EP4284605A1 - Dispositif de protection pour robot industriel - Google Patents

Dispositif de protection pour robot industriel

Info

Publication number
EP4284605A1
EP4284605A1 EP22701382.8A EP22701382A EP4284605A1 EP 4284605 A1 EP4284605 A1 EP 4284605A1 EP 22701382 A EP22701382 A EP 22701382A EP 4284605 A1 EP4284605 A1 EP 4284605A1
Authority
EP
European Patent Office
Prior art keywords
lower shell
upper shell
protective device
protective
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
EP22701382.8A
Other languages
German (de)
English (en)
Inventor
Sven 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 EP4284605A1 publication Critical patent/EP4284605A1/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
    • B25J19/06—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
    • 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
    • B25J19/02—Sensing devices

Definitions

  • the invention relates to a protective device for an industrial robot, with at least one protective element that is intended to be applied to an outer wall section of the industrial robot, and with a control unit that is connected to the at least one protective element and is set up to control the industrial robot depending on an electrical contact state of the protective element wherein the at least one protective element has an electrically conductive lower shell and an electrically conductive upper shell which is arranged at a distance in the thickness direction and which is elastically flexible and can be electrically contacted with the lower shell under the action of a compressive force.
  • Such a protective device is known from DE 10 2017 218 229 A1 and is provided as safety equipment for a collaborative industrial robot.
  • Collaborative industrial robots are robots used in the industrial sector that work together with a person in a shared work area.
  • Physical shields, such as fences, barriers or the like, between the person and the robot are usually dispensed with. In the absence of such a shield, a collision can generally occur between the robot and the person, for example if the person reaches into a pivoting area of the robot in an uncoordinated manner.
  • protective devices are required that detect such a collision, for example to enable an emergency shutdown of the robot.
  • the known protective device has at least one protective element which is provided for application to an outer wall section of the industrial robot.
  • a control unit is provided, which is connected to the protective element and set up to control the industrial robot depending on an electrical contact state of the protective element.
  • the well-known protective element has a lower shell and an upper shell. Both the upper shell and the lower shell are electrically conductive. The upper shell yields elastically in the event of a collision and can thus be electrically contacted with the lower shell.
  • the protective element is manufactured by means of thermoforming.
  • the object of the invention is to provide a protective device of the type mentioned at the outset, which has a simplified structure compared to the prior art and enables simplified and particularly flexible manufacture.
  • This object is achieved in that the upper shell is connected in one piece to the lower shell by means of an electrically insulating and elastically flexible filling structure, the upper shell being formed in layers from an electrically conductive plastic and connected to the filling structure, and the filling structure being made in layers from a electrically insulating plastic is connected to the lower shell.
  • a particularly simple construction is achieved by the one-piece design of the protective element.
  • the additive formation of at least the upper shell and the filling structure enables particularly simple and flexible manufacture.
  • the solution according to the invention allows a simple structural specification of the compressive force required for electrical contacting.
  • the lower shell can be dimensionally stable.
  • the lower shell is preferably elastically flexible.
  • the lower shell is preferably made of an electrically conductive plastic.
  • a layer-by-layer additive manufacturing of the lower shell offers particular advantages, but is not absolutely necessary.
  • the lower shell can be made of sheet material or foam.
  • the filling structure is arranged between the lower shell and the upper shell in the direction of thickness and is formed additively in layers.
  • the filling structure is preferably supported on the lower shell or vice versa.
  • the filling structure is elastically flexible together with the upper shell under the action of said compressive force, ie in the event of a collision.
  • the filling structure preferably covers an inner side of the lower shell and/or an inner side of the upper shell only in sections. Accordingly, the filling structure does not form a closed insulating layer between the lower and the upper shell. Due to the fact that it is only applied and/or covered in sections, the upper shell can be electrically contacted with the lower shell under the action of the compressive force, despite the electrically insulating properties of the filling structure.
  • the filling structure is preferably designed in the form of a lattice, honeycomb, wave, mesh and/or net.
  • the filling structure is formed at least in layers and/or in sections from an electrically insulating plastic. Soft thermoplastics and/or elastomers are particularly suitable for this purpose.
  • the upper shell is preferably supported on the filling structure or vice versa.
  • the upper shell is also made of plastic in layers.
  • the upper shell is made of an electrically conductive plastic, at least in layers and/or sections.
  • the plastic of the upper shell can have an electrically conductive additive, such as graphite, metal particles or the like.
  • a suitable 3D printing process is used for the additive formation of the filling structure and the upper shell.
  • the filling structure is printed onto the lower shell using 3D printing and the upper shell is printed onto the filling structure using 3D printing.
  • a “reverse” printing process can also be provided for this.
  • an "oblique" printing process is possible in principle, in which the upper shell and the filling structure are formed additively at an angle to the thickness direction, in particular spaced apart from one another with the formation of a gap in the thickness direction.
  • Filament 3D printing methods which are generally known in particular under the names “fused deposition modeling” or “fused filament fabrication”, should be mentioned as suitable methods.
  • the said integral nature of the protective element is achieved by the additive formation of at least the filling structure and the upper shell. In addition to the particularly simple and flexible production already mentioned, this results in special safety-related advantages compared to a multi-part design of the protective element.
  • the control unit is connected to the at least one protective element and set up to emit at least one control signal depending on the electrical contact state of the at least one protective element.
  • control unit can be set up to control, in particular to switch off, a movement of the industrial robot depending on the electrical contact state.
  • the control unit can be wired or wirelessly connected to the at least one protective element.
  • the at least one protective element is preferably designed in the form of a plate and can have any basic shape.
  • 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 facilities, mobile handling devices, self-propelled industrial trucks or the like.
  • the lower shell is made of plastic in layers.
  • a further simplified and particularly flexible manufacture can be achieved. Due to the additive formation of the lower shell, its design can be adapted in a particularly simple manner to a surface contour of the respective outer wall section of the industrial robot.
  • the entire protective element is preferably manufactured in one piece using 3D printing.
  • the lower shell is elastically flexible.
  • full-area contact of the lower shell with the outer wall section of the industrial robot can be achieved.
  • This ensures functional power transmission in the event of a collision, so that the upper shell can be electrically contacted with the lower shell in a particularly reliable manner in the event of a collision.
  • the flexible design allows the industrial robot to run on to a certain extent, so that, for example, a slightly delayed shutdown in the event of a collision can be compensated for and a "hard" impact can be avoided.
  • at least the upper shell and the filling structure are made of the same type of plastic.
  • the plastics used have a largely matching, preferably identical, chemical composition and differ only in terms of their electrical conductivity.
  • a particularly high-strength material connection and/or adhesion between the filling structure and the upper shell can be achieved and unintentional detachment of the upper shell can be avoided.
  • the lower shell is preferably made of a plastic of the same type. In this way, an advantageous connection can be achieved between the lower shell and the filling structure.
  • At least the upper shell and the filling structure are each made of a thermoplastic elastomer, in particular based on urethane.
  • the abbreviation TPE is common for thermoplastic elastomers. Urethane-based TPE is commonly referred to by the abbreviation TPU.
  • the lower shell is preferably made of TPE, in particular TPU.
  • the plastic of the upper shell and/or the plastic of the filling structure has a Shore hardness of between 35 Shore A and 100 Shore A, preferably 85 Shore A.
  • Shore hardness of the respective plastic By choosing the Shore hardness of the respective plastic, the elastic resilience of the upper shell or the filling structure can be influenced. This in turn influences the compressive force required for electrical contacting.
  • the inventors have recognized that a Shore hardness between 35 Shore-A and 100 Shore-A offers advantages for the present application. A Shore hardness of 85 Shore-A is particularly advantageous.
  • the upper shell and/or the lower shell has an overall thickness of between 0.4 mm and 1.0 mm, preferably 0.6 mm.
  • the compressive force required for electrical contacting can be influenced by the selection of the overall thickness of the upper shell.
  • a total thickness of between 0.4 mm and 1.0 mm enables the upper shell to yield elastically even with comparatively low compressive forces. As a result, a collision can be detected particularly reliably.
  • With a corresponding overall thickness of the lower shell it can be adapted in a particularly advantageous manner to a surface contour of said outer wall section.
  • the inventors have recognized that a total thickness of 0.6 mm offers particular advantages.
  • the filling structure is designed as a gyroid structure which has a multiplicity of ridges extending in the shape of a wave, the ridges being under formation a multiplicity of recesses extending between the lower shell and the upper shell are arranged at a distance from one another.
  • gyroid structures are known in the field of mathematics.
  • the formation of the filling structure as a gyroid structure offers particular advantages in the present case.
  • the filling structure can be additively manufactured as a gyroid structure in a particularly material-saving manner.
  • the gyroid structure has direction-independent flexibility. In the event of a collision, the resulting compressive force can have different directions of action. Since the gyroid structure has direction-independent flexibility, the upper shell can be deformed largely independently of the effective direction of the compressive force and can therefore always be reliably electrically contacted with the lower shell.
  • the webs each have a web width of between 0.2 mm and 1.0 mm, preferably between 0.2 mm and 0.6 mm, particularly between 0.2 mm and 0.4 mm. If the web width is too thin, this can lead to insufficient stability of the filling structure. On the other hand, if the web width is dimensioned too thick, this can lead to the filling structure not being sufficiently elastically flexible.
  • the aforementioned value ranges for the land width have proven to be advantageous. The inventors have recognized that a web width of between 0.2 mm and 0.4 mm permits sufficient stability and, at the same time, sufficient elastic resilience.
  • the recesses each have a base area projected onto the lower shell of between 0.5 cm 2 and 2.0 cm 2 , preferably 1.0 cm 2 .
  • the recesses in the gyroid structure ensure that the upper shell can be electrically contacted with the lower shell in the event of a collision. Cutouts that are too small can result in the electrical contact not being able to be made, or at least not being able to be made reliably. Excessively large cut-outs can result in the upper shell not being adequately supported.
  • the range of values between 0.5 cm 2 and 2.0 cm 2 described above offers an advantageous compromise in this regard.
  • a base area of 1.0 cm 2 was recognized as optimum by the inventors.
  • the lower shell has an additively formed first contact element
  • the upper shell has an additively formed second contact element.
  • the contact elements are each provided for at least indirect electrically conductive connection to the control unit. Due to the additive formation of the respective contact element, a separate attachment of separate contact elements can be dispensed with. As a result, the fewest possible number of components, in particular a one-piece design, of the protective element can be retained. On the one hand, this increases production further simplified. On the other hand, as a result of the lowest possible number of components, in particular one-piece design, a lower risk of failure of the protective element and, associated with this, a high safety level of the protective device is achieved.
  • the contact elements are preferably each designed to form a plug-in connection with a complementary contact element. Accordingly, the contact elements can each be designed, for example, as a pin-shaped plug-in element or as a plug-in socket.
  • the upper shell has a through-opening through which the first contact element protrudes in the direction of thickness over an outer side of the upper shell, with the second contact element protruding from the outer side of the upper shell in the direction of thickness.
  • the outside of the faceplate can be either the bottom or the top of the faceplate. Preferably the outside is the top.
  • the lower shell has a through-opening through which the second contact element protrudes in the direction of thickness over an outer side of the lower shell, with the first contact element protruding from the outer side of the lower shell in the direction of thickness.
  • the contact is preferably made starting from an underside and to this extent starting from the outer wall section of the industrial robot.
  • the lower shell has at least one additively formed form-fitting element, which protrudes in the thickness direction from an underside of the lower shell and is provided for form-fitting connection with a complementarily formed form-fitting opening.
  • the positive-locking element can in particular be designed as a latching, plug-in or snap-in element.
  • the complementary form-fitting opening can be formed directly on the outer wall section of the industrial robot. Alternatively, the complementary positive-locking opening can be formed on an intermediate element which is firmly connected to the outer wall section and is arranged in the direction of thickness between the outer wall section and the at least one protective element. This embodiment of the invention enables the protective element to be applied without tools.
  • the at least one form-fitting element preferably interacts detachably with the complementary form-fitting opening, so that the protective element can be replaced easily and inexpensively if necessary.
  • the at least one protective element is plate-shaped and has a rectangular basic shape or a triangular basic shape. Due to the plate-shaped design, installation space can be saved and the silhouette of the industrial robot can be kept as slim as possible. If several protective elements are provided, the rectangular or triangular basic shape enables the most complete possible coverage of the outer wall areas of the industrial robot that are prone to collision.
  • a plurality of protective elements are provided and connected to one another in one piece, coherently and hinge-movably by means of hinge sections which are arranged on the edge and are formed additively. Accordingly, the several protective elements form a one-piece, mat-like structure.
  • the hinge sections enable relative mobility between the individual protective elements, so that the mat-shaped structure can be easily adapted to a surface contour of the outer wall section to be covered.
  • the hinge sections are also formed additively.
  • the hinge sections are preferably made of an electrically insulating plastic.
  • the hinge sections are each designed as a film hinge. In combination with this embodiment of the invention, a triangular basic shape of the protective elements has proven particularly advantageous.
  • the invention also relates to an industrial robot, in particular an articulated arm robot, with a protective device according to the preceding description.
  • the invention also relates to a protective element for a protective device according to the preceding description, having an electrically conductive lower shell and an electrically conductive upper shell which is arranged at a distance in the thickness direction and is designed to be elastically resilient and can be electrically contacted with the lower shell under the action of a compressive force.
  • the upper shell is connected in one piece to the lower shell by means of an electrically insulating and elastically flexible filling structure, with the upper shell being made of an electrically conductive plastic layer by layer and connected to the filling structure, and the filling structure being made of an electrically insulating plastic layer by layer Lower shell is connected.
  • FIG. 1 shows, in a highly simplified schematic representation, an embodiment of an industrial robot according to the invention, which is provided with an embodiment of a protective device according to the invention
  • FIG. 2 shows a schematic perspective view of an embodiment of a protective element according to the invention of the protective device according to FIG. 1,
  • FIG. 3 shows a sectioned longitudinal section of the protective element according to FIG. 2 with a filling structure being masked out in the drawing
  • FIGS. 2 and 3 shows an enlarged, perspective detail view of the protective element according to FIGS. 2 and 3 in the area of two contact elements
  • FIG. 5 shows a schematic top view of the protective element according to FIGS. 2 to 4, with an upper shell being masked out in the drawing and looking in the direction of the filling structure,
  • FIG. 8 shows a further embodiment of a protective element according to the invention in a schematic perspective view
  • FIG. 9 shows an arrangement formed from a plurality of protective elements which are connected to one another in one piece and can be hinged, in a schematic side view,
  • FIG. 10 shows a schematic perspective representation of the arrangement according to FIG. 11 shows a further embodiment of a protective element according to the invention with a triangular basic shape in a schematic plan view
  • FIG. 12 shows the protective element according to FIG. 12
  • FIG. 13 shows an arrangement formed from a plurality of protective elements according to FIG.
  • FIG. 14 shows another arrangement formed from a plurality of triangular protective elements.
  • an industrial robot 1 in the form of an articulated-arm robot is provided for the automated execution of manufacturing and/or handling steps in an industrial manufacturing process that are not described in any more detail.
  • the industrial robot 1 is shown in a highly simplified schematic and has such a fundamentally known structure with a plurality of articulated arms 2 , 3 , 4 that can be articulated relative to one another and a manipulator 5 arranged at the end of the articulated arm 4 .
  • the manipulator 5 can be displaced within a working space A by means of a relative displacement of the articulated arms 2, 3, 4 in an articulated manner. Since the basic structure and the mode of operation of the industrial robot 1 are known as such, further explanations in this regard can be dispensed with.
  • the industrial robot 1 is intended to work together with a person P located in the work area A and to this extent can also be referred to as a collaborating industrial robot.
  • the person P is not shielded from the industrial robot 1 by physical shielding, such as fences, barriers or the like. In the absence of such a shield, there is always a risk of collision between the person P and the industrial robot 1, for example if the person P makes an uncoordinated intervention in the work area A or if the articulated arms 2, 3, 4 move incorrectly. In the event of such a collision, the person P Get damaged.
  • the industrial robot 1 has a protective device 6 .
  • the protective device 6 has a plurality of protective elements 7 and a control unit 8 .
  • the protective elements 7 and the control unit 8 are illustrated in Fig.
  • the multiple protective elements 7 are identical in terms of their design and mode of operation, so that to avoid repetition, only one of the protective elements 7 will be discussed below, in particular with reference to FIGS.
  • the protective element 7 (FIG. 2) is intended to be applied to any section of the outer wall of the industrial robot 1, for example in the area of the articulated arms 2, 3, 4. Irrespective of this, the protective element 7 can also be used in addition to the use shown in FIG. 1 for an industrial robot, for example for other industrial handling devices, autonomous industrial trucks or the like.
  • the protective element 7 has an electrically conductive lower shell 9 and an upper shell 10 arranged at a distance in the thickness direction D.
  • the upper shell 10 is also electrically conductive.
  • the upper shell 10 is elastically flexible and can thus be electrically contacted with the lower shell 9 under the action of a compressive force, such as can occur, for example, when the articulated arm 3 collides with the person P.
  • the upper shell 10 is connected in one piece to the lower shell 9 by means of a filling structure 11, which can be seen in detail with reference to FIG. 5 and is hidden in the drawing in FIG.
  • the filling structure 11 is also elastically flexible and, in contrast to the lower shell 9 and the upper shell 10, is electrically insulating.
  • the filling structure 11 is applied to the lower shell 9 additively from an electrically insulating plastic K1.
  • the upper shell 10 is formed additively from an electrically conductive plastic K2 and applied to the filling structure 11 .
  • the filling structure 11 and the upper shell 10 are formed using a 3D printing process suitable for this purpose. Filament 3D printing methods, which are also commonly known by the abbreviations FDM (Fused Deposition Modeling) and FFF (Fused Filament Fabrication), should be mentioned as suitable methods.
  • FDM Freused Deposition Modeling
  • FFF Feused Filament Fabrication
  • all printable and electrically insulating plastic materials are suitable as the material for the filling structure 11 .
  • all printable and electrically conductive plastic materials are suitable as the material for the upper shell 10 .
  • the plastics K1, K2 used in the embodiment shown are of the same type in the broadest sense. "Similar" with regard to the embodiment shown means that the plastics K1, K2 have an identical basic chemical structure, the plastic K2, in contrast to the plastic K1, having an additive with electrical conductivity. As a result, particularly good adhesion and/or a particularly good material bond is achieved.
  • the primary additive is graphite. Metal particles or the like are also conceivable.
  • the plastic K1 of the filling structure 11 is a urethane-based thermoplastic elastomer, which is also known by the abbreviation TPU.
  • the plastic K2 of the upper shell 10 is an electrically conductive thermoplastic elastomer based on urethane TPU'. Said plastic materials have proven to be advantageous with regard to their elastic properties on the one hand and their printability on the other.
  • the lower shell 9 is also formed in layers from a plastic K3 and is also elastically flexible. Such an embodiment of the lower shell 9 is advantageous, but not absolutely necessary.
  • the lower shell can be designed to be dimensionally stable. Further alternatively or additionally, the lower shell can be formed from sheet material or a foam material.
  • the plastic K3 of the lower shell is also an electrically conductive thermoplastic elastomer based on urethane TPU'.
  • the filling structure 11 (FIG. 5) is designed as a gyroid structure G in the embodiment shown.
  • gyroid structures are known as such in the field of mathematics.
  • a gyroid structure or gyroid can be defined as an infinitely connected, triply periodic minimal surface.
  • the gyroid structure G has a multiplicity of webs 12 extending in a wave-like manner.
  • the webs 12 are arranged at a distance from one another, forming a multiplicity of recesses 13 extending between the lower shell 9 and the upper shell 10 (FIG. 5).
  • the filling structure has a lattice, net, mesh and/or honeycomb shape.
  • the filling structure 11 is elastically resiliently deformable together with the upper shell 10 under the action of a compressive force caused by a collision.
  • the electrical contact between the upper shell 10 and the lower shell 9 is at least possible in the area of the recesses 13 of the gyroid structure G.
  • the gyroid structure G takes up approximately 5% of a volume formed between the upper shell 10 and the lower shell 9.
  • FIG. 6 different degrees of filling are possible.
  • the filling structure 11' has a filling level of 8%.
  • the recesses 13 In order to enable functional electrical contacting between the upper shell 10 and the lower shell 9 in the event of a collision, the recesses 13 should be neither too small nor too large. This is independent of the degree of filling selected. For the application shown here in the area of the industrial robot 1, it has proven to be advantageous if a base area F of the recesses 13 projected onto the lower shell 9 is between 0.5 cm 2 and 2.0 cm 2 . In the embodiment shown in FIG. 5, the base area F is approximately 1.0 cm 2 in each case. On the one hand, this can ensure that the upper shell is adequately supported on the filling structure 11 . On the other hand, a sufficiently spatially resolved collision detection is guaranteed.
  • the periodically elongated or wavy webs 12 of the gyroid structure G presently have a web width B between 0.2 mm and 1.0 mm.
  • a web width of approximately 0.6 mm has proven particularly advantageous.
  • the protective element 7 has a first contact element 14 and a second contact element 15 for the electrically conductive connection to the control unit 8 .
  • the contact elements 14, 15 are each additively formed and in this respect are part of the lower shell 9 or the upper shell 10 “.
  • the second contact element 15 protrudes in the direction of thickness D from an outer side 101 of the upper shell 10 .
  • the first contact element protrudes in the direction of thickness from an inner side 92 of the lower shell 9 and extends longitudinally through a through-opening 103 in the upper shell 10 .
  • the first contact element 15 protrudes in the thickness direction D over the outside 101 of the upper shell 10.
  • Such an arrangement of the contact elements 14, 15 is advantageous, but not essential.
  • the contact elements can protrude on different sides of the protective element or both can be oriented in the direction of an outer side 91 of the lower shell 9 .
  • the present arrangement of the contact elements 14, 15 in The direction of the outside 101 of the upper shell 10 is particularly advantageous with regard to easy manual accessibility.
  • control unit 8 is set up for the emergency shutdown of the industrial robot 1 depending on the electrical contact state between the upper shell 10 and the lower shell 9 of the protective elements 7 or the protective elements.
  • the protective element 7 acts as a type of switch in an electric circuit set up to switch off the industrial robot 1 in an emergency.
  • the upper shell 10 in the embodiment shown has an insulating section 104 in the area of the through-opening 103 .
  • the insulating section 104 encloses the first contact element 14 in the circumferential direction in the form of a ring and is made of an electrically insulating plastic, in this case TPU.
  • TPU electrically insulating plastic
  • the protective element 7 has a plate-like shape with a rectangular basic shape.
  • the lower shell 9 and the upper shell 10 extend flatly parallel to one another. Both the lower shell 9 and the upper shell 10 have thin walls compared to the other dimensions of the protective element.
  • a total thickness T1 of the lower shell 9 is 0.5 mm in the present case. In principle, it is advantageous if the total thickness T1 is between 0.4 mm and 1.0 mm. The same applies to an overall thickness T2 of the upper shell 10. In the embodiment shown, this is also 0.5 mm.
  • a total thickness T3 of the filling structure 11 is three to four times the total thickness T1.
  • both the lower shell 9 and the upper shell 10 are flat.
  • the outside 101 of the upper shell 10 is oriented parallel to an inside 102 . Accordingly, an outside 91 of the lower shell 9 is oriented parallel to the inside 92 .
  • the protective element 7 is closed at the edge in the circumferential direction.
  • an edge section 16 running around in the circumferential direction is provided and formed between the lower shell 9 and the upper shell 10 .
  • the edge section 16 is formed from an electrically insulating plastic and is also produced additively. Accordingly, the edge portion 16 during the printing process remaining sections of the protective element 7, so to speak, “also printed”.
  • the edge section is oriented transversely to the thickness direction D. In the present case, the edge section 16 extends longitudinally at an angle of approximately 45° obliquely to the direction of thickness D. This oblique orientation supports a functional contact between the upper shell 10 and the lower shell 9 in the event of a collision.
  • the entire lower shell 9 and the entire upper shell 10 do not necessarily have to be designed to be electrically conductive. Instead, it is sufficient if the lower shell 9 is designed to be electrically conductive at least in the region of its inside 92 and the upper shell 10 at least in the region of its inside 102 . Due to the layered additive manufacturing of both the lower shell 9 and the upper shell 10, this can easily be implemented on the production side.
  • internal layers in the area of the inner sides 92, 102 can be made of an electrically conductive plastic.
  • layers lying in the direction of the respective outside 91, 101 can be formed from an electrically non-conductive plastic.
  • FIG. 7a A further embodiment of a protective element 7a according to the invention is shown with reference to FIG.
  • the protective element 7a has a design and mode of operation which is essentially identical to the protective element 7 according to FIGS. 2 to 5. In order to avoid repetition, only essential differences between the protective element 7a and the protective element 7 will be discussed. Otherwise, what has been disclosed for the protective element 7 also applies analogously to the protective element 7a.
  • the protective element 7a has two additively formed positive-locking elements 17a.
  • the positive-locking elements 17 are formed in the area of the lower shell 9 and protrude from an outer side 91 of the lower shell 9 in the thickness direction.
  • the form-fitting elements 17 are each provided for form-fitting connection with a complementary form-fitting opening.
  • Said positive-locking openings can, for example, be formed directly on the articulated arms 2, 3, 4 of the industrial robot 1 or can be provided on a component that is firmly connected to the articulated arms 2, 3, 4.
  • the protective element 7a can be assembled, disassembled and, if necessary, replaced in a particularly simple manner.
  • the form-fitting elements 17a are spaced apart from one another in the main extension direction of the protective element 7a and aligned symmetrically with respect to imaginary central longitudinal and central transverse planes of the protective element 7a.
  • the form-fitting elements 17a each have a mushroom-head shape.
  • the contact elements 14a, 15a in the protective element 7a protrude in the direction of the outer side 91a of the lower shell.
  • an orientation as shown in FIG. 4 can also be provided.
  • an arrangement 70 formed from a plurality of protective elements 7 is shown.
  • the arrangement 70 has exactly two protective elements 7, but this is not mandatory.
  • the arrangement 70 can have significantly more than two, for example four, six, eight, ten or a corresponding multiple of protective elements.
  • the protective elements 7 of the arrangement 70 are connected to one another in one piece by means of a hinge section 71 which is arranged at the edge and formed additively and can be hinged relative to one another.
  • the hinge section 71 is made of an electrically insulating plastic, for example TPU.
  • the protective elements 7 are connected to one another firmly and in one piece by means of the hinge section 70 and at the same time can be pivoted relative to one another about an imaginary pivot axis S formed by the hinge section 71 (FIG. 10).
  • the arrangement 70 can be easily adapted to an outer contour to be covered by the protective elements 7, for example the outer contour of the articulated arms 2, 3, 4.
  • the largest possible area of coverage can be achieved in a simple manner.
  • FIG. 11 and 12 show a further embodiment of a protective element 7b according to the invention.
  • the protective element 7b has a design and function that is identical to the protective element 7, so that explanations in this regard are unnecessary.
  • a filling structure 11b is in turn arranged between the lower shell 9b and the upper shell 10b. This is designed as a gyroid structure G in accordance with the protective element 7 .
  • the basic triangular shape is designed with isosceles, so that a corner angle of 60° is included between the side edges of the protective element 7b.
  • FIG. 13 shows an arrangement 70b formed from a multiplicity of protective elements 7b.
  • the protective elements 7b of the arrangement 70b are connected to one another in one piece, coherently and in a hinge-movable manner by means of hinge sections 71b which are arranged on the edge and are formed additively. Otherwise, what was said about the arrangement 70 also applies to the arrangement 70b.
  • FIG. 14 shows a further arrangement 70b', which is formed from a plurality of protective elements 7b arranged in a ring.
  • the arrangement 70b′ makes it clear that the one-piece, coherent and hinge-movable design enables surface contours of almost any shape to be covered simply and as completely as possible.

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

Abstract

1. L'invention concerne un dispositif de protection pour robot industriel. 2.1 Un dispositif de protection de ce genre comprend généralement au moins un élément de protection, qui est destiné à être monté sur une partie de paroi externe du robot industriel, et est doté d'une unité de commande qui est connectée à l'élément ou aux éléments de protection et qui est conçue pour commander le robot industriel en fonction d'un état de contact électrique de l'élément de protection, l'élément ou les éléments de protection ayant une coque inférieure électroconductrice et une coque supérieure électroconductrice qui est agencée à une certaine distance dans le sens de l'épaisseur, fournit un lâche élastique et peut être mise en contact électrique avec la coque inférieure sous l'action d'une force de compression. 2.2 Selon l'invention, la coque supérieure est reliée en continu à la coque inférieure au moyen d'une structure de charge électriquement isolante et élastique, la coque supérieure étant formée en couches à partir d'un matériau plastique électroconducteur et reliée à la structure de charge, et la structure de charge étant formée en couches de manière additive à partir d'un matériau plastique électriquement isolant et relié à la coque inférieure. 2.3 L'invention concerne également l'utilisation du dispositif de protection dans un robot industriel.
EP22701382.8A 2021-01-28 2022-01-24 Dispositif de protection pour robot industriel Pending EP4284605A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021200795.3A DE102021200795A1 (de) 2021-01-28 2021-01-28 Schutzvorrichtung für einen Industrieroboter
PCT/EP2022/051482 WO2022161910A1 (fr) 2021-01-28 2022-01-24 Dispositif de protection pour robot industriel

Publications (1)

Publication Number Publication Date
EP4284605A1 true EP4284605A1 (fr) 2023-12-06

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Application Number Title Priority Date Filing Date
EP22701382.8A Pending EP4284605A1 (fr) 2021-01-28 2022-01-24 Dispositif de protection pour robot industriel

Country Status (3)

Country Link
EP (1) EP4284605A1 (fr)
DE (1) DE102021200795A1 (fr)
WO (1) WO2022161910A1 (fr)

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2854459A1 (de) * 1978-12-16 1980-08-28 Fraunhofer Ges Forschung Sicherheitseinrichtung fuer anlagen mit in den raum bewegten teilen
JP4851152B2 (ja) 2005-10-07 2012-01-11 トヨタ自動車株式会社 接触点検出装置およびこれを用いたロボット
DE102015208702A1 (de) * 2015-05-11 2016-11-17 Siemens Healthcare Gmbh Kollisionserkennungseinrichtung, medizinisches Gerät und Verfahren zum Betrieb eines medizinischen Geräts
CN105082185A (zh) 2015-07-13 2015-11-25 苏州铂电自动化科技有限公司 一种机器人用安全薄膜开关
WO2018135012A1 (fr) 2017-01-19 2018-07-26 新明工業株式会社 Robot
AT520014B1 (de) 2017-04-24 2019-03-15 Blue Danube Robotics Gmbh Erkennung einer Kollision eines Handhabungsgeräts mit einem Hindernis
DE102017218229A1 (de) 2017-10-12 2019-04-18 Dr. Doll Engineering Gmbh Schutzvorrichtung für einen Industrieroboter sowie Schutzelement für eine solche Schutzvorrichtung
IT201700121883A1 (it) 2017-10-26 2019-04-26 Comau Spa "Dispositivo automatizzato con una struttura mobile, in particolare un robot"
DE102018109238B4 (de) 2018-04-18 2021-07-01 Deutsches Zentrum für Luft- und Raumfahrt e.V. Als Aktuator und/oder Sensor einsetzbares elastisches Bauteil mit dreifach periodischer Membran- oder Stabwerksstruktur
WO2020036217A1 (fr) 2018-08-17 2020-02-20 旭光電機株式会社 Dispositif de détection d'objet
WO2020041221A1 (fr) * 2018-08-20 2020-02-27 Siemens Aktiengesellschaft Éléments de préhension robotiques personnalisés pourvus de capteurs de rétroaction

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WO2022161910A1 (fr) 2022-08-04
DE102021200795A1 (de) 2022-07-28

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