EP3271119A1 - Autorisation de fonctionnement d'une machine - Google Patents

Autorisation de fonctionnement d'une machine

Info

Publication number
EP3271119A1
EP3271119A1 EP16712209.2A EP16712209A EP3271119A1 EP 3271119 A1 EP3271119 A1 EP 3271119A1 EP 16712209 A EP16712209 A EP 16712209A EP 3271119 A1 EP3271119 A1 EP 3271119A1
Authority
EP
European Patent Office
Prior art keywords
input means
signal
contact force
control device
detected
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.)
Withdrawn
Application number
EP16712209.2A
Other languages
German (de)
English (en)
Inventor
Uwe Zimmermann
Yevgen Kogan
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.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter 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 KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of EP3271119A1 publication Critical patent/EP3271119A1/fr
Withdrawn legal-status Critical Current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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • 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
    • B25J19/063—Safety devices working only upon contact with an outside object
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • 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
    • 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
    • G05B2219/40218—Check conditions before allowing unlocking of joint brake

Definitions

  • the present invention relates to a safety control device and a method for enabling an operation of a machine, in particular a robot, as well as a computer program product for carrying out the method.
  • a sensor device which detects a pressure exerted on a region of a touch screen, wherein a control device executes a reaction which is dependent on the pressure exerted.
  • an actuating element is provided, wherein an actuation of the actuating element is additionally evaluated for exerting pressure on the touch screen and activation of drives only takes place when additionally the actuating element is actuated.
  • the object of the present invention is to improve the operation of a machine, in particular a robot. This object is achieved by a safety control device having the features of claim 1 and a method having the features of claim 7.
  • Claim 12 protects a computer program product for carrying out a method described here.
  • the subclaims relate to advantageous developments. According to a first aspect of the present invention, a
  • Safety control device for enabling an operation of a machine, in particular a robot, an input means for detecting a manual or manually impressed contact, in particular a manual or manually impressed contact force, in particular a finger contact or a
  • the safety control device has a holding device for, in particular frictionally, attaching the input means to a finger, in particular a fingertip, an operator.
  • the input means is by means of
  • Holding device in particular frictionally, attached to a finger, in particular a fingertip, an operator.
  • a virtual enabling button can be made available, which is also advantageously used when the hand is otherwise used with the finger, for example when manually guiding the robot or a robot
  • Actuation of an input element such as a mouse, a joystick or a touch screen, can be operated with.
  • the holding device has in one embodiment one or more bands,
  • the input element can be advantageously attached to different fingers in one embodiment.
  • the holding device is releasably or permanently, in particular cohesively, connectable, in particular connected, or integrally or integrally formed in one embodiment with the input element.
  • the input means and / or the holding device are in one embodiment elastic and / or foil and / or, in particular, together thimble-shaped.
  • the holding device plastic, in particular thermal and / or thermoset, and / or rubber and / or artificial skin, wherein the input means may be formed in one embodiment at least partially by this material or molded therein.
  • an elastic and / or foil and / or thimble-like holding device and / or an especially integrally formed, elastic and / or foil and / or thimble-like input means in one embodiment, a different use of the hand is advantageously only slightly influenced.
  • a safety control device for enabling an operation of a machine, in particular a robot, or the input means for detecting a manual or manually impressed contact, in particular a manual or manually impressed contact force, in particular a finger contact or a finger contact force, and a signaling means which at least partially automated one, in particular optical, acoustic, tactile, thermal and / or electrical signal outputs if a contact force detected by the input means, in particular finger contact force, is smaller than a predetermined upper minimum value or for this purpose, in particular hardware and / or software technology.
  • the signal means or the
  • Safety control device in particular the same or another
  • the operator can be advantageously warned before he (unintentionally) leaves a contact force of the contact force, which is limited by a predetermined lower minimum value, which is smaller than the upper minimum value, and a predetermined upper maximum value, which is greater than the lower Minimum value is.
  • the signal is a
  • the operator can advantageously be given a direction of change of the contact force.
  • the safety control device has in one embodiment, in particular wireless or wired connectable to the input means, in particular
  • release means for enabling the operation of the machine only if one or more of the input means detected contact force greater than a or the predetermined (r) lower (s) minimum value and / or less than one or the predetermined upper (r) (r) maximum value is on.
  • the flexibility can be increased by a wireless connection, which can be advantageously enhanced by a wired connection
  • the release means at least partially automatically releases the operation of the machine only if one or more of the contact force detected by the input means is greater than or less than the predetermined minimum value and / or less than one is the given upper maximum value.
  • the lower minimum value is smaller than the upper minimum value, the lower and / or upper minimum value smaller than the lower and / or upper maximum value, and / or the lower maximum value smaller than the upper maximum value.
  • an operation can comprise a movement of one or more, in particular of all axes, of the machine, in particular of the robot, in particular a movement with a speed which exceeds a predetermined (reduced) maximum speed.
  • unreleased operation may include movement of one or more axes at a speed that does not exceed a predetermined (reduced) maximum velocity.
  • the release means can release the operation, in particular, by outputting a corresponding release signal, closing or activating a power supply of drives of the machine, or the like. Accordingly, that can
  • the signal means varies the signal output by the signal means at least partially automatically with or in dependence on a distance of the contact force to one of the minimum and / or maximum values or is set up for this purpose, in particular hardware and / or software technology.
  • the signal means may vary the signal output from the signal means based on a distance of the contact force to the lower or upper minimum value and / or based on a distance of the contact force to the lower or upper maximum value.
  • a color, brightness, blink frequency, volume, pitch, vibration frequency and / or amplitude is particularly, or amplitude
  • a minimum displacement of a contact surface is a minimum displacement of a contact surface
  • predetermined minimum force for releasing the operation of the machine or the lower minimum value of the contact force at most 1 mm, in particular at most 0.5 mm, in particular at most 0.1 mm and in particular less than 0.05 mm.
  • one, in particular (rigid) joint-free, touch-sensitive, in particular pressure-sensitive surface is proposed in one embodiment, one, in particular (rigid) joint-free, touch-sensitive, in particular pressure-sensitive surface,
  • a touchpad or a touch screen to use as an enabling button.
  • a detection means detects at least partially automated attachment of the input means to a finger, in particular optically, thermally, electrically and / or load-based, or is for this purpose, in particular soft and / or hardware technology, designed or set up.
  • the risk of incorrect detection of a contact force without the input means being attached to a finger, for example, by an object accidentally placed on the non-applied input means, can be reduced.
  • the detection means at least partially inhibits
  • a load-based detection may include detecting an extension or tension (in) of the holding device (by a finger).
  • the input means detects a manual contact, in particular a finger, a palm or the like, optical, thermal, electrical, in particular capacitive, resistive, inductive or the like, or is for this purpose,
  • the input means detects a manual contact force, in particular a contact force impressed by a finger, a palm or the like, in particular on a contact surface of the input means, in particular based on a detected pressure, a detected tension, a detected deformation or the like or is for this purpose, in particular software and / or hardware technology, trained or established.
  • a (areally distributed) contact pressure is generalized as a contact force within the meaning of the present invention.
  • the input means detects a manually impressed contact pressure, in particular a pressure impressed on a contact surface of the input device, in particular a touchpad or screen, by a finger, a palm or the like, or in particular software and / or hardware technology. educated.
  • a means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules.
  • the CPU may be configured to implement instructions implemented as a program stored in a memory system.
  • a storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media.
  • the program may be arranged to be capable of embodying the methods described herein, such that the CPU may perform the steps of such
  • Fig. 1 a safety control device in a performance of a
  • a method of enabling operation of a robot according to an embodiment of the present invention.
  • FIG. 1 shows a robot 100 and a robot controller 20 in which a signal and a release means of a safety control device for enabling an operation of the robot according to an embodiment of the present invention are at least partially implemented, wherein the robot controller 20 is signal-connected to drives of the robot 100 , as indicated by dash-dotted lines in Fig. 1.
  • the safety controller further includes a thimble-like input means 1
  • Input means 1 is formed with a pressure-sensitive surface, the pressures or forces in an electrical variable or is adapted thereto, formed and signal-connected via a transmitter 3 wirelessly with the robot controller 20, as indicated in phantom in Fig. 1.
  • the signal and release means at least partially implemented in the robot controller 20 automatically perform a method explained below with reference to FIG. 1 according to an embodiment of the present invention.
  • the release means checks whether the (finger) contact force P detected by the input means 1 is smaller than a predetermined lower minimum value Pi. If this is the case (S10: "Y"), the release means executes step S50, in which it prohibits or does not release an operation of the robot 100, for example by
  • step S20 the release means checks whether the contact force P detected by the input means 1 is greater than a predetermined upper maximum value P 4. If this is the case (S20: "Y"), this results Release means in turn step S50. From step S50, the method returns to step S10 each time, for example, cyclically.
  • step S30 If the detected contact force P is smaller than an upper maximum value P 4 (S20: “N”), the signal means checks in step S30 if the contact force P detected by the input means 1 is smaller than a predetermined upper minimum value P 2 which is greater than If this is the case (S30: “Y"), the signaling means executes step S60 in which it outputs a signal ("+!) which prompts the operator who is Increase contact force P.
  • This signal may vary with the distance of the contact force P to the lower minimum value Pi, in particular at a shorter distance to P ⁇ and at the same time in accordance with a greater distance from P 2 are intense. Subsequent to step S60, the release means continues with step S75 explained below.
  • the signal means checks in step S40 if the contact force P detected by the input means 1 is larger than a predetermined lower maximum value P 3 which is larger is the upper minimum value and smaller than the upper maximum value (Pi ⁇ P 2 ⁇ P 3 ⁇ P4) If this is the case (S40: “Y"), the signal means performs step S70 in which it outputs another signal ( "-!) Than in step S60, which requests the operator to reduce the contact force P.
  • This signal can vary with the distance of the contact force P to the upper maximum value P 4 , in particular with a smaller distance to P 4 and at the same time correspondingly greater distance to P 3 become more intense.
  • step S70 the release means executes step S75.
  • the enabling means executes step S75 without the signal means executing step S70.
  • detecting means is implemented which automatically fixes the attachment of the Input means 1 detected on a finger 10.
  • the detection means checks in step S75 whether the input means 1 is attached to a finger 10. If this is not the case (S75: “N"), the process proceeds to step S50, so that the operation of the robot 100 is not released. If the detection means determines in step S75 that the input means 1 is attached to a finger 10 (S75: "Y"), the release means executes a step S80 in which it enables the operation of the robot 100, for example, by closing the power supply of the robot 100 Robot or output a corresponding
  • step S10 the process returns to step S10 as in step S50.
  • the operator can advantageously be warned before he (unintentionally) leaves a contact area [Pi, P 4 ] of the contact force P, which is defined by the lower minimum value Pi and the upper maximum value P 4 is limited.
  • step S75 the risk of erroneously detecting a contact force without the input means being attached to a finger, for example, by an object accidentally placed on the non-applied input means, can be reduced.
  • the input means may be a relatively rigid rigid touchpad or touchscreen
  • a minimum displacement of the touch-sensitive surface or (finger) contact surface for detecting the lower minimum value of the contact force at most 1 mm, in particular at most 0.5 mm, in particular at most 0.1 mm and in particular less than 0.05 mm is.
  • the risk of unintentional stopping of the machine can be achieved by steps S30, S40, S60 and S70
  • an enabling button attached to a finger can also be used without a signal being issued before leaving the enabling area. It should also be noted that it is the exemplary

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de commande de sécurité destiné à autoriser le fonctionnement d'une machine, en particulier d'un robot (100), équipé d'un moyen d'entrée (1) destiné à détecter un contact manuel, en particulier un contact digital, qui comporte un dispositif de retenue (2) destiné à fixer, en particulier par friction, le moyen d'entrée au niveau d'un doigt, en particulier le bout d'un doigt (10), d'un opérateur ; et/ou un moyen de signal (20) qui est destiné à produire en sortie un signal (« + ! »), notamment optique, acoustique, tactile, thermique et/ou électrique si une force de contact (P) détectée par le moyen d'entrée est inférieure à une valeur minimale supérieure prédéterminée (P2) et/ou pour produire en sortie un signal (« - ! »), en particulier optique, acoustique, tactile, thermique et/ou électrique, si une force de contact (P) détectée par le moyen d'entrée est supérieure à une valeur maximale inférieure prédéterminée (P3).
EP16712209.2A 2015-03-20 2016-03-10 Autorisation de fonctionnement d'une machine Withdrawn EP3271119A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015003696.3A DE102015003696A1 (de) 2015-03-20 2015-03-20 Freigeben eines Betriebs einer Maschine
PCT/EP2016/000434 WO2016150556A1 (fr) 2015-03-20 2016-03-10 Autorisation de fonctionnement d'une machine

Publications (1)

Publication Number Publication Date
EP3271119A1 true EP3271119A1 (fr) 2018-01-24

Family

ID=55640665

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16712209.2A Withdrawn EP3271119A1 (fr) 2015-03-20 2016-03-10 Autorisation de fonctionnement d'une machine

Country Status (6)

Country Link
US (1) US10239214B2 (fr)
EP (1) EP3271119A1 (fr)
KR (1) KR102059249B1 (fr)
CN (1) CN107428010A (fr)
DE (1) DE102015003696A1 (fr)
WO (1) WO2016150556A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
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EP3422503A1 (fr) * 2017-06-28 2019-01-02 ABB Schweiz AG Manipulateur de robot interne pour fonctionnement et entretien sans pilote dans des disjoncteurs débrochables, et procédé de fonctionnement du robot-manipulateur
DE102019117217B3 (de) * 2019-06-26 2020-08-20 Franka Emika Gmbh Verfahren zum Vorgeben eines Eingabewerts an einem Robotermanipulator
CN114051443A (zh) * 2019-07-03 2022-02-15 首选网络株式会社 信息处理装置、机器人系统以及信息处理方法

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Also Published As

Publication number Publication date
WO2016150556A1 (fr) 2016-09-29
DE102015003696A1 (de) 2016-09-22
US10239214B2 (en) 2019-03-26
KR102059249B1 (ko) 2020-02-11
CN107428010A (zh) 2017-12-01
KR20170106429A (ko) 2017-09-20
US20180071920A1 (en) 2018-03-15

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