1
Application number: EP14823916.3A
Authority: EP
Inventors: Otmar Honsberg; Simon Klumpp; Ralf Kühnemann; Julian STOCKSCHLÄDER; Richard ZUNKE
Original assignee: KUKA Systems GmbH
Current assignee: KUKA Systems GmbH
Priority date: 2013-12-03
Filing date: 2014-12-02
Publication date: 2016-10-12
Also published as: WO2015082485A1

Abstract

The invention relates to a working device (1) and a working method comprising an industrial robot (2) equipped for human-robot co-operation or collaboration (HRC), said robot having a processing tool (3). The industrial robot has a number of rotatably interconnected members (7,8,9,10) and one or more open- or closed-loop force-controlled robot axes (I-VII) comprising an integrated sensor system which detects the external stress acting on each robot axis (I-VII). As a supplementary HRC protective measure, a personnel protection device (4) is located in the vicinity of the processing tool (3).

Description

DESCRIPTION

Working device and working method

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

In modern working devices known in practice, people can cooperate or collaborate with industrial robots, in particular tactile robots. This is referred to as human-robot cooperation or collaboration (abbreviated MRK). Touch contacts between the

The human body and the industrial robot or its process tool are admittedly permitted within limits by the use of tactile protective measures. In the case of an MRI and the use of tactile protective measures, certain limit values must be observed which differ with respect to the type of stress and which are also dependent on the affected body region of the human, in particular a worker.

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

occurring clamping and squeezing force. Impact force is a dynamic force transmitted in the first momentum on contact with the human body

(Peak). The clamping and squeezing force is the static force that remains after a first momentum. The force limit values for the respective types of stress are defined for individual body regions in a body model.

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

It is an object of the present invention to provide a

show improved working technique. The invention solves this problem with the features in the method and device main claim.

The claimed working technique, i. the

Working device and the working method, have the advantage that with the personal protection device

Working device with regard to protective effect on the one hand and efficiency, in particular

Robot speed, on the other hand can be optimized.

The personal protection device becomes effective

Supplementing other MRK safety measures. In conjunction with a MRK-equipped tactile

Industrial robot, which has an integrated, externally applied to the respective robot axis loads receiving sensors, results in an optimal solution. As an MRK-equipped industrial robot becomes a tactile

Industrial robot referred to, which detects a collision with a person with its integrated sensors and then performs an MRK protective measure, e.g. a

Stop moving, go out or back or the like .. There are various possibilities for the design of the personal protection device.

An education as compliant protection with

Actuator allows a reduction of the body burden and the risk of injury as well as an optimal comparison of process and MRK requirements.

An education as decoupling can be effective in a body contact mass and thus the

reduce the body burden. Alternatively or additionally, the robot speed thanks

Mass reduction can be increased. The personal safety device, in particular the

On the other hand, decoupling device and its decoupling element can be designed so stiff that

Collisions with a worker by the MRK-equipped tactile industrial robot continue to be detected.

The personal protection device can be designed to be controllable. It can be used in movement situations where one

Collision with a worker threatens to be activated. By this additional protective measure, the

Mitigation risks are reduced and accordingly the robot speed in these motion situations are increased. On the other hand, the personal protection device during tool use and the

process situation to be disabled again, reducing the precision, functionality and

Performance of the process tool and the

executed process can be restored or increased. This allows an optimal balancing of process requirements and MRK requirements.

The controllable decoupling can take place in motion situations of the industrial robot, in which the process and tool precision play no role and the increase of robot speed and performance of the robot Working device or industrial robot in the

Foreground is. On the other hand, in the actual process performed with the tool, the

Subordinate the risk of injury and the MRK requirements, so that the decoupling can be lifted again.

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

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 working device with a

Industrial robots and a process tool as well as a personal protective device,

Figure 2: a first variant of a personal protection device in the form of a

Decoupling device in a broken schematic side view,

Figure 3: a more detailed representation of

Decoupling device of Figure 2,

Figure 4: another variant of

Decoupling device, Figure 5: a variant of the personal protection device with a resilient protection means and

Figures 6 to 12: various other variants of a

passive decoupling device in a broken schematic side view and

Figure 13: a preferred embodiment of a tactile, multi-axis industrial robot.

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

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

The working device (1) has according to Figure 1 a multi-axis industrial robot (2) with a

Process tool (3). The industrial robot (2) is designed as a tactile robot. He has an associated, stress-absorbing sensors (11). The

Working device (1), in particular the industrial robot (2), may have a controller (26). A preferred embodiment is shown in Figure 13 and will be explained later. The industrial robot (2) and the

Process tool (3) can also be present multiple times. The process tool (3) can optionally by means of a

Interchangeable coupling to be exchanged.

The process tool (3) can be designed as desired. In the embodiment shown is a

Gripping tool for assembly purposes. Alternatively, one is

Training as a joining tool, application tool,

Forming tool or the like. possible.

In the area of the process tool (3) a personal protection device (4) is arranged. This can also be referred to as a MRK protection device. FIGS. 2 to 12 show different embodiments for this purpose.

In the embodiments of Figure 2 to 5, the personal protection device (4) is controllable. Figures 6 to 12 show a variant of the personal protection device (4), which is passive and permanently in operation.

The controllable personal protection device (4) has an actuator (5) for their activation and deactivation on. The activated personal safety device (4) allows its own contact with the worker (6)

Evasive movement or an evasive movement of the

Process tool (3) or a tool part and has For this corresponding compliant properties.

The personal safety device (4) can be activated by the actuator (5) during a feed movement of the industrial robot (2). A feeding movement can be any

Approach movement to a work or process location. In a process movement, in particular in a gripping process or machining process at the work or process station and possibly on a workpiece, the

Personal safety device (4) deactivated.

The personal safety device (4) can be connected to the controller (26) by means of a cable or wirelessly. This is preferably the robot control of the industrial robot (2). It can be used in industrial robots

(2) be integrated or arranged externally. The controller (26) can control the personal safety device (4), in particular its actuator (5), depending on the situation and in dependence on the process flow.

In the variants of Figures 2 to 4, the personal protection device (4) is designed as a controllable or activatable and deactivatable decoupling device (17), with the activated state at a

Person contact acting mass can be reduced.

FIGS. 6 to 12 show the variant of a passive one

Decoupling device (17 '), which is permanently in operation. This effective mass is also called reflected mass in MRK practice. It is determined by the mass and the center of gravity, which are moved by the industrial robot with a so-called robot speed and hit the body in the event of a collision. The controllable and the passive decoupling device (17,17 ') is arranged in each case between the parts to be decoupled. It may, for example, be arranged between the process tool (3) and the industrial robot (2), as shown in FIGS. 2 to 4 and FIGS. 6 to 12.

Alternatively, the decoupling device (17, 17 ') may be located elsewhere, e.g. be arranged between parts of the process tool (3). Figure 1 shows a schematic diagram of the controllable decoupling device (17) and the passive

Decoupling device (17 ').

The activated decoupling device (17) enables the process tool (3) to be decoupled from the industrial robot (2) in such a way that a relative movement is possible between these parts (2, 3). This reduces the mass acting on a person contact or the reflected mass on the mass and the center of mass of the

Process tool (3). The much larger mass of the industrial robot (2) is decoupled. The same applies to the passive and permanently in function variant of the decoupling device (17 ') of Figure 6 to 12. In addition, the industrial robot (2) in the variants of Figure 2 to 4 and Figure 6 to 12, the process tool (3) in his Delivery movement to work or

Process location in a favorable for the load reduction and for the response of the decoupler (17,17 ') alignment, e.g. hanging down, lead and

transport .

By means of the mass reduction, in the variants of FIGS. 2 to 4 and FIGS. 6 to 12, the momentum acting on a personal contact and the body load and the risk of injury emanating therefrom can be reduced. The impulse

is calculated according to the reflected mass and the Speed with which it is moved by the industrial robot (2).

On the other hand, as a result of the mass reduction in the variants of FIGS. 2 to 4, the robot speed can be correspondingly increased while maintaining the load limit values mentioned above. When disabled

Decoupling device (17), the parts (2,3) are coupled again. They are preferably rigid and

accurately connected with each other. The same applies to the passive and permanently operating variant of the decoupling device (17 ') of Figure 6 to 12. The controllable decoupling device (17) of Figure 2 to 4 has interfaces (24,25) for connection to the parts to be decoupled. In the shown

Embodiments are these parts of

Industrial robot (2), in particular its output member (10), and the process tool (3). The interfaces

(24, 25) may be designed in any manner, e.g. be designed as flanges or mounting plates.

The decoupling device (17) furthermore has a controllable coupling (20) for the rigid connection and release of the parts (2, 3) to be decoupled. The controllable

Coupling (20) can form the actuator (5) in this case.

It is arranged between the interfaces (24,25) and connected to these for power and motion transmission. When activating the decoupling device (17) is the

Coupling (20) open and the parts to be decoupled (2,3) are dissolved and movable relative to each other. at

Deactivation they are rigidly interconnected and the

Clutch is closed. The clutch (20) is self-centering and has a controllable drive for releasing and closing. The clutch (20) has two or more

Coupling parts (21, 22), of which one coupling part (21) is e.g. with the industrial robot (2) or the

Interface (24) and the other coupling part (22) with the process tool (3) or the interface (25) is connected. The coupling parts (21, 22) are connected to the coupling drive and can be disengaged for release, e.g. be distanced from each other, so that a relative movement of the coupling parts (21,22) in a possible body contact is possible. In the closed position of the clutch (20), the preferably form-fitting interlocking coupling parts (21,22) in the various embodiments in each case based on each other and form a rigid unit.

The decoupling device (17) has a resilient retaining means (18) for guiding the decoupled parts (2, 3), in particular the coupling parts (21, 22) connected therewith. On the one hand, the resilient holding means (18) effects a captive mechanical connection of the decoupled parts (2, 3) or the released coupling parts (21, 22) and, on the other hand, permits a relative movement between the decoupled parts (2, 3) and the loosened ones

Coupling parts (21,22). This relative movement can be multiaxial and a directional component in

Axial direction of the coupling (20) and another

Have direction component in the transverse direction.

In Figures 2 and 3, the resilient retaining means (18) as a spring (19), in particular as a preferably cylindrical

Coil spring, formed on the e.g.

cylindrical coupling parts (21,22) is wound and at its ends with one interface (24,25) may be connected. The decoupling device (17) can also be

Separating means (23) for actively releasing and separating the

Have coupling parts (21,22). The spring (19) may be formed as a compression spring and also have such a release and separation function. The release agent (23) may additionally be present. It can e.g. as a pneumatic or hydraulic cylinder or the like. be educated. It can also be acted upon by the controller (26). In addition, the decoupling device (17) a

Detekt ionseinrichtung (27), which detects a response of the decoupling element s (28) in the event of a collision and a relative movement of the interfaces (24,25). It is schematically indicated in FIG. 2 and may also be present in the other exemplary embodiments. The

Detecting means (27) may e.g. be designed as a non-contact distance sensor or the like. And is connected to the controller (26). The coupling (20) can in different ways

be educated. In Figure 3, a magnetic coupling is shown schematically, which can be designed differently. The decoupling device (17) is activated and deactivated in different ways.

The magnetic coupling (20) can in one embodiment a controllable electromagnet at least one

Have coupling part (21,22). It effects the actuator function. When switching the self-centering coupling parts (21,22) are moved towards each other by magnetic force and held together. The

Decoupling device (17) is thereby deactivated. When switching off the coupling parts (21,22) by the spring (19) and possibly the release agent (23) are detached from each other and possibly distanced, the

Decoupling device (17) is activated. The

self-centering coupling parts (21,22) can be attached to the Contact a mutually adapted and eg

complementary contour with axial projections and

Have recesses and form a positive connection with each other.

In another embodiment, there are two or more magnetically conductive coupling parts (21, 22), one of which is e.g. is designed as a permanent magnet and the other consists of a ferromagnetic material or is also a permanent magnet with reversed polarity. The magnetic force connects and holds the coupling parts (21, 22), the decoupling device (17)

is deactivated. The controllable release agent (23) acts in its actor function against the magnetic force and triggers for activation of the decoupling device (17), the coupling parts (21,22) from each other.

Alternatively, the coupling (20) as a mechanical or fluidic coupling with a mechanical or electrical drive or a fluidic, in particular pneumatic or hydraulic drive for

mutual approach and for solid cohesion of the coupling parts (21,22) may be formed. Figure 4 shows a variant of the coupling (20), which is a ball joint with a ball cup guide to the

Has coupling parts (21,22). Here are

slight axial movements and relative rotation of the coupling parts (21,22) relative to each other possible. The drive for closing the clutch (20) can be designed in any desired manner and have a centering device with which the ball joint and the ball socket can be brought into a defined and positively supported position to each other. Figure 4 also shows a variant of the yielding

Holding means (18). It can e.g. be designed as flexurally elastic sleeve or hose. In a further modification, not shown, the resilient retaining means (18) can also be used by several cables, chains or the like. be formed. Also telescopic poles are possible.

FIG. 5 shows a further modification of the controllable personal safety device (4). This one has

movable and flexible protection means (12) with an actuator (15) and serves to shield the

Process tool (3) or part of the

Process tool. In the illustrated embodiment, the movable protective means (12) is linearly extendable. It may alternatively be pivoted or otherwise moved between a retracted or retracted rest position and an extended working or guard position.

The resilient protection means (12) is e.g. when

flexurally elastic shell or sleeve is formed, which encloses the projecting end portion of the process tool (3) protective. The end part may e.g. as a welding nozzle,

Screw head, gripper arm or the like. Be formed. The actuator (15) can form the actuator (5). He pushes to activate the personal protection device (4), the sleeve (13) or other protection means (12) in the working position shown, whereby said

Tool end part is enclosed and shielded. One

Personal contact can then take place only on the yielding or flexible protection means (12). Through this

Compliance also reduces the body burden on contact and the risk of injury

reduced. In return, if necessary, the

Robot speed can be increased. To deactivate for the process and processing function of the process tool (3), the protection means (12) from the actuator (15) moved back to the rest position and the

Tool end part released.

The other portions of the process tool (3) may in turn be provided with a housing (16) of a soft and body contact compliant material, e.g. one

Art foam, to be enclosed. The housing (16) can be fixedly arranged on the process tool (3) and also reduces the body burden and the risk of injury in the contact case.

The resilient protection means (12) may further include a

Spring head (14), the person in contact

dodging. The spring head (14) is e.g. arranged on the front end of the protective means (12) and also consists of a sleeve which is guided longitudinally movably on the protective means (12) and by means of one or more springs on the protective means (12) is supported in the axial direction. The spring head (14) can also with a

Detection means (27), e.g. a motion sensor or the like. be equipped with a body contact and an evasive movement of the spring head (14) can be detected. The spring head (14) is an additional

Security feature which acts in addition to the protective means (12). The protective means (12) can thereby have a higher axial rigidity, which is compensated by the spring head (14). The spring head (14) can also represent a kind of decoupling device and can even form the only very small reflected mass at an axial body contact.

The passive decoupling device (17 ') of Figure 6 to 12 also has interfaces (24,25) for connection to the parts to be decoupled. In the embodiments shown, these parts are the Industrial robot (2), in particular its output member (10), and the process tool (3). The interfaces (24, 25) can be structurally designed in any desired way, for example as flanges or mounting plates.

Between the interfaces (24,25) and with

force transmitting connection to this is a

Decoupling element (28) arranged, which

can be designed differently. In addition, the decoupling device (17 ') also a

Detekt ionseinrichtung (27), which detects a response of the decoupling element s (28) in the event of a collision and a relative movement of the interfaces (24,25). It is schematically indicated in FIG. 6 and may also be present in the other exemplary embodiments. The

Detecting means (27) may e.g. as a non-contact distance sensor or the like. be educated.

In the embodiment of FIG

Decoupling element (28) as a spring arrangement (29)

educated. In the embodiment shown, it is a single spring, e.g. as metallic

Coil spring, possibly as a compression spring, is formed.

By the spring arrangement (29) relative movements between the parts to be decoupled (2,3) are possible.

Alternatively, the single spring can also be designed in another way.

Figure 7 shows a variant of the spring assembly (29), which is designed here as a spring assembly. This consists of several axially aligned and each end with the interfaces (24,25) connected metallic

Single feathers, e.g. Coil springs or compression springs. These can be arranged in a ring or in any two-dimensional grid and take care of the said

Decoupling of the parts (2,3). FIG. 8 shows a further variant of a spring arrangement (29), which in turn is designed as a spring assembly. In this case, the said individual springs are arranged obliquely and form a conical spring package. Again, a ring or grid arrangement is possible. At the end, the individual springs are each equipped with a support ring

connected, e.g. consists of an elastomeric plastic. By aligned along the axial connecting line between the interfaces (24,25)

Cone shape a greater lateral stability is achieved than in the previous variant of Figure 7. The cone shape can be designed differently. In the illustrated and preferred embodiment, it tapers from the robot side to the process tool (3). The interfaces or flanges (24,25) can

have different sizes according to the conical taper.

FIG. 9 shows a variant in which the

Decoupling element (28) as magnetic coupling (32)

is trained. It consists of two or more magnetically conductive coupling parts, one of which is e.g. is designed as a permanent magnet and the other consists of a ferromagnetic material or is also a permanent magnet with reversed polarity. The

Coupling parts can at the contact point a

mutually adapted and e.g. have complementary contour with axial projections and recesses and form a positive connection with each other. in the

Collision case, the magnetic holding force can be overcome, whereby the coupling parts can move relative to each other and possibly separate from each other. To one

Falling apart of the magnetic coupling (32) in

To avoid decoupling, one or more resilient retaining means (18 ') may be present, e.g. between the coupling parts and / or between the

Interfaces (24,25) are arranged. The yielding Holding means (18 ') may be formed, for example, as ropes or chains. On the other hand, they can consist of a flexurally elastic and possibly also axially resilient material and can be designed, for example, as a flexible sleeve, which holds the magnetic coupling (32).

surrounds outside.

In the variant of FIG. 10, the decoupling element (28) is designed as a ball joint (30) which has a ball head and a ball socket, which are firmly connected to the respectively adjacent interface (24, 25). About the ball joint (30) for decoupling rotational movements are possible. By friction or other suitable measures, an adhesive effect or other resistance can be generated, the rotational movements such only when a predetermined collision or

Enable reaction force in case of collision.

In the embodiment of FIG

Decoupling element (28) of one or more

Overload elements (31) formed in the event of a collision in the event of a sufficiently large collision or

Give reaction force in a suitable manner. This can e.g. breaking or otherwise destroying the overload element or elements (31). On the other hand, a

Overload element (31) also made of a resilient and e.g. consist of rubber-like material, which is in the

Strain and decoupling case deformed. For the security against loss, in this, as well as the other suitable embodiments, a resilient holding means (18 ') may be present (not shown), which allows the relative movement during decoupling and an uncontrolled falling apart of

decoupling parts (2,3) prevented. FIG. 12 shows a further variant in which the

Decoupling element (28) from the combination of a

Ball joint (30) with one or more

Overload elements (31) is formed. The overload elements (31) stabilize the ball joint (30) until the occurrence of a predetermined collision or reaction force in the event of a collision, where they then yield and the

Ball joint (30) for a controlled rotating

Decoupling ensures.

The industrial robot (2) has in the embodiments of Figures 1 and 13 a plurality of interconnected

Links (7,8,9,10) and can wear on its output member (9), the process tool (3). The industrial robot (2) can have several rotary and / or translatory

Have axes in any combination and training. In the exemplary embodiment shown, it is designed as a jointed-arm robot which has a base member (7) or a base and a robot arm (8) mounted pivotably about a horizontal axis. At its free end, another robot arm (9) about a horizontal axis

be pivotally mounted, which in turn carries at the free end of the pivotable output member (10), which e.g. can be designed as a multi-axis robot hand. Said pedestal may also rotate about an upright axle relative to the ground. According to FIG. 13, the robot arms (8, 9) can be designed in several parts and rotatable by means of axes (III) and (V). The industrial robot (2) in Fig. 13 has e.g. seven robot axes (I - VII).

The industrial robot (2) can be a multi-axis or multi-unit robot in conventional design

be formed and may have position-controlled axes or axle drives. Such an industrial robot (2) requires special MRK protection measures to meet the requirements of accident prevention. This can e.g. a

Motion and work space monitoring with optical Detection systems or the like. occur. In addition, external shielding measures by a sprawling

Housing, a fence or the like. Possible. Preferably, the industrial robot (2) is more tactile

Robot trained and has an external or

integrated sensor system (11), which absorbs and evaluates loads acting on the industrial robot (2) from the outside. An external sensor can e.g. between the industrial robot (2) and the process tool (3)

be arranged. According to FIGS. 1 and 13, the integrated sensor system (11) is preferred. She takes those at one

Robot axis (I - VII) acting loads. Alternatively or additionally, another MRK sensor system may be arranged on the industrial robot (2) and / or on the process tool (3), which detects impending collisions and detects, e.g. is designed as a proximity sensor. The tactile industrial robot (2) can have one or more force-controlled or force-controlled robot axes, in particular final drive (s). Preferably, all robot axes (I-VII) are force-controlled or

force-controlled. This allows a controllable or controllable response to externally applied loads.

Preferably, the tactile industrial robot (2) has at least one compliant robot axis (I-VII) with a

Compliance control. Preferably all have

Robot axes (I - VII) a compliance control. The compliance control may be e.g. a pure force control or a combination of a position and

Force control of the final drive of the respective robot axis (I - VII). Such a design is particularly advantageous in combination with an integrated sensor system (11), wherein, for example, one or more sensors which absorb externally acting forces and / or moments are arranged on the robot axes or the axle bearings there. Furthermore, wegaufnehmende sensors may be present.

A tactile industrial robot (2) can be switched to different operating modes. This allows

different responses to the occurrence of external stress, in particular of the unexpected or

unforeseen burdens. In such a case, the tactile industrial robot (2) may e.g. be switched into a spring mode, in which he evades the external load resiliently until the load disappears.

On the other hand, a switch to a powerless mode is possible, in which the industrial robot (2) stops when such an external load occurs and moves on only after the elimination of the load. In a powerless mode, the industrial robot (2) can also be manually guided and taught by e.g. acts on its output member (9) or on the process tool (3). The occurring robot and

Limb movements are registered and stored in order to generate a train or movement program for robot operation on this basis.

A tactile industrial robot (2) of the type described above is in particular in an implementation of

compliant robot axes suitable for a human-robot cooperation or collaboration (abbreviated MRK) and provided or trained. He may be at an unexpected or unexpected in the program flow

Contact with one person to remain, dodge resilient or possibly in another

Actively move the operating mode backwards, thereby avoiding or at least reducing an injury. Such a tactile robot can eg according to DE 10 2007 063 099 AI, DE 10 2007 014 023 AI or DE

10 2007 028 758 B4 be formed.

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

Modifications of the shown and described

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

LIST OF REFERENCE NUMBERS

1 working device

2 industrial robots, tactile robots

3 process tool

4 MRK protection device, personal protection device

5 actor

6 workers

7 link, base, pedestal

8 link, robotic arm

9 link, robotic arm

10 link, output link, robot hand

11 sensors

12 protective agent yielding

13 shell, sleeve

14 spring head

15 actuator

16 housing

17 decoupling device

17 'decoupling device

18 holding means yielding

18 'retaining means yielding

19 spring

20 clutch

21 coupling part on the robot side

22 coupling part on the tool side

23 release agent

24 interface, attachment to robots

25 interface, attachment to tool

26 control

27 detection device, sensor

27 'detection device, sensor

28 decoupling element

29 Spring arrangement, single spring, spring package

30 ball joint

31 overload element

32 magnetic coupling

Claims

1.) working device with one for a human

Robotic Cooperation or Collaboration (MRK) equipped industrial robots (2), the one

Process tool (3) carries, wherein the

Industrial robot (2) a plurality of movable, in particular rotatable, interconnected members (7,8,9,10) and one or more force-controlled or

having force - controlled robot axes (I - VII) with an integrated, acting loads of the respective robot axis (I - VII) sensing sensor (11), and being complementary in the region of

Process tool (3) a personal protection device

(4) is arranged.

2.) Working device according to claim 1, characterized

It is not possible that the personal safety device (4) is controllable and an actuator

(5) for activation and deactivation.

3.) Working device according to claim 1 or 2, characterized g e k e n e c i n e t e, that the controllable personal protection device is activated in motion situations in which a collision threatens with a worker.

4.) working device according to claim 1, 2 or 3,

By doing so, that the

Personal safety device (4) activated during feed movements and deactivated during process movements.

5.) Working device according to claim 1, characterized

The personal protection device (4) is passive and permanent in

Function is.

6.) A working device according to one of the preceding claims, characterized in that the activated or the passive personal protection device (4) during a body contact with a worker (6) an evasive movement of

Process Tool (3) or a tool part allowed and has corresponding yielding properties.

Working device according to one of the preceding claims, characterized in that the personal protection device (4) is designed as a controllable or passive decoupling device (17, 17 ') for reducing the mass acting on the person in contact with persons.

Working device according to one of the preceding claims, characterized in that the decoupling device (17,17 ') is arranged between the parts to be decoupled, in particular between the process tool (3) and the industrial robot (2) and / or between process tool parts. 9.) working device according to one of the preceding

Claims, characterized in that the decoupling device (17,17 ') has interfaces (24,25) for connection to the parts (2,3) to be decoupled.

10.) working device according to one of the preceding

Claims, characterized in that the controllable decoupling device (17) has a controllable coupling (20) for rigidly connecting and disconnecting the parts to be decoupled.

11.) working device according to one of the preceding

Claims, characterized in that the clutch (20) is self-centering and has a controllable drive.

12.) working device according to one of the preceding

Claims, characterized in that the decoupling device (17) has a resilient holding means (18) for guiding the decoupled parts (2, 3), in particular the associated one

Coupling parts (21,22), comprising.

13.) working device according to one of the preceding

Claims, characterized in that the decoupling device (17) is a release agent

(23) for actively releasing and separating the

Having coupling parts (21,22).

14.) working device according to one of the preceding

Claims, characterized in that the resilient retaining means (18) as a spring

is formed and cooperates with the coupling parts (21,22). 15.) Working device according to one of claims 1 to 9, characterized g e k e n n e c i n e t that the passive decoupling means (17 ') at a

Having body contact with a worker (6) yielding decoupling element (28).

16) Working device according to claim 15, characterized

There is no such thing as the

Decoupling means (17 ') a compliant and connected to the interfaces (24,25)

Holding means (18 ').

17.) A working device according to claim 15 or 16, characterized in that it e e n e c i n e t that the

Decoupling element (28) as a spring arrangement (29), in particular as a single spring or as a spring assembly is formed.

18.) A working device according to claim 15 or 16, characterized in that it e e n e c e s that the

Decoupling element (28) is designed as a ball joint (30).

19.) A working device according to claim 15 or 16, characterized in that it e e n e c i n e t that the

Decoupling element (28) is designed as an overload element (31).

20.) A working device according to claim 15 or 16, characterized in that it e e n e c i n e t that the

Decoupling element (28) is designed as a magnetic coupling (32).

21.) A working device according to claim 1, 2, 3 or 4, characterized in that there e e n e c i n e t that the

Person-safety device (4) a movable, in particular extendable, resilient protection means

(12) with an actuator (5) designed as an actuator (15) for shielding the process tool (3) or a process tool part. 22) working device according to claim 21, characterized

characterized in that the resilient protective means (12) as a resilient sheath (13), in particular sleeve, is formed. 23.) Working device according to claim 21 or 22, characterized in that the resilient protective means (12) one in contact with persons evasive spring head (14).

Working device according to one of the preceding claims, characterized in that the personal safety device (4) has a

Detection device (27,27 ') for detecting a personal contact or a response of the

Decoupling device (17,17 '), in particular of the decoupling element (28).

25.) working device according to one of the preceding

Claims, characterized in that the personal protection device (4) so stiff

is designed to collisions with a worker through the MRK-equipped tactile industrial robot

(2) continue to be recognized.

26.) working device according to one of the preceding

Claims, characterized in that the industrial robot (2) at least one compliant

Robot axis (I - VII) with a

Compliance control, in particular a pure force control or a combination of position ^¬ and force control having.

27.) Working device according to one of the preceding

Claims, characterized in that the integrated sensor system (11) one or more sensors, in particular force or torque sensors, on one or more robot axes (I - VII), in particular at the local axle bearings, has.

28.) working device according to one of the preceding

Claims, characterized in that the integrated sensor (11) has one or more wegaufnehmende sensors.

29.) Working device according to one of the preceding

Claims, characterized in that the working device (1), in particular the

Industrial robot (2), a controller (26) which is connected to the personal protection device (4) and optionally with the Detekt ion device (27,27 ').

30.) Working method in which an industrial robot (2) equipped for human-robot cooperation or collaboration (MRC) carries a process tool (3), wherein the industrial robot (2) has a plurality of movable, in particular rotatable, interconnects

connected members (7, 8, 9, 10) and one or more force-controlled or force-controlled robot axes (I

- VII) with an integrated, acting

Has loads of the respective robot axis (I - VII) sensing sensor (11), and wherein the MRK safety measures of the industrial robot (2) of a in the process tool (3) arranged personal protection device (4) are added.

31.) Working method according to claim 30, characterized

In addition to the fact that

Protective device (4) is controlled and activated and deactivated by means of an actuator (5).

32.) Working method according to claim 30 or 31, characterized in that the controllable

Personal protection device (4) in

Movement situations in which a collision threatens with a worker, especially at

Feeding movements, is activated.

33.) A method of operation according to claim 30, 31 or 32, characterized in that there is a controllable passenger protection device (4) during the

Use of the process tool and the relevant process situation is deactivated again.

34.) Method according to one of claims 30 to 33, characterized in that in a body contact with a worker (6) the

Process tool (3) or a tool part by means of the activated or passive personal safety device (4) and their yielding

Properties performs an evasive movement. 35.) Working method according to one of claims 30 to 34, characterized in that a mass acting on a person contact by means of a controllable or passive decoupling device (17,17 ') of the personal safety device (4)

is reduced.

36.) Working method according to claim 35, characterized

There is no such thing as that in a

Reduction of the effective mass

Robot speed is increased accordingly.

37.) A method of operation according to any one of claims 30 to 36, characterized in that there e e e c e n e t e that the MRK-equipped tactile industrial robot (2) in an unscheduled or unexpected in the program flow

Contact with a person stops, resiliently evades or actively moves backwards, thereby avoiding injury or at least reduces.