EP3694691A1 - Dispositif de protection destiné à un robot industriel ainsi qu'élément de protection destiné à un tel dispositif de protection - Google Patents

Dispositif de protection destiné à un robot industriel ainsi qu'élément de protection destiné à un tel dispositif de protection

Info

Publication number
EP3694691A1
EP3694691A1 EP18785920.2A EP18785920A EP3694691A1 EP 3694691 A1 EP3694691 A1 EP 3694691A1 EP 18785920 A EP18785920 A EP 18785920A EP 3694691 A1 EP3694691 A1 EP 3694691A1
Authority
EP
European Patent Office
Prior art keywords
conductive layer
protection device
molded part
shell
upper shell
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.)
Pending
Application number
EP18785920.2A
Other languages
German (de)
English (en)
Inventor
Theo Doll
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.)
Dr Doll Engineering GmbH
Original Assignee
Dr Doll Engineering 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 Dr Doll Engineering GmbH filed Critical Dr Doll Engineering GmbH
Publication of EP3694691A1 publication Critical patent/EP3694691A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • 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
    • 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
    • B25J19/0091—Shock absorbers
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators

Definitions

  • the invention relates to a protective device for an industrial robot with at least one protective element, which is provided as a shell for an outer wall portion of the industrial robot, and a sensor associated with the protection sensor, which is designed such that a collision between the protective element and an obstacle can be detected.
  • Such a protective device is known from AT 561 097 B1 and provided as safety equipment for a collaborative industrial robot.
  • collaborative industrial robots are used in the industrial sector used robots that work with a person in a common workspace, the person is not shielded by physical protection devices such as fences, barriers or the like of the robot.
  • physical protection devices such as fences, barriers or the like of the robot.
  • there is fundamentally a risk of collision between the working person and the robot for example in the case of an uncoordinated engagement of the person in the pivoting region of the robot.
  • protective devices are required which detect such a collision in order to enable an emergency shutdown of the robot.
  • the known protective device has at least one protective element with a protective cover and a base plate and a sensor element associated with the sensor.
  • the protective cover spans the base plate like a pillow and is essentially gas-tight and elastic.
  • the base plate is intended for attachment to a potentially collision-prone outer wall section of the industrial robot, for example on an articulated arm.
  • a pump is provided which is intended to generate a gas overpressure in the protective element.
  • the protective cover is elastically deformed.
  • the sensor technology of the known protective device has a pressure sensor, by means of which such a pressure rise can be detected and converted into a corresponding signal. The signal can be forwarded to a control unit of the robot so that it can be switched off as a function of the signal and serious injuries to the person can be avoided.
  • the object of the invention is to provide a protective device and a protective element of the type mentioned, which have a simplified structure and at the same time ensure high reliability.
  • This object is achieved for the protective device in that the protective element is a molded part made of plastic, which has a first electrically conductive conductive layer on at least one active surface, and the sensor is designed such that a collision-induced change in the electrical resistance of the first conductive layer can be detected ,
  • the inventive solution, a simple and reliable construction of the protective device can be achieved, since it can be dispensed with a complex design of the protective element and a to be arranged in the interior of the protective element and potentially failure-prone pump.
  • the protective element is designed as a simple and inexpensive to produce plastic molding and has a feasible with simple means electrically conductive conductive layer.
  • the sensor is according to the invention designed such that such a change in the electrical resistance of the first conductive layer can be detected.
  • the sensor system may have a measuring circuit electrically connected to the first conductive layer and known as such, which detects an electrical voltage applied to the first conductive layer and / or an electrical current flowing through the first conductive layer.
  • a measuring circuit electrically connected to the first conductive layer and known as such, which detects an electrical voltage applied to the first conductive layer and / or an electrical current flowing through the first conductive layer.
  • the molded part can be produced in particular by means of prototyping a plastic granulate or by means of reshaping a plastic semifinished product.
  • the active surface of the molded part on which the conductive layer is formed may be an outer or an inner surface of the molded part, which in a collision with the obstacle at least indirectly, that is, either directly by the obstacle or for example by an opposite wall portion of the molded part contacting. and / or deformable.
  • the first conductive layer may in particular be formed in sections, preferably substantially completely, on the effective surface.
  • a plurality of electrically conductive conductive layers, preferably on different active surfaces, may be provided on the mold element.
  • the sensor system is advantageously designed such that a change in resistance of several, preferably all, of the conductive layers can be detected.
  • the solution according to the invention is particularly suitable for an industrial robot in the form of an articulated arm robot.
  • the solution according to the invention can also be used for other stationary or autonomously moving handling devices, such as for example self-propelled industrial trucks, including manipulators, superstructures or the like connected to such a handling device.
  • the first conductive layer is formed by means of a coating of the molded part with an electrically conductive material, in particular with graphite.
  • the molded part can be made of a low cost, electrically non-conductive plastic.
  • metal, graphite or an electrically conductive plastic can be used as electrically conductive material.
  • the coating of the molded part can be formed by a basically known method, for example by spraying or vapor deposition of the conductive material onto the molded part or by means of coextrusion.
  • the molding has a material composition which includes an electrically conductive filler, and the first conductive layer is thus formed by the material surface of the molding. Accordingly, in this embodiment of the invention can be dispensed with a separate manufacturing step for the formation of the conductive layer.
  • metal particles and / or shavings preferably aluminum flakes, can be used as the filler.
  • the material composition of the molded part may include soot particles.
  • the molding has a material composition comprising a thermoplastic elastomer, in particular PE-EPDM (polyethylene ethylene-propylene-diene rubber), preferably PP-EPDM (polypropylene ethylene-propylene-diene rubber), more preferably PE -LD (Polyethylene Low Density), includes.
  • PE-EPDM polyethylene ethylene-propylene-diene rubber
  • PP-EPDM polypropylene ethylene-propylene-diene rubber
  • PE -LD Polyethylene Low Density
  • the molding is designed at least two shells and has an upper and a lower shell.
  • the lower shell is preferably provided for abutment with the outer wall portion.
  • the upper and lower shell can each be manufactured separately and subsequently assembled components.
  • the upper and the lower shell can be manufactured in a common manufacturing step and in this respect be integrally connected to each other.
  • the upper and lower shell can be spaced apart in the thickness direction or arranged directly one above the other.
  • the upper and lower shell are designed such that opposite wall portions of the upper and lower shell come into contact with each other in a collision of the molding with the obstacle or an existing contact between these two wall sections is reinforced.
  • the first conductive layer may in particular be provided on an outer wall of the outer shell facing away from the outer wall section or on an inner wall of the outer shell facing the outer wall section.
  • the first conductive layer may be provided on an upper side of the lower shell facing away from the outer wall section or on the underside of the lower shell. It is Of course, it is also possible that a plurality of conductive layers are provided and, for example, a conductive layer is formed on the underside of the upper shell and a further conductive layer on the upper side of the lower shell.
  • the upper shell and the lower shell are arranged in the thickness direction to form a cavity, wherein an elastically resilient in the thickness direction spring means is arranged in the cavity and designed such that a collision-induced deformation of the upper shell is cushioned by the spring means.
  • the spring device is arranged such that in a collision of the molding with the obstacle initially the upper shell due to deformation cooperates with the spring means and is thereby sprung.
  • the spring device in the thickness direction to form a gap from the upper shell spaced or be arranged without a gap to the upper shell in the cavity.
  • the first conductive layer is preferably provided on an inner wall of the outer shell facing the outer wall section of the industrial robot.
  • Another conductive layer may be formed at the top of the lower shell.
  • the spring device is electrically non-conductive. This embodiment of the invention avoids that even minor collision-induced deformations of the molded part lead to a contact between upper and lower shell and thus to a collision-induced change in the electrical resistance of the first conductive layer. This is counteracted by means of the spring device.
  • the lower shell is designed in the form of an electrically conductive foam core and the spring device has an arranged on an upper side of the foam core, electrically non-conductive and lattice-shaped foam structure.
  • the foam core is formed from a plastic and has an electrically conductive material composition.
  • the material composition may include an electrically conductive filler, for example metal particles, carbon black or the like.
  • the latticed foam structure is preferably made of a plastic.
  • the foam structure may be sprayed onto the top of the foam core or molded onto it. Alternatively, the foam structure may be welded or glued to the top of the foam core.
  • the foam structure can be joined to the top side of the foam core before, after or during a corresponding shaping process.
  • a lattice-shaped design of the foam structure has proven to be proved particularly advantageous. This is because a collision-induced triggering behavior of the sensor system can be influenced by simple means via a corresponding geometric design of the foam structure. For this purpose, for example, a thickness of the foam structure or a Shore hardness of the foam structure can be structurally dimensioned accordingly.
  • the molded part is designed with three shells, wherein an intermediate shell arranged in the thickness direction between the upper shell and the lower shell is provided which is conductive on both sides in relation to the thickness direction, and wherein the spring device is arranged on both sides of the intermediate shell.
  • the spring device preferably has two electrically non-conductive and latticed foam structures, wherein a first foam structure in the thickness direction between the upper shell and the intermediate shell and a second foam structure in the thickness direction between the intermediate shell and the lower shell is arranged.
  • This embodiment of the invention allows a further improved reliability, since now a collision is also recognizable starting from a deformation of the lower shell.
  • the intermediate shell is as it were enclosed between the upper shell and the lower shell.
  • the upper and the lower shell differ from each other in material compositions.
  • the upper shell may be made of a comparatively more resilient material than the lower shell or vice versa.
  • the upper shell may be made of a plastic foam and the lower shell of a relatively dimensionally stable plastic sheet material or vice versa.
  • the upper and / or the lower shell is designed soft elastic.
  • This soft elastic design can be material and / or structural.
  • the upper and / or the lower shell may be made of a flexible plastic material, preferably a plastic foam, and / or have an inherently flexible, for example, thin-walled, shape.
  • a second electrically conductive conductive layer is provided, wherein the first conductive layer and the second conductive layer are arranged opposite each other between the lower and the upper shell such that the first and the second conductive layer in a collision of the molded part with the obstacle at least sections against each other are electrically contacted.
  • the conductive layers may be spaced from each other in the thickness direction of the protective element or arranged directly one above the other.
  • the conductive layers have mutually different electrical potentials. This refinement of the invention is particularly advantageous since, in the event of a collision, a change in resistance of the first conductive layer and / or the second conductive layer occurs even if the obstacle as such is insulated from the electrical potential of the first conductive layer and / or second conductive layer.
  • the conductive layers are arranged in the interior of the molded part and thus protected from contamination and / or further undesirable environmental influences.
  • the second conductive layer that disclosed for the first conductive layer applies correspondingly, so that the second conductive layer can be formed either by means of a coating of the molded part with an electrically conductive material.
  • the second conductive layer can be formed by a material surface of the molded part, provided that the molded part has an electrically conductive material composition.
  • the first conductive layer is formed on an inner wall of the upper shell and the second conductive layer is formed on one of the upper shell facing inner wall of the lower shell.
  • the first conductive layer and / or the second conductive layer can in turn be formed by means of a coating or, if the material composition of the upper or lower shell should be electrically conductive, directly by a material surface, more precisely the corresponding inner wall, the lower or upper shell.
  • the first conductive layer in the form of a, in particular meandering, first conductor track is formed. Consequently, the active surface on which the first conductive layer is formed, not the entire surface but only on the first conductor electrically conductive.
  • the first conductor extends over the entire active surface.
  • the conductor track can be formed, for example, in the form of conductor track sections which extend in parallel and are interconnected in an electrically conductive manner.
  • the first conductor track is designed as a meander conductor track. Alternatively, for example, a spiral-shaped configuration or an irregularly shaped, contiguous extension of the first interconnect is possible.
  • the first conductive layer is formed on the inner wall of the upper shell, it may damage the upper shell, for example in Form of a crack or a hole, come to an interruption of the first trace. As a result of such interruption, the electrical resistance of the first conductor increases. Such a change in resistance can be detected by means of the sensor system.
  • This refinement of the invention achieves improved functional reliability, since damage to the molded part can be detected.
  • the first conductive layer in the form of a plurality at least partially formed in parallel extending, in particular strip-shaped, electrically separated from each other first conductor tracks. Consequently, the active surface on which the first conductive layer is formed, not the entire surface but only on the first conductor electrically conductive.
  • the first conductor tracks extend substantially over the entire width and / or length of the effective surface.
  • the first interconnects may, for example, each have a width of 10 mm, preferably 3 mm. In this case, the first conductor tracks may be uniform or different from each other.
  • the sensor can be designed in this embodiment of advantage such that a collision-induced change in the electrical resistance of each of the first interconnects can be detected.
  • This embodiment of the invention makes it possible to narrow down a position of the contact of the obstacle on the molded part in the event of a collision. If the first conductor tracks extend in the width direction of the molded part, then a length position of the contact can be determined. If the first traces are instead extended in the length direction of the molding, a width position of the touch can be determined.
  • the second conductive layer in the form of a, in particular meandering, second conductor track is formed and extends transversely to the first conductor track or the first conductor tracks.
  • a spiral-shaped configuration or an irregularly shaped, contiguous extension of the second interconnect is possible.
  • the second trace is transverse, i. rotated by about 90 °, arranged to the first trace or the first traces. If the second conductive layer is formed by means of a coating, in particular conductive material can be saved in this way.
  • the second Conductor tracks are uniform or shaped differently. In this way, the first and the second tracks form a kind of grid.
  • the first interconnects are in the longitudinal direction and the second interconnects in the width direction of the molded part extends or vice versa.
  • the sensor can be designed in this embodiment of advantage such that a collision-induced change in the electrical resistance of each of the first interconnects and each of the second interconnects can be detected.
  • This embodiment of the invention makes it possible to determine a position of the contact of the obstacle on the molded part in the event of a collision. Depending on which of the first and on which of the second interconnects a collision-related resistance change is detected, a position in the grid formed by the interconnects can be determined. In addition, it can be advantageously determined whether there is a punctual or a flat collision, depending on whether only one or more adjacent interconnects experience a change in the electrical resistance.
  • the molded part is a thermoforming component, in particular a twin-sheet component.
  • the thermoforming component can be produced by means of a basically known thermoforming process.
  • the molded part has a single-shell construction, it can be advantageously manufactured as a single-sheet component.
  • Single-sheet forming is basically known in the field of plastics processing.
  • the molded part has a multi-shell structure and / or a cavity, it is particularly advantageous if it is used as a twin-sheet component, i. is produced by means of a basically known twin-sheet process. In the latter method, which is a special form of thermoforming, two plate-shaped semi-finished plastic products are heated in a single operation, vacuum deep drawn and welded together.
  • the molded part can be assembled from a plurality of single-sheet components produced separately by single-sheet molding.
  • the single-sheet components can be glued, welded or sewn together, for example, to produce the multi-shell molded part.
  • This embodiment of the invention a particularly cost-effective and material-saving manufacturable molded part can be achieved.
  • the molded part has a hermetically sealed cavity and the sensor is designed such that a collision-induced change in the air pressure in the cavity can be detected.
  • the sensor system can have a pressure sensor, which can be arranged in the interior of the molded part.
  • the cavity between the lower and the upper shell is formed, wherein these are connected to each other airtight.
  • the object underlying the invention is achieved for a protective element of the type mentioned above in that it is designed in the form of a molded part made of a plastic according to one of the preceding claims.
  • Fig. 1 shows a schematic perspective view of an industrial robot with a
  • Embodiment of a protective device according to the invention comprising two protective elements according to the invention of a first embodiment and a sensor associated with the sensors,
  • FIGS. 1 and 2 Fig. 3a, 3b of the protective elements according to FIGS. 1 and 2 in a schematic
  • FIGS. 3a, 3b the protective element according to FIGS. 3a, 3b in schematic
  • FIG. 4 a and a schematic cross-sectional view along a section line B-B according to FIG. 3 b (FIG. 4 b), FIG.
  • Fig. 4c, 4d in an enlarged view of a region I of Fig. 4b for a first
  • FIG. 4c a second embodiment variant of the protective element according to FIGS. 3a to 4b, FIG.
  • FIGS. 4a and 4b Longitudinal and a cross-sectional view corresponding to FIGS. 4a and 4b, in an enlarged view, a portion II of Fig. 5b for a first embodiment (Fig. 5c) and a second embodiment (Fig. 5d) of the protective element according to Figs. 5a and 5b, a third embodiment of a protective element according to the invention in a longitudinal and a cross-sectional view corresponding to the Fig. 4a and 4b, in an enlarged view, a region III of Fig. 6b for a first embodiment according to the invention (Fig. 6c) and a second embodiment according to the invention (Fig. 6d) of the protective element according to Fig.
  • FIG. 6a, 6b a schematic perspective view of another embodiment of a protective element according to the invention, in a schematic perspective view of another embodiment of a protective element according to the invention, in a schematic perspective view of an upper shell of another embodiment of a protective element according to the invention with a in the form of a first conductor a 7 is a schematic, simplified schematic representation of the first conductive layer according to FIGS. 7 and 8 together with a full-surface-area second conductive layer, FIG.
  • FIG. 10a, 10b respectively show a schematic, simplified schematic diagram of a second (FIG. 10a) and a third embodiment according to the invention (FIG. 10b) of a first conductive layer and a second conductive layer, FIG.
  • FIG. 1 in a schematic, simplified schematic diagram of a fourth invention
  • FIG. 12a, 12b respectively show a schematic, simplified schematic representation of a fifth (FIG. 12a) and a sixth embodiment according to the invention (FIG. 12b) of a first conductive layer and a second conductive layer.
  • an industrial robot R in the form of an articulated arm robot is provided with a protective device 1.
  • the articulated arm robot R has a first articulated arm 2, which is articulated pivotably about a substantially horizontally oriented axis of rotation on a base portion 3.
  • the base portion 3 is rotatably mounted about a substantially vertically oriented axis of rotation on a foot section 4, which is screwed to a foundation F ground-tight.
  • the articulated arm robot R has a second articulated arm 5, which at one end has an unspecified tool holder 6 and at the other end is pivotably connected to the first articulated arm 2 about a substantially horizontally oriented axis of rotation.
  • the tool holder 6 can pivot about a substantially horizontally oriented axis of rotation relative to the second articulated arm 5 and also be rotatable about the longitudinal axis of the second articulated arm 5 with respect to this.
  • the articulated arms 2, 5 and the base portion 3 and the tool holder 6 are in a generally known manner by means of drive motors not shown closer to the respective axes of rotation displaced, so that the articulated robot R can perform work within a work area A.
  • an obstacle H is arranged within the working area A of the articulated arm robot R, which may be stationary or movable.
  • the obstacle H is shown in FIG. 1 only schematically and greatly simplified-in the sense of a generic placeholder-and, in particular, can be a person working in the working area A.
  • the obstacle H by a portion, for example, the base portion 3 or the foot portion 4, the Gelenkarmroboters R is formed.
  • the protective device 1 is used to ensure adequate safety and is designed in a manner to be explained in more detail such that a collision between the industrial robot R and the obstacle H can be detected in order to enable an emergency shutdown of the industrial robot R in the event of a collision.
  • the protective device 1 protective elements 7a, which are provided as a shell for an outer wall portion 8 of the industrial robot R.
  • two protective elements 7a are provided, which encase the second articulated arm 5 substantially completely.
  • the protective device 1 has a protective element 7a, 7a associated with the sensor 9, which is designed such that a collision between the obstacle H and at least one of the protective elements 7a can be detected.
  • the sensor system 9 is merely simplified and shown schematically with reference to FIG.
  • the sensor system 9 is designed such that at least one physical quantity, which is not described in further detail, can be detected on the respective protective element 7a, which is to be clarified with reference to FIG. 1 by means of the connections between the sensor system 9 and the respective protective element 7a shown by dashed lines. Furthermore, the sensor system 9 can be prepared to transmit an output signal M to a control unit of the articulated-arm robot R that is not shown in greater detail as a function of the physical quantities detected on the protective elements 7a, 7a. By means of the signal M, an emergency shutdown of the industrial robot R can be effected in the event of a collision.
  • the protective elements 7a, 7a are each in the form of a molded part.
  • the molded parts 7a, 7a are each made of plastic and have a substantially identical structure, so that below to avoid repetition only one of the two mold parts 7a, 7a is discussed in more detail.
  • the molded part 7a has a half-shell-like shape whose inner contour 10a can be substantially modeled on a contour of the outer wall section 8 of the industrial robot R. Further, the molded part 7a has a recess 1 1 a, which releases the tool holder 6 of the industrial robot R ready assembled state. Furthermore, the molded part 7a has a first electrically conductive conductive layer 13a on an active surface facing away from the outer wall section 8 in the ready-to-use state. The first electrically conductive conductive layer 13a is formed substantially over the entire surface of the active surface. Of course, it is also possible for the first conductive layer 13a to be formed only in sections, for example in strips, lattices or meanders. In a first embodiment according to FIG.
  • the conductive layer 13 a is formed by means of a coating of the molded part 7 a with an electrically conductive material 14.
  • graphite is provided as the conductive material 14a.
  • the conductive layer 13a may be formed by a material surface surface of the molded part 7a.
  • the molding 7a has a material composition W including an electrically conductive filler 15a.
  • filler 15a aluminum particles are provided.
  • the material composition W has a thermoplastic elastomer.
  • PP-EPDM polypropylene ethylene-propylene-diene rubber
  • the sensor 9 is designed such that a collision-induced change in the electrical resistance R1 of the conductive layer 13a can be detected. With reference to FIG. 1, this is schematically with the indicated there dashed line connection between the sensor 9 and the mold element 7a.
  • the electrical resistance R1 changes due to an equipotential bonding between the obstacle H and the conductive layer 13a. This presupposes that the obstacle H is not electrically insulated from the electrical potential of the conductive layer 13a.
  • protective elements 7b, 7c and 7i and 7j according to FIGS. 5a to 6f according to the invention have, in terms of their structural and functional design, similarities with the embodiment previously described with reference to FIGS. 1 to 4c. To avoid repetition, reference is therefore made to the disclosure of the embodiment according to FIGS. 1 to 4c. In the following, only the essential differences of the embodiments according to FIGS. 5a to 6f will be discussed. Functional and / or identical sections and parts of these embodiments are provided with the same reference numerals with the addition of changed lowercase letters.
  • the embodiment according to FIGS. 5a to 5d provides a clamshell shaped part 7b.
  • the molded part 7b has in this respect an upper shell 16b and a lower shell 17b.
  • the lower shell 17b is presently provided for abutment against the outer wall portion 8 of the industrial robot R.
  • the lower shell 17b may be spaced apart from the outer wall section 8 in the assembled state.
  • a soft elastic material between the lower shell 17 b and the outer wall portion 8.
  • the molded part 7b has a first electrically conductive conductive layer 13b and a second electrical conductive layer 18b.
  • the conductive layers 13b, 18b are disposed opposite to each other between the upper shell 16b and the lower shell 17b. In this case, the conductive layers 13b, 18b contact already directly in a collision-uninfluenced state of the molded part 7b.
  • the conductive layers 13b and 18b are each formed by means of a coating of the upper shell 16b or of the lower shell 17b with an electrically conductive material 14b, namely graphite.
  • an electrically conductive material 14b namely graphite.
  • the conductive layers 13b, 18b are each formed by the respective material surface of the upper shell 16b or the lower shell 17b.
  • the lower shell has the material composition Wb with an electrically conductive filler 15b.
  • the upper shell 16a has a deviating material composition Vb, which contains an electrically conductive filler 15b, namely graphite.
  • the upper shell 16b is made soft elastic.
  • the lower shell 17b may be made soft elastic.
  • the embodiment according to FIGS. 6a to 6d provides a two-shell embodiment of the molding 7c there.
  • the molded part 7c has an upper shell 16c and a lower shell 17c, wherein the lower shell 17c is in turn provided for bearing against the outer wall section 8.
  • the molded part 7c provides a cavity 19, which is arranged in the thickness direction of the molded part 7c between the lower shell 17c and the upper shell 16c.
  • the cavity 19 is sealed airtight to the outside.
  • the molded part 7c in turn has a first and a second electrically conductive conductive layer 13c and 18c, respectively.
  • the first conductive layer 13c is formed on an inner surface of the upper shell 16c.
  • the second conductive layer 18c is formed on an inner surface of the lower shell 17c.
  • the conductive layers 13c and 18c are arranged opposite to each other in accordance with the embodiment of FIGS. 5a to 5d between the lower shell 17c and the upper shell 16c.
  • the conductive layers 13c, 18c are spaced apart in the thickness direction by the cavity 19 formed between the upper and lower shell 16c, 17c.
  • the distance is about 5 mm, but this does not necessarily have to be the case.
  • the distance may be greater or less than 5 mm.
  • the conductive layers 13c, 18c are each formed by means of a coating of the upper shell 16c or the lower shell 17c with an electrically conductive material 14c.
  • the variant according to FIG. 7d provides a configuration of the upper shell 16c and the conductive layer 13c formed thereon.
  • the conductive layer 18c is formed by the inner material surface of the lower shell 17c, which for this purpose has an electrically conductive material composition Wc with an electrically conductive filler 15c.
  • the upper shell 16c approaches in a collision of the molding 7c with the obstacle H due to a soft elastic design of the molding 7c of the lower shell 17c.
  • the upper shell 16c made of a plastic foam and / or be thin-walled and thus compliant.
  • This results in an electrical contact between the first conductive layer 13c and the second conductive layer 18c.
  • This causes a change in the electrical resistance of the first conductive layer 13c and / or the second conductive layer 18c, which can be detected by means of the sensor system 9.
  • the sensor system 9 is designed such that such a collision-induced change in the pressure P in the cavity 19 can be detected.
  • the sensor 9 may have a pressure sensor which may be arranged in the cavity 19.
  • a molded part 7i can be seen, which is essentially identical in terms of its structural and functional design to the molded part according to FIGS. 6a to 6d. To avoid repetition, reference is made in this respect to the disclosure in connection with the molded part 7c, which applies analogously to the molded part 7i.
  • the molded part 7i provides a spring device FE.
  • the spring device FE is arranged in the thickness direction between the upper shell 16i and the lower shell 17i.
  • the spring device FE is arranged in a cavity 19i formed in the thickness direction between the upper shell 16i and the lower shell 17i and designed such that a collision-induced deformation of the upper shell 16i is cushioned by means of the spring device FE.
  • This configuration avoids that even comparatively slight collision-induced deformations of the molded part 7i lead to a contacting of the upper shell 16i to the lower shell 17i and thus to a collision-induced change in resistance of the first conductive layer 16 - which is provided on one of the lower shell 17i facing inner side of the upper shell 16i. to lead.
  • the spring device FE acts as a kind of flexible spacer.
  • the lower shell is presently designed in the form of a foam core 17i.
  • the foam core 17i is made of plastic, wherein the plastic has an electrically conductive material composition.
  • the plastic material may be provided with a suitable filling material, for example metal particles, carbon black or the like.
  • the material surface of the foam core 17i thus forms a second electrical conductive layer.
  • the foam core may have a plurality of layers, wherein at least one upper - provided for contacting with the upper shell - layer is conductive.
  • the spring device FE is arranged on an upper side O of the foam core 17i.
  • the upper side O of the foam core 17i faces the unspecified inner side of the upper shell 16i. In this case, the spring device on an electrically non-conductive and lattice-shaped foam structure SR.
  • the foam structure SR is made of plastic.
  • the foam structure SR may be loosely inserted into the cavity 19i between the upper shell 16i and the foam core 17i.
  • the foam structure SR may be firmly connected to the top O.
  • the foam structure SR on the top O or sprayed onto this, glued or welded.
  • a molded part 7j can be seen which, in terms of its structural and functional design, has correspondences with the molded part 7i according to FIG. 6e. To avoid repetition, reference is made in this respect to the disclosure in connection with the molded part 7i, which applies analogously to the molded part 7j.
  • the molded part 7j is designed with three shells. In this case, an intermediate shell ZS is provided in the thickness direction between the upper shell 16j and the lower shell 17j. In the present case, the lower shell is again designed in the form of an electrically conductive foam core 17j.
  • the intermediate shell ZS is elastic and has on both sides - i.
  • the spring device FE is arranged on both sides of the intermediate shell ZS and has a first foam structure SR, which is arranged in the thickness direction between the lower shell 17j and the intermediate shells ZS, and a second foam structure SR ', which in the thickness direction between the intermediate shell ZS and the upper shell 16j is arranged.
  • the two foam structures SR, SR ' are in turn electrically non-conductive.
  • the molded part 7j thus permits collision detection based on a deformation of the upper shell 16j on the one hand and on the other on the basis of a deformation of the lower shell 17j.
  • the molded parts 7a, 7b and 7c and 7i and 7j have in common that they are each manufactured as a thermoforming component , That is, the mold parts 7a to 7c and 7i and 7j are each manufactured by means of a thermoforming process basically known in the field of plastics technology.
  • This thermoforming method provides for heating a thermoplastic semifinished product, for example a plastic plate goods or a plate-shaped plastic foam before. The heated plastic semi-finished product is vacuum-drawn in a thermoforming mold, cooled and demoulded.
  • the mold parts 7b and 7c are made in particular as twin-sheet components. That is, for their preparation, a known as such twin-sheet thermoforming method is provided.
  • a known as such twin-sheet thermoforming method is provided.
  • thermoforming two plate-shaped plastic semi-finished placed between each other opposing thermoforming molds and deep-drawn vacuum-deepened in the thermoforming dies, the thermoforming molds brought against each other for conditioning and the thermoformed plastic sheets are welded together.
  • the conductive layers 13a-c and 18b and 18c may each be configured differently, for example over the entire surface, meander-shaped, strip-shaped or the like. Particularly in the case of an at least bivalve embodiment of the molded part according to the embodiment according to FIGS.
  • a first conductive layer in the form of a meander-shaped first printed conductor 13d is formed on an inner wall 20d of an upper shell 16d of a molded part, wherein the upper shell 16d is rotated approximately 180 ° along its longitudinal axis for better recognition of the inner conductive line 13d.
  • the first conductor track 13d extends substantially over the entire inner wall 20d.
  • a connection section 21 d which is provided for electrically conductive connection to the sensor system 9, is arranged in the width direction of the upper shell 16d approximately in the middle of the end face. Starting from the connection section 21 d, the first conductor track 13d extends meander-shaped.
  • adjacent conductor portions 22d extending parallel to each other and extending in the width direction of the upper shell 16d are electrically conductively connected to each other by means of a bent connection portion 23d, respectively.
  • the inner wall 20d is only electrically conductive on the first conductor track 13d.
  • no electrical conductivity is present in the regions of the inner wall 20d arranged between the conductor track sections 22d.
  • the first interconnect 13d is provided to be contacted with a second conductive layer in the event of a collision of the molded part with the obstacle H.
  • This second conductive layer is advantageously formed on a lower shell of the molded part assigned to the upper shell 16d.
  • the second conductive layer is formed on an inner wall of the lower shell, which faces the inner wall 20d of the upper shell 16d.
  • the second conductive layer can in turn be configured differently.
  • a second conductive layer 18d is provided, which in the present case has the entire surface.
  • the second conductive layer 18d thus forms a continuous contact surface on which the meander-shaped printed conductor track 13d can be contacted with the obstacle H in the event of a collision of the molded part.
  • the second conductive layer 18d has a terminal portion 24d.
  • the connection section 24d is provided for an electrically conductive connection of the second conductive layer 18d to the sensor system 9.
  • the first conductor track 13d may be provided with a second connection section (not shown here).
  • the second connection section is advantageously arranged on an end of the conductor track 13d facing away from the first connection section 21d.
  • a first conductive layer is provided, which is formed in the form of a plurality of parallel, strip-shaped, electrically separated first conductor tracks 13e.
  • the first conductor tracks 13e extend parallel to one another and each have a connection section 21e which is provided with the sensor system 9 for connecting the respective first conductor track 13e.
  • the sensor 9 is advantageously designed such that a collision-induced change in the electrical resistance of each of the first interconnects 13e can be detected separately.
  • the first conductor tracks 13e may extend essentially over the entire width or the entire length of the inner wall of the upper shell.
  • the first traces have a width of about 10mm with respect to the plane of the drawing of FIG. 10a.
  • This embodiment makes it possible to narrow down a position of the contact of the obstacle H in the event of a collision, if only some of the first interconnects 13e are electrically contacted to the second conductive layer 18d. If the first conductor tracks 13e extend, for example, in the width direction of the upper shell 16d, a length position of the contact of the obstacle on the upper shell 16d can be determined. If the first conductor tracks 13e instead extend in the length direction of the upper shell 16d, a width position can be determined.
  • the embodiment according to FIG. 10b differs from the embodiment according to FIG. 10a only in that first printed conductors 13f are provided which have a smaller width of approximately 3 mm than the first printed conductors 13e. In this way, in particular a higher resolution of the above-described position determination can be achieved.
  • FIG. 11 provides a second conductive layer, which is designed in the form of a meander-shaped second conductor track 18e and extends transversely to the first conductor track 13d.
  • a second conductive layer which is designed in the form of a meander-shaped second conductor track 18e and extends transversely to the first conductor track 13d.
  • Fig. 1 1 apparent rotated by 90 ° from each other Arrangement of the meandering conductor tracks 13d and 18e, for example, a 45 or 135 ° twisted arrangement is conceivable.
  • the embodiment according to FIG. 12a differs from the embodiment according to FIG. 10a in that, instead of the completely formed second conductive layer 18d, a second conductive layer is provided in the form of a plurality of parallel, strip-shaped, electrically separated conductive tracks 18f.
  • the second interconnects 18f are arranged transversely to the first interconnects 13e.
  • Each of the second conductive lines 18f is provided with a terminal portion 24f.
  • the connection sections 24f are provided for the electrical connection of the respective second conductor track 18f to the sensor system 9.
  • the sensor 9 is advantageously designed such that a collision-induced change in the electrical resistance of each of the first interconnects 13e and each of the second interconnects 18f is separately detectable.
  • the first conductor tracks 13e and the second conductor tracks 18f form a kind of contact grid by the arrangement rotated by 90 ° relative to one another. In the event of a collision, therefore, a point of contact of the obstacle H on the upper shell 16d can be localized, depending on which of the first interconnects 13e and second interconnects 18f a change in the respective electrical resistance is detected.
  • the embodiment according to FIG. 12b differs from the embodiment according to FIG. 12a only in that first conductor tracks 13f and second conductor tracks 18g are provided which have a reduced strip width with respect to the first conductor tracks 13e and the second conductor tracks 18f. In this way, an improved position resolution can be achieved in the determination of a contact point of the obstacle H on the upper shell 16d. In addition, as complete a collision detection as possible can be achieved.
  • the conductor tracks according to FIGS. 10a to 12b may each be provided with an additional connection section for the purpose of detecting a defect-related resistance change.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de protection (1) destiné à un robot industriel (R), comprenant au moins un élément de protection, qui sert d'enveloppe pour une section de paroi externe (8) du robot industriel (R), et un système de capteurs (9) associé à l'élément de protection, qui est conçu de manière à pouvoir détecter une collision entre l'élément de protection et un obstacle (H), l'élément de protection étant une pièce moulée en plastique (7a-c, 7i, 7j), qui comprend une première couche conductrice électroconductrice (13a-f) sur au moins une surface active, et le système de capteurs (9) étant conçu de manière à pouvoir détecter une modification due à une collision de la résistance électrique (Rl) de la première couche conductrice (13a-f).
EP18785920.2A 2017-10-12 2018-10-09 Dispositif de protection destiné à un robot industriel ainsi qu'élément de protection destiné à un tel dispositif de protection Pending EP3694691A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017218229.6A DE102017218229A1 (de) 2017-10-12 2017-10-12 Schutzvorrichtung für einen Industrieroboter sowie Schutzelement für eine solche Schutzvorrichtung
PCT/EP2018/077490 WO2019072854A1 (fr) 2017-10-12 2018-10-09 Dispositif de protection destiné à un robot industriel ainsi qu'élément de protection destiné à un tel dispositif de protection

Publications (1)

Publication Number Publication Date
EP3694691A1 true EP3694691A1 (fr) 2020-08-19

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EP18785920.2A Pending EP3694691A1 (fr) 2017-10-12 2018-10-09 Dispositif de protection destiné à un robot industriel ainsi qu'élément de protection destiné à un tel dispositif de protection

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EP (1) EP3694691A1 (fr)
DE (1) DE102017218229A1 (fr)
WO (1) WO2019072854A1 (fr)

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EP3782773A1 (fr) * 2019-08-23 2021-02-24 ZKW Group GmbH Outil pour un robot collaborant, robot pourvu d'outil fixé audit robot ainsi que procédé de protection contre la collision
DE102021200795A1 (de) 2021-01-28 2022-07-28 Dr. Doll Engineering Gmbh Schutzvorrichtung für einen Industrieroboter
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DE102022204453A1 (de) 2022-05-05 2023-11-09 Dr. Doll Engineering Gmbh Schutzvorrichtung für einen Endeffektor eines Roboterarms eines Industrieroboters und Industrieroboter

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WO2019072854A1 (fr) 2019-04-18

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