WO2010072193A1 - Securing apparatus and method for operating a multi-member machine - Google Patents

Securing apparatus and method for operating a multi-member machine Download PDF

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Publication number
WO2010072193A1
WO2010072193A1 PCT/DE2009/001733 DE2009001733W WO2010072193A1 WO 2010072193 A1 WO2010072193 A1 WO 2010072193A1 DE 2009001733 W DE2009001733 W DE 2009001733W WO 2010072193 A1 WO2010072193 A1 WO 2010072193A1
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WO
WIPO (PCT)
Prior art keywords
machine
unit
distance
distance detection
detection units
Prior art date
Application number
PCT/DE2009/001733
Other languages
German (de)
French (fr)
Inventor
Jan Friederichs
Armin Wedler
Berend Denkena
Original Assignee
Gottfried Wilhelm Leibniz Universität Hannover
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Filing date
Publication date
Application filed by Gottfried Wilhelm Leibniz Universität Hannover filed Critical Gottfried Wilhelm Leibniz Universität Hannover
Publication of WO2010072193A1 publication Critical patent/WO2010072193A1/en

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • 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
    • F16P3/14—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 the means being photocells or other devices sensitive without mechanical contact
    • F16P3/141—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 the means being photocells or other devices sensitive without mechanical contact using sound propagation, e.g. sonar
    • 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
    • F16P3/14—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 the means being photocells or other devices sensitive without mechanical contact
    • F16P3/142—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 the means being photocells or other devices sensitive without mechanical contact using image capturing 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
    • F16P3/14—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 the means being photocells or other devices sensitive without mechanical contact
    • F16P3/147—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 the means being photocells or other devices sensitive without mechanical contact using electro-magnetic technology, e.g. tags or radar
    • 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
    • F16P3/16—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 with feeling members moved by the machine
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39097—Estimate own stop, brake time, then verify if in safe distance

Definitions

  • the invention relates to a securing device for operating at least one multi-unit machine. According to a second aspect, the invention relates to a method for operating a multi-unit machine.
  • Multi-unit machines are, for example, robots that are used in handling technology or in production technology. They usually have an actuator, with which, for example, a workpiece can be grasped, and a base unit, which is arranged on the floor. It must now be ensured that the multi-unit machine does not endanger persons or other machines during operation. For example, if the gripper meets a person, this can lead to injuries.
  • the safety of persons is ensured by light barrier systems. If a person moves into the danger area of the multi-unit machine, ie the area that the multi-unit machine can reach, an alarm is triggered and, for example, the multi-unit machine is shut down.
  • the invention has for its object to overcome disadvantages in the prior art.
  • a safety device for operating at least one multi-unit machine, comprising (a) a plurality of distance detection units, wherein the distance detection units (i) comprise at least one sensor for determining a distance of the sensor to an object possibly present in a sensor direction (ii) comprise a central unit which is designed to (i) receive the signals of the distance detection units, (ii) to determine a position of the distance detection units in a predetermined coordinate system in a time-dependent manner and (iii) to issue a warning signal, if any existing object is not part of the machine and the distance falls below a predetermined threshold.
  • the distance detection units comprise at least one sensor for determining a distance of the sensor to an object possibly present in a sensor direction
  • ii) comprise a central unit which is designed to (i) receive the signals of the distance detection units, (ii) to determine a position of the distance detection units in a predetermined coordinate system in a time-dependent manner and (iii) to issue a warning signal, if any existing object is not
  • the invention solves the problem by a method for operating a multi-unit machine comprising the steps of (a) attaching a securing device according to the invention to at least one member of the machine, (b) continuously receiving automatically the signals of the distance detecting units by means of the central unit, c) time-dependent determination of a position of the distance detection units in a given coordinate system, (d) time-dependent detection of the distances, (e) from the distances and the positions determining whether a foreign object has a distance to the multi-unit machine, which is below a predetermined Threshold, and (f) if so, giving a warning.
  • An advantage of the invention is that objects, for example a human being or another robot, are certainly in the danger zone around the multiple machine can penetrate, without that would lead to the shutdown of the multi-unit machine.
  • the distance of the object to the multi-unit machine can be determined, so that a stepped reaction is possible.
  • the distance is understood to be the shortest connection between a point of the object and a part of the multi-unit machine. For example, it can be provided that, as the distance to the object decreases, ie when the threshold value is undershot, the multi-unit machine is initially moved more slowly and only stops when a collision with the object would be imminent or an alarm distance is undershot ,
  • the securing device is suitable for a large number of multi-unit machines. In other words, one and the same securing device can be used for a plurality of different multi-unit machines. It is therefore an efficient mass production of the distance detection units and thus the backup device possible.
  • two multi-unit machines equipped with the safety device according to the invention can be operated with overlapping hazardous areas.
  • the machine control of the two multi-unit machines exchange information about the instantaneous positions of their links.
  • the securing device according to the invention it is therefore easily possible to reprogram one or both multi-unit machines without the risk of a collision.
  • a multi-unit machine is understood in particular to mean any machine which has a kinematic chain of at least two objects.
  • the Multi-unit machine a robot, for example, a handling robot.
  • the sensor is understood in particular to mean any device which is designed and set up in order to detect the presence of an object in a non-destructive manner and to detect its distance from the sensor.
  • the sensors may be ultrasonic sensors or based on the reflection of electromagnetic waves.
  • the sensors are active sensors, that is, they emit waves and / or actively receive transmitted waves.
  • the sensors are passive and always process outgoing signals from the machine.
  • the sensors comprise simple cameras.
  • the distance detection units have a plurality of redundant sensors. It is particularly favorable if all components of the distance detection unit are integrated on a chip.
  • the communication device may be configured to transmit the signal wirelessly or by wire.
  • wireless communication is particularly favorable if a high degree of flexibility of the securing device is desired.
  • the central unit may be a device that is designed differently in comparison to the distance detection units. But it is also possible that each of the distance detection units can act as a central unit at the same time.
  • the central unit is arranged to deliver the warning signal, it is understood in particular that one of the
  • the warning signal is coded such that a machine * control of the multi-unit machine can respond to the warning signal. It can also be provided that the warning signal encodes the distance that falls below the predetermined threshold. This allows a stepped response of the machine control depending on the distance.
  • the distance may fall below the predetermined threshold value so that a transit time of an ultrasound signal falls below a predetermined minimum transit time. If the sensor is a tactile sensor, the distance will fall below the threshold value when a touch is detected.
  • the communication device is designed for wireless communication with the central unit. It is thus obtained a particularly easy to assemble and disassemble safety device.
  • At least some of the sensors are non-contact sensors, in particular ultrasonic sensors. It can also be provided that at least some of the distance detection units comprise tactile sensors.
  • the central unit has a direction-sensitive antenna and is set up for time-dependent determination of the position of the distance detection units by means of triangulation. In this way, the position of individual distance detection units can be determined particularly quickly efficiently.
  • the communication devices of the distance detection units are preferably set up for outputting an identification signal, which uniquely identifies the transmission distance detection unit. This makes it possible, on a positioning machine, to choose a freely selectable number of stand detection units.
  • the central unit can then be designed to first interrogate the identification signals of the distance detection units in a learning step.
  • the distance detection units are preferably set up so that the identification signal is flexible. It is thus possible for each distance detection unit to be assigned an identification code before the safety device is put into operation.
  • the communication devices are interconnected by a secure data bus.
  • the secure data bus is an ASI bus.
  • Such secure data buses are particularly advantageous for fast data processing and fast data transport.
  • the secure data bus is designed such that it is always ensured that a transmitted data packet received by the central unit agrees with the transmitted data packet.
  • the distance detection units detect acceleration sensors and the safety device is set up to determine the respective position of the respective distance detection units in a predetermined coordinate system from acceleration measurement data of the acceleration sensors.
  • This can be done, for example, by a fast Fourier transformation, that is to say by means of FFT (fast Fourier transform).
  • FFT fast Fourier transform
  • the central unit is therefore particularly preferably designed to balance the position determined by the acceleration sensors with a position held by the machine control of the multi-unit machine. This increases the accuracy of the distance calculation.
  • the distance detection units are arranged in the form of a matrix. It can be provided that the distance detection units are arranged in a planar substrate.
  • This sheet substrate may be flexible so that it can be easily attached to curved surfaces of the multi-unit machine. It is particularly favorable if the substrate is so flexible that, without being damaged, it can be bent to a radius of curvature of less than 3 cm.
  • the power supply of the fuse device is particularly simple if it has an energy converter for converting energy originating from an environment of the safety device into electrical energy. It may be, for example, a device that converts sound energy into electrical energy. But it is also possible that distance detection units have an antenna with which they can receive electromagnetic waves and convert into electricity for operating the safety device. In this way, usable electrical energy can be provided to the distance detection units without relying on batteries.
  • At least one of the distance detection units comprises a transmitter and a receiver, both of which include a transmission path and wherein the central unit is designed to determine whether the transmission path is interrupted and / or if the transmission distance falls below a predetermined minimum length, and to output a safety-related signal, if that is the case.
  • the securing device is arranged such that there are so many distance detection units for each point of a working area of the multi-unit machine that always at least two sensors are at a distance from any one present at the point Can determine object. It is possible that two or more distance detection units are arranged so that said requirement is met. Alternatively, it is also possible that the distance detection units comprise a plurality of sensors, which may be designed diversified.
  • the working area refers to the space that the multi-unit machine can reach in principle. Said requirement relates to all possible configurations of the multi-unit machine.
  • the central unit is designed in such a way that a warning signal is emitted if all distance detection units do not detect a distance for all locations of the working area which exceeds the predetermined threshold value. This ensures that a faulty sensor does not lead to an object being overlooked. If there are three or more sensors for each point, then it can be provided that a warning signal is then emitted if a majority of the sensors indicate that the threshold has been undershot.
  • FIG. 1 shows an illustration of a machine according to the invention with a securing device according to the invention
  • FIG. 2 shows a schematic illustration of the machine according to FIG. 1,
  • FIG. 3 shows a distance detection unit for a safety device according to the invention
  • Figure 4 shows a preferred embodiment of an inventive
  • Figure 5 shows a second embodiment of a securing device according to the invention.
  • Figure 1 shows a multi-unit machine 10 in the form of a robot having a base 12, a first arm 14, a second arm 16 fixed to the first arm 14 and an actuator 18.
  • the first arm 14 and the second arm 16 and the actuator 18 are diagrammatic drawn distance detection units 20.1, 20.2, ..., 20.6 attached.
  • reference signs without counting suffix designate the object in each case as such.
  • Each distance detection unit 20 comprises a likewise schematically drawn sensor 22, that is, the distance detection unit 20.1 comprises a sensor 22.1, the distance detection unit 20.2 comprises a sensor 22.2, and so on.
  • Each of the sensors 22 is aligned to detect an object within a respective measuring lobe 24 and to be able to determine the distance of this object.
  • FIG. 2 shows a schematic view of the multi-unit machine according to FIG. 1. It can be seen that the measuring lobes 24.1, 24.2,... Overlap at least in pairs, so that a monitoring area 26 is created which completely encompasses the multi-unit machine 10. In the mathematical sense, the monitoring area 26 represents a shell of the multi-unit machine 10.
  • the totality of all points which has a predetermined safety distance d S i Ch er from one of the sensors 22 is the outer shell of a security zone 28.
  • FIG. 3 shows the distance detection unit 20, which has an outer membrane 32 and an inner membrane 34, which are connected to one another via elastic elements 36.1, 36.2.
  • a force F is applied to the outer membrane 32, the elastic members 36 deform and a distance between the two membranes 32, 34 decreases. This reduction in distance is detected by a sensor element 38. Thereby, a touch of the distance detection unit 20 can be detected.
  • the sensor element 38 additionally comprises an ultrasound transmitter and an ultrasound receiver.
  • the ultrasonic transmitter sends ultrasonic waves with the measuring lobe 24, which is shown in dashed lines.
  • the ultrasonic receiver receives reflected ultrasound waves from a schematically drawn object 40 and finds a distance d from the object 40.
  • a base plate 42 On the side facing away from the outer membrane 32, a base plate 42 is arranged, which is designed to be mounted in contact with the multi-unit machine. Between the base plate 42 and the inner ren membrane 34, a plate 44 is arranged with a communication device 46.
  • the distance detection unit 20 also includes a sensor 48 for self-identification.
  • a transmitting device 50 is also arranged, which is designed to transmit the measured distance d to a central unit described below.
  • FIG. 4 shows a securing device 52 according to the invention which has a multiplicity of distance detection units 20.1,..., 20.9, which are connected to one another via a data bus 54.
  • the distance detection units 20.1,..., 20.9 it is also possible for the distance detection units 20.1,..., 20.9 to set up a local radio network.
  • One of the distance detection units functions as a central unit, which is designed to receive signals from the other distance detection units 20.1,..., 20.8.
  • Information about all distances dj (i 1, 2,...) Is therefore present at the central unit 20.9. That is, the central unit 20.9 is the distance di the distance detection unit 20.1 to the eventual existing object 40, the distance d 2 of the distance detection unit 20.2 to the eventual existing object 40 or to another object, and so on. It could therefore also be said that the distance detection units 20.1, ..., 20.8 act as slave units, whereas the distance detection unit 20.9 acts as a master unit.
  • Blind modules 56.1, 56.2,... are arranged between the individual distance detection units 20. I, which together with the distance detection units 20 form a flexible matrix 58.
  • the flexible matrix 58 is formed so that it can be curved in two directions, so that a large number of arbitrarily curved multi-unit machines can be covered with the matrix 58.
  • the central unit 20.9 is connected via a radio link to an evaluation unit 60 that detects the measured distances dj of the respective distance-detecting unit 20 i and outputs a signal when a Obwalden ject a predetermined threshold d Sch weiie below.
  • the evaluation unit 60 can be considered together with the distance detection unit 20.9 as part of a central unit.
  • Figure 5 schematically shows the second arm 16 (see Figure 1) on which the securing device 52 is mounted.
  • the contour of the securing device 52 follows the contour of the substrate, in the present case the contour of the second arm 16. Therefore, in the case of the matrix 58, it is also possible to speak of a sensor skin.
  • a conventional machine for example the robot 10 (FIG. 1), is connected at least in sections to the securing device 52, as shown schematically in FIG. Subsequently, the position of the measuring lobes 24 i for all distance detection units 20 i is determined relative to the member of the multi-unit machine 10 on which it is mounted.
  • FIG. 1 schematically shows a machine controller 62 of the multi-unit machine 10, which is in contact with the evaluation unit 60 of the securing device 52, so that data can be exchanged. From the position of the machine members, here the first arm 14, the second arm 16 and the actuator 18, the position of the respective measuring lobes 24. I relative to the base 12 can be calculated. If one of the sensors 22 i now detects a distance dj which is smaller than the threshold value dsc h , then it is first checked whether the detected object is a part of the multi-unit machine 10. If this is not the case, the movement of the multi-unit machine 10 is braked or stopped.
  • FIG. 1 schematically shows a machine controller 62 of the multi-unit machine 10, which is in contact with the evaluation unit 60 of the securing device 52, so that data can be exchanged. From the position of the machine members, here the first arm 14, the second arm 16 and the actuator 18, the position of the respective measuring lobes 24. I relative to the base 12 can be calculated. If one of the
  • the sensor element 38 comprises an acceleration sensor 64 which detects acceleration measurement values within short time periods, for example within 50 milliseconds. These acceleration measured values are integrated twice by an associated electrical control by means of fast Fourier transformation (FFT fast Fourier transform), so that the absolute position in a spatially fixed coordinate system is known.
  • FFT fast Fourier transform fast Fourier transform
  • the position thus detected is sent to the evaluation unit 60 (FIG. 1), which adjusts it with the position which it would have to have according to the data of the machine controller 62. Any differences are sent back to the distance detection unit 20, so that in each distance detection unit 20, the correct position is always known within predefined error tolerances in absolute coordinates.

Abstract

The invention relates to a securing apparatus for operating a multi-member machine (10), comprising a plurality of distance-capturing units (20), wherein the distance-capturing units have at least one sensor (22) for determining a distance of the sensor to an object that may potentially be present in a sensor apparatus, and a communication apparatus (46) which is equipped to emit a signal encoding the distance, and a central unit which is designed and equipped to receive the signals of the distance-capturing units (20), to determine a position of the distance-capturing units (20) in a predetermined coordinate system in a time-dependent manner, and emit a warning signal if the potentially present object is not part of the machine and the distance drops below a predetermined threshold value (dschwelle).

Description

Sicherungsvorrichtung und Verfahren zum Betreiben einer mehrglied- rigen Maschine Securing device and method for operating a multi-member machine
Die Erfindung betrifft eine Sicherungsvorrichtung zum Betreiben mindestens einer mehrgliedrigen Maschine. Gemäß einem zweiten Aspekt betrifft die Erfindung ein Verfahren zum Betreiben einer mehrgliedrigen Maschine.The invention relates to a securing device for operating at least one multi-unit machine. According to a second aspect, the invention relates to a method for operating a multi-unit machine.
Mehrgliedrige Maschinen sind beispielsweise Roboter, die in der Handha- bungstechnik oder in der Fertigungstechnik eingesetzt werden. Sie besitzen in der Regel einen Aktuator, mit dem beispielsweise ein Werkstück gegriffen werden kann, und eine Grundeinheit, die auf dem Boden angeordnet ist. Es muss nun sichergestellt werden, dass die mehrgliedrige Maschine beim Betrieb keine Personen oder andere Maschinen gefährdet. Trifft nämlich beispielsweise der Greifer eine Person, so kann dies zu Verletzungen führen.Multi-unit machines are, for example, robots that are used in handling technology or in production technology. They usually have an actuator, with which, for example, a workpiece can be grasped, and a base unit, which is arranged on the floor. It must now be ensured that the multi-unit machine does not endanger persons or other machines during operation. For example, if the gripper meets a person, this can lead to injuries.
Bei bekannten mehrgliedrigen Maschinen wird die Sicherheit von Personen durch Lichtschrankensysteme gewährleistet. Bewegt sich eine Person in den Gefahrenbereich der mehrgliedrigen Maschine, also den Bereich, den die mehrgliedrige Maschine erreichen kann, so wird ein Alarm ausgelöst und beispielsweise die mehrgliedrige Maschine stillgesetzt.In known multi-unit machines, the safety of persons is ensured by light barrier systems. If a person moves into the danger area of the multi-unit machine, ie the area that the multi-unit machine can reach, an alarm is triggered and, for example, the multi-unit machine is shut down.
Nachteilig hieran ist, dass beim Abschalten der mehrgliedrigen Maschine beachtliche Bremsmomente auftreten können, die zu einer Verkürzung der Lebensdauer der Maschine führen.The disadvantage of this is that when switching off the multi-unit machine considerable braking torques can occur which lead to a shortening of the service life of the machine.
Der Erfindung liegt die Aufgabe zugrunde, Nachteile im Stand der Technik zu überwinden.The invention has for its object to overcome disadvantages in the prior art.
Die Erfindung löst das Problem durch eine Sicherungsvorrichtung zum Betreiben mindestens einer mehrgliedrigen Maschine, mit (a) einer Vielzahl an Abstandserfassungseinheiten, wobei die Abstandserfassungsein- heiten (i) zumindest einen Sensor zum Ermitteln eines Abstands des Sensors zu einem in einer Sensorrichtung etwaig vorhandenen Objekt und (ii) eine Zentraleinheit umfassen, die ausgebildet ist, um (i) die Signale der Abstandserfassungseinheiten zu empfangen, (ii) daraus zeitabhängig eine Position der Abstandserfassungseinheiten in einem vorgegebenen Koordi- natensystem zu ermitteln und (iii) ein Warnsignal abzugeben, wenn das etwaig vorhandene Objekt kein Teil der Maschine ist und der Abstand einen vorgegebenen Schwellenwert unterschreitet.The invention solves the problem by a safety device for operating at least one multi-unit machine, comprising (a) a plurality of distance detection units, wherein the distance detection units (i) comprise at least one sensor for determining a distance of the sensor to an object possibly present in a sensor direction (ii) comprise a central unit which is designed to (i) receive the signals of the distance detection units, (ii) to determine a position of the distance detection units in a predetermined coordinate system in a time-dependent manner and (iii) to issue a warning signal, if any existing object is not part of the machine and the distance falls below a predetermined threshold.
Gemäß einem zweiten Aspekt löst die Erfindung das Problem durch ein Verfahren zum Betreiben einer mehrgliedrigen Maschine, mit den Schritten (a) Anbringen einer erfindungsgemäßen Sicherungsvorrichtung an zumindest ein Glied der Maschine, (b) kontinuierliches automatisches Empfangen der Signale der Abstandserfassungseinheiten mittels der Zentraleinheit, (c) zeitabhängiges Ermitteln einer Position der Abstandserfassungs- einheiten in einem vorgegebenen Koordinatensystem, (d) zeitabhängiges Erfassen der Abstände, (e) aus den Abständen und den Positionen Ermitteln, ob ein fremdes Objekt einen Abstand zu der mehrgliedrigen Maschine hat, der unterhalb eines vorgegebenen Schwellenwerts liegt, und (f) bejahendenfalls Abgeben eines Warnsignals.According to a second aspect, the invention solves the problem by a method for operating a multi-unit machine comprising the steps of (a) attaching a securing device according to the invention to at least one member of the machine, (b) continuously receiving automatically the signals of the distance detecting units by means of the central unit, c) time-dependent determination of a position of the distance detection units in a given coordinate system, (d) time-dependent detection of the distances, (e) from the distances and the positions determining whether a foreign object has a distance to the multi-unit machine, which is below a predetermined Threshold, and (f) if so, giving a warning.
Vorteilhaft an der Erfindung ist, dass Objekte, beispielsweise ein Mensch oder ein anderer Roboter, durchaus in den Gefahrenbereich um die mehr- gliedrige Maschine eindringen können, ohne dass das zur Abschaltung der mehrgliedrigen Maschine führen müsste. Mittels der Sicherungsvorrichtung kann der Abstand des Objekts zur mehrgliedrigen Maschine ermittelt werden, so dass eine gestufte Reaktion möglich ist. Unter dem Abstand wird hierbei die kürzeste Verbindung zwischen einem Punkt des Objekts und einem Teil der mehrgliedrigen Maschine verstanden. Beispielsweise kann vorgesehen sein, dass die mehrgliedrige Maschine bei abnehmendem Abstand zum Objekt, nämlich wenn der Schwellenwert unterschritten wird, zunächst langsamer verfahren wird und erst dann stoppt, wenn eine KoIIi- sion mit dem Objekt unmittelbar bevorstehen würde bzw. ein Alarm- Abstand unterschritten wird.An advantage of the invention is that objects, for example a human being or another robot, are certainly in the danger zone around the multiple machine can penetrate, without that would lead to the shutdown of the multi-unit machine. By means of the securing device, the distance of the object to the multi-unit machine can be determined, so that a stepped reaction is possible. The distance is understood to be the shortest connection between a point of the object and a part of the multi-unit machine. For example, it can be provided that, as the distance to the object decreases, ie when the threshold value is undershot, the multi-unit machine is initially moved more slowly and only stops when a collision with the object would be imminent or an alarm distance is undershot ,
Vorteilhaft ist zudem, dass die Sicherungsvorrichtung für eine Vielzahl von mehrgliedrigen Maschinen tauglich ist. In anderen Worten kann ein und dieselbe Sicherungsvorrichtung für eine Vielzahl von unterschiedlichen mehrgliedrigen Maschinen eingesetzt werden. Es ist daher eine effiziente Massenfertigung der Abstandserfassungseinheiten und damit der Sicherungsvorrichtung möglich.It is also advantageous that the securing device is suitable for a large number of multi-unit machines. In other words, one and the same securing device can be used for a plurality of different multi-unit machines. It is therefore an efficient mass production of the distance detection units and thus the backup device possible.
Vorteilhaft ist zudem, dass zwei mit der erfindungsgemäßen Sicherungs- vorrichtung ausgerüstete mehrgliedrige Maschinen mit überschneidenden Gefahrenbereichen betrieben werden können. Es ist zwar möglich, vorteilhafterweise nicht aber notwendig, dass die Maschinensteuerung der beiden mehrgliedrigen Maschinen Informationen über die momentanen Posi- tionen ihrer Glieder austauschen. Unter Verwendung der erfindungsgemäßen Sicherungsvorrichtung ist es daher einfach möglich, eine oder beide mehrgliedrigen Maschinen umzuprogrammieren, ohne dass eine Kollision zu befürchten ist.It is also advantageous that two multi-unit machines equipped with the safety device according to the invention can be operated with overlapping hazardous areas. Although it is possible, advantageously not necessary, that the machine control of the two multi-unit machines exchange information about the instantaneous positions of their links. Using the securing device according to the invention, it is therefore easily possible to reprogram one or both multi-unit machines without the risk of a collision.
Im Rahmen der vorliegenden Beschreibung wird unter einer mehrgliedrigen Maschine insbesondere jede Maschine verstanden, die eine kinematische Kette von mindestens zwei Objekten aufweist. Insbesondere ist die mehrgliedrige Maschine ein Roboter, beispielsweise ein Handhabungsroboter.In the context of the present description, a multi-unit machine is understood in particular to mean any machine which has a kinematic chain of at least two objects. In particular, the Multi-unit machine, a robot, for example, a handling robot.
Unter dem Sensor wird insbesondere jede Vorrichtung verstanden, die ausgebildet und eingerichtet ist, um zerstörungsfrei das Vorhandensein eines Objekts zu detektieren und dessen Abstand zum Sensor zu erfassen. Beispielsweise können die Sensoren Ultraschallsensoren sein oder auf der Reflexion von elektromagnetischen Wellen beruhen. In der Regel sind die Sensoren aktive Sensoren, das heißt, dass sie Wellen aussenden und/oder aktiv ausgesandte Wellen empfangen. Es ist aber prinzipiell auch denkbar, dass die Sensoren passiv sind und von der Maschine stets ausgehende Signale verarbeiten. So ist es beispielsweise möglich, dass die Sensoren einfache Kameras umfassen.The sensor is understood in particular to mean any device which is designed and set up in order to detect the presence of an object in a non-destructive manner and to detect its distance from the sensor. For example, the sensors may be ultrasonic sensors or based on the reflection of electromagnetic waves. As a rule, the sensors are active sensors, that is, they emit waves and / or actively receive transmitted waves. However, it is also conceivable in principle that the sensors are passive and always process outgoing signals from the machine. For example, it is possible that the sensors comprise simple cameras.
Es ist möglich, dass die Abstandserfassungseinheiten mehrere redundante Sensoren aufweisen. Besonders günstig ist es, wenn sämtliche Komponenten der Abstandserfassungseinheit auf einem Chip integriert sind.It is possible that the distance detection units have a plurality of redundant sensors. It is particularly favorable if all components of the distance detection unit are integrated on a chip.
Die Kommunikationsvorrichtung kann eingerichtet sein, um das Signal drahtlos oder drahtgebunden abzugeben. Dabei ist eine drahtlose Kommunikation dann besonders günstig, wenn eine hohe Flexibilität der Siche- rungsvorrichtung gewünscht ist.The communication device may be configured to transmit the signal wirelessly or by wire. In this case, wireless communication is particularly favorable if a high degree of flexibility of the securing device is desired.
Bei der Zentraleinheit kann es sich um eine Vorrichtung handeln, die im Vergleich zu den Abstandserfassungseinheiten anders ausgebildet ist. Es ist aber auch möglich, dass jede der Abstandserfassungseinheiten zugleich als Zentraleinheit fungieren kann.The central unit may be a device that is designed differently in comparison to the distance detection units. But it is also possible that each of the distance detection units can act as a central unit at the same time.
Unter dem Merkmal, dass die Zentraleinheit eingerichtet ist, um das Warnsignal abzugeben, wird insbesondere verstanden, dass ein vomBy the feature that the central unit is arranged to deliver the warning signal, it is understood in particular that one of the
Menschen wahrnehmbares oder nicht wahrnehmbares Signal ausgegeben wird. Beispielsweise ist das Warnsignal so kodiert, dass eine Maschinen-* steuerung der mehrgliedrigen Maschine auf das Warnsignal reagierten kann. Es kann zudem vorgesehen sein, dass das Warnsignal den Abstand kodiert, der den vorgegebenen Schwellenwert unterschreitet. Das ermöglicht eine gestufte Reaktion der Maschinensteuerung in Abhängigkeit von dem Abstand.People perceivable or imperceptible signal is output. For example, the warning signal is coded such that a machine * control of the multi-unit machine can respond to the warning signal. It can also be provided that the warning signal encodes the distance that falls below the predetermined threshold. This allows a stepped response of the machine control depending on the distance.
Der Abstand kann beispielsweise dadurch den vorgegebenen Schwellenwert unterschreiten, dass eine Laufzeit eines Ultraschallsignals eine vorgegebene Mindest-Laufzeit unterschreitet. Wenn es sich beim Sensor um einen taktilen Sensor handelt, unterschreitet der Abstand den Schwellenwert dann, wenn eine Berührung detektiert wird.For example, the distance may fall below the predetermined threshold value so that a transit time of an ultrasound signal falls below a predetermined minimum transit time. If the sensor is a tactile sensor, the distance will fall below the threshold value when a touch is detected.
Gemäß einer bevorzugten Ausführungsform ist die Kommunikationsvorrichtung zur drahtlosen Kommunikation mit der Zentraleinheit ausgebildet. Es wird so eine besonders leicht montierbare und demontierbare Sicherungsvorrichtung erhalten.According to a preferred embodiment, the communication device is designed for wireless communication with the central unit. It is thus obtained a particularly easy to assemble and disassemble safety device.
Gemäß einer bevorzugten Ausführungsform sind zumindest einige der Sensoren berührungslose Sensoren, insbesondere Ultraschall-Sensoren. Es kann zudem vorgesehen sein, dass zumindest einige der Abstandser- fassungseinheiten taktile Sensoren umfassen.According to a preferred embodiment, at least some of the sensors are non-contact sensors, in particular ultrasonic sensors. It can also be provided that at least some of the distance detection units comprise tactile sensors.
Es ist vorteilhaft, wenn die Zentraleinheit eine richtungssensitive Antenne aufweist und eingerichtet ist zum zeitabhängigen Ermitteln der Position der Abstandserfassungseinheiten mittels Triangulation. Auf diese Weise kann die Position einzelner Abstandserfassungseinheiten besonders schnell effizient ermittelt werden.It is advantageous if the central unit has a direction-sensitive antenna and is set up for time-dependent determination of the position of the distance detection units by means of triangulation. In this way, the position of individual distance detection units can be determined particularly quickly efficiently.
Bevorzugt sind die Kommunikationsvorrichtungen der Abstandserfas- sungseinheiten eingerichtet zum Abgeben eines Identifikationssignals, das die Sendeabstandserfassungseinheit eindeutig identifiziert. Das ermöglicht es, an einer positionierenden Maschine eine frei wählbare Anzahl an Ab- standserfassungseinheiten anzubringen. Die Zentraleinheit kann dann ausgebildet sein, um in einem Einlernschritt zunächst die Identifikationssignale der Abstandserfassungseinheiten abzufragen. Die Abstandserfas- sungseinheiten sind dabei vorzugsweise so eingerichtet, dass das Identifi- kationssignal flexibel ist. So ist es möglich, dass jeder Abstandserfas- sungseinheit vor Inbetriebnahme der Sicherungsvorrichtung ein Identifikationskode zugewiesen wird.The communication devices of the distance detection units are preferably set up for outputting an identification signal, which uniquely identifies the transmission distance detection unit. This makes it possible, on a positioning machine, to choose a freely selectable number of stand detection units. The central unit can then be designed to first interrogate the identification signals of the distance detection units in a learning step. The distance detection units are preferably set up so that the identification signal is flexible. It is thus possible for each distance detection unit to be assigned an identification code before the safety device is put into operation.
Vorzugsweise sind die Kommunikationsvorrichtungen durch einen sicheren Datenbus miteinander verbunden. Beispielsweise ist der sichere Datenbus ein ASI-Bus. Derartige sicheren Datenbusse sind für eine schnelle Datenverarbeitung und einen schnellen Transport der Daten besonders vorteilhaft. Zudem ist der sichere Datenbus so ausgestaltet, dass stets sichergestellt ist, dass ein übertragenes, von der Zentraleinheit empfangenes Da- tenpaket mit dem gesendeten Datenpaket übereinstimmt.Preferably, the communication devices are interconnected by a secure data bus. For example, the secure data bus is an ASI bus. Such secure data buses are particularly advantageous for fast data processing and fast data transport. In addition, the secure data bus is designed such that it is always ensured that a transmitted data packet received by the central unit agrees with the transmitted data packet.
Vorzugsweise erfassen die Abstandserfassungseinheiten Beschleunigungssensoren und die Sicherungsvorrichtung ist eingerichtet, um aus Beschleunigungsmessdaten der Beschleunigungssensoren die jeweilige Po- sition der jeweiligen Abstandserfassungseinheiten in einem vorgegebenen Koordinatensystem zu ermitteln. Das kann beispielsweise durch eine schnelle Fourier-Transformation erfolgen, das heißt mittels FFT (fast Fou- rier transform). Es ist zudem günstig, wenn die Abstandserfassungseinheiten ausgebildet sind, um auch ihre Geschwindigkeit in einem feststehen- den Koordinatensystem, beispielsweise dem Maschinen- Koordinatensystem, zu ermitteln.Preferably, the distance detection units detect acceleration sensors and the safety device is set up to determine the respective position of the respective distance detection units in a predetermined coordinate system from acceleration measurement data of the acceleration sensors. This can be done, for example, by a fast Fourier transformation, that is to say by means of FFT (fast Fourier transform). It is also advantageous if the distance detection units are designed to also determine their speed in a fixed coordinate system, for example the machine coordinate system.
Messfehler der Beschleunigungssensoren können bei lang anhaltendem Betrieb zu Fehlern bei der Positionsberechnung führen. Besonders bevor- zugt ist die Zentraleinheit daher ausgebildet zum Abgleichen der mittels der Beschleunigungssensoren ermittelten Position mit einer an der Maschinensteuerung der mehrgliedrigen Maschine vorgehaltenen Position. So wird die Genauigkeit der Abstandsberechnung erhöht.Measurement errors of the acceleration sensors can lead to errors in the position calculation during long-term operation. The central unit is therefore particularly preferably designed to balance the position determined by the acceleration sensors with a position held by the machine control of the multi-unit machine. This increases the accuracy of the distance calculation.
Bevorzugt sind die Abstandserfassungseinheiten in Form einer Matrix angeordnet. Dabei kann vorgesehen sein, dass die Abstandserfassungsein- heiten in einem flächigen Substrat angeordnet sind. Dieses flächige Substrat kann flexibel sein, so dass es leicht an gebogenen Flächen der mehrgliedrigen Maschine angebracht werden kann. Besonders günstig ist es, wenn das Substrat so flexibel ist, dass es, ohne beschädigt zu werden, auf einen Krümmungsradius von weniger als 3 cm gebogen werden kann.Preferably, the distance detection units are arranged in the form of a matrix. It can be provided that the distance detection units are arranged in a planar substrate. This sheet substrate may be flexible so that it can be easily attached to curved surfaces of the multi-unit machine. It is particularly favorable if the substrate is so flexible that, without being damaged, it can be bent to a radius of curvature of less than 3 cm.
Die Energieversorgung der Sicherungsvorrichtung ist besonders einfach, wenn sie einen Energiewandler zum Umwandeln von aus einer Umgebung der Sicherungsvorrichtung stammender Energie in elektrische Energie aufweist. Es kann sich dabei beispielsweise um eine Vorrichtung handeln, die Schallenergie in elektrische Energie umwandelt. Es ist aber auch möglich, dass Abstandserfassungseinheiten über eine Antenne verfügen, mit der sie elektromagnetische Wellen empfangen und in Strom zum Betreiben der Sicherungsvorrichtung umwandeln können. Auf diese Weise kann nutzbare elektrische Energie für die Abstandserfassungseinheiten bereit- gestellt werden, ohne auf Batterien angewiesen zu sein.The power supply of the fuse device is particularly simple if it has an energy converter for converting energy originating from an environment of the safety device into electrical energy. It may be, for example, a device that converts sound energy into electrical energy. But it is also possible that distance detection units have an antenna with which they can receive electromagnetic waves and convert into electricity for operating the safety device. In this way, usable electrical energy can be provided to the distance detection units without relying on batteries.
Bevorzugt umfasst mindestens eine der Abstandserfassungseinheiten einen Sender und einen Empfänger, wobei beide eine Übertragungsstrecke einschließen und wobei die Zentraleinheit ausgebildet ist zum Ermitteln, ob die Übertragungsstrecke unterbrochen ist und/oder ob die Übertragungsstrecke eine vorgegebene Mindestlänge unterschreitet, und zum Ausgeben eines sicherheitsgerichteten Signals, wenn das der Fall ist.Preferably, at least one of the distance detection units comprises a transmitter and a receiver, both of which include a transmission path and wherein the central unit is designed to determine whether the transmission path is interrupted and / or if the transmission distance falls below a predetermined minimum length, and to output a safety-related signal, if that is the case.
Vorzugsweise ist die Sicherungsvorrichtung so eingerichtet, dass für jeden Punkt eines Arbeitsbereichs der mehrgliedrigen Maschine so viele Abstandserfassungseinheiten vorhanden sind, dass stets zumindest zwei Sensoren den Abstand zu einem etwaigen an dem Punkt vorhandenen Objekt ermitteln können. Möglich ist, dass zwei oder mehr Abstandserfas- sungseinheiten so angeordnet sind, dass die genannte Forderung erfüllt ist. Alternativ ist auch möglich, dass die Abstandserfassungseinheiten mehrere Sensoren umfassen, die diversitär ausgelegt sein können. Der Arbeitsbereich bezeichnet den Raum, den die mehrgliedrigen Maschine prinzipiell erreichen kann. Die genannte Forderung bezieht sich auf alle möglichen Konfigurationen der mehrgliedrigen Maschine.Preferably, the securing device is arranged such that there are so many distance detection units for each point of a working area of the multi-unit machine that always at least two sensors are at a distance from any one present at the point Can determine object. It is possible that two or more distance detection units are arranged so that said requirement is met. Alternatively, it is also possible that the distance detection units comprise a plurality of sensors, which may be designed diversified. The working area refers to the space that the multi-unit machine can reach in principle. Said requirement relates to all possible configurations of the multi-unit machine.
Vorteilhaft ist es, wenn die Zentraleinheit so ausgebildet ist, dass dann ein Warnsignal abgegeben wird, wenn nicht alle Abstandserfassungseinheiten für alle Orte des Arbeitsbereichs einen Abstand erfassen, der den vorgegebenen Schwellenwert überschreitet. So wird sichergestellt, dass ein fehlerhafter Sensor nicht zum Übersehen eines Objekts führt. Sind für jeden Punkt drei oder mehr Sensoren vorhanden, so kann vorgesehen sein, dass dann ein Warnsignal ausgegeben wird, wenn eine Mehrheit der Sensoren ein Unterschreiten des Schwellenwerts anzeigen.It is advantageous if the central unit is designed in such a way that a warning signal is emitted if all distance detection units do not detect a distance for all locations of the working area which exceeds the predetermined threshold value. This ensures that a faulty sensor does not lead to an object being overlooked. If there are three or more sensors for each point, then it can be provided that a warning signal is then emitted if a majority of the sensors indicate that the threshold has been undershot.
Günstig ist es, wenn zumindest zwei mehrgliedrige Maschinen, die eine erfindungsgemäße Sicherungsvorrichtung aufweisen, so positioniert werden, dass sich ihre Gefahrenbereiche überschneiden. Das bedeutet, dass es prinzipiell möglich ist, dass sich die beiden mehrgliedrigen Maschinen treffen und einander beschädigen können. Um dies auszuschließen, ist es bei mehrgliedrigen Maschinen nach dem Stand der Technik notwendig, die Bewegung der beiden Maschinen aufwändig aufeinander abzustimmen. Aufgrund der erfindungsgemäßen Sicherungsvorrichtung ist das entbehrlich. Im Folgenden wird die Erfindung anhand der beigefügten Zeichnungen näher erläutert. Dabei zeigtIt is favorable if at least two multi-unit machines which have a securing device according to the invention are positioned so that their danger areas overlap. This means that in principle it is possible for the two multi-unit machines to hit each other and damage each other. To exclude this, it is necessary in multi-unit machines according to the prior art to coordinate the movement of the two machines consuming each other. Due to the security device according to the invention that is unnecessary. In the following the invention will be explained in more detail with reference to the accompanying drawings. It shows
Figur 1 eine Darstellung einer erfindungsgemäßen Maschine mit einer erfindungsgemäßen Sicherungsvorrichtung,FIG. 1 shows an illustration of a machine according to the invention with a securing device according to the invention,
Figur 2 eine schematische Darstellung der Maschine nach Figur 1 ,FIG. 2 shows a schematic illustration of the machine according to FIG. 1,
Figur 3 eine Abstandserfassungseinheit für eine erfindungsgemäße Sicherungsvorrichtung,FIG. 3 shows a distance detection unit for a safety device according to the invention,
Figur 4 eine bevorzugte Ausführungsform einer erfindungsgemäßenFigure 4 shows a preferred embodiment of an inventive
Sicherungsvorrichtung undSecuring device and
Figur 5 eine zweite Ausführungsform einer erfindungsgemäßen Sicherungsvorrichtung.Figure 5 shows a second embodiment of a securing device according to the invention.
Figur 1 zeigt eine mehrgliedrige Maschine 10 in Form eines Roboters mit einem Sockel 12, einem ersten Arm 14, einem am ersten Arm 14 befestigten zweiten Arm 16 und einem Aktuator 18. Am ersten Arm 14 und am zweiten Arm 16 sowie am Aktuator 18 sind schematisch eingezeichnete Abstandserfassungseinheiten 20.1 , 20.2, ... , 20.6 angebracht. Im Folgenden bezeichnen Bezugszeichen ohne Zählsuffix das Objekt jeweils als sol- ches.Figure 1 shows a multi-unit machine 10 in the form of a robot having a base 12, a first arm 14, a second arm 16 fixed to the first arm 14 and an actuator 18. The first arm 14 and the second arm 16 and the actuator 18 are diagrammatic drawn distance detection units 20.1, 20.2, ..., 20.6 attached. In the following, reference signs without counting suffix designate the object in each case as such.
Jede Abstandserfassungseinheit 20 umfasst einen ebenfalls schematisch eingezeichneten Sensor 22, das heißt, die Abstandserfassungseinheit 20.1 umfasst einen Sensor 22.1 , die Abstandserfassungseinheit 20.2 um- fasst einen Sensor 22.2, und so weiter. Jeder der Sensoren 22 ist dazu ausgerichtet, um innerhalb einer jeweiligen Messkeule 24 ein Objekt zu erfassen und den Abstand dieses Objektes ermitteln zu können. Figur 2 zeigt eine schematische Ansicht der mehrgliedrigen Maschine gemäß Figur 1. Es ist zu sehen, dass sich die Messkeulen 24.1 , 24.2, ... zumindest paarweise überlagern, so dass ein Überwachungsbereich 26 ent- steht, der die mehrgliedrige Maschine 10 vollständig umfasst. Im mathematischen Sinne stellt der Überwachungsbereich 26 eine Hülle der mehrgliedrigen Maschine 10 dar. Die Gesamtheit aller Punkte, die von einem der Sensoren 22 einen vorgegebenen Sicherheitsabstand dSiCher hat, ist die äußere Hülle einer Sicherheitszone 28. Wenn sich die Arme 14, 16 und der Aktuator 18 in jeweiligen Gelenken 30.1 , 30.2, 30.3 relativ zu dem vorherigen Glied in der kinematischen Kette bewegt, so ändern sich beständig die Sicherheitszone 28 und der Überwachungsbereich 26.Each distance detection unit 20 comprises a likewise schematically drawn sensor 22, that is, the distance detection unit 20.1 comprises a sensor 22.1, the distance detection unit 20.2 comprises a sensor 22.2, and so on. Each of the sensors 22 is aligned to detect an object within a respective measuring lobe 24 and to be able to determine the distance of this object. FIG. 2 shows a schematic view of the multi-unit machine according to FIG. 1. It can be seen that the measuring lobes 24.1, 24.2,... Overlap at least in pairs, so that a monitoring area 26 is created which completely encompasses the multi-unit machine 10. In the mathematical sense, the monitoring area 26 represents a shell of the multi-unit machine 10. The totality of all points which has a predetermined safety distance d S i Ch er from one of the sensors 22 is the outer shell of a security zone 28. When the arms 14, 16 and the actuator 18 moves in respective joints 30.1, 30.2, 30.3 relative to the previous link in the kinematic chain, the safety zone 28 and the monitoring area 26 are constantly changing.
Figur 3 zeigt die Abstandserfassungseinheit 20, die eine äußere Membran 32 und eine innere Membran 34 aufweist, die über elastische Elemente 36.1 , 36.2 miteinander verbunden sind. Wird eine Kraft F auf die äußere Membran 32 ausgeübt, so deformieren sich die elastischen Elemente 36 und ein Abstand zwischen den beiden Membranen 32, 34 verringert sich. Diese Abstandsverringerung wird von einem Sensorelement 38 erfasst. Dadurch kann eine Berührung der Abstandserfassungseinheit 20 detektiert werden.FIG. 3 shows the distance detection unit 20, which has an outer membrane 32 and an inner membrane 34, which are connected to one another via elastic elements 36.1, 36.2. When a force F is applied to the outer membrane 32, the elastic members 36 deform and a distance between the two membranes 32, 34 decreases. This reduction in distance is detected by a sensor element 38. Thereby, a touch of the distance detection unit 20 can be detected.
Das Sensorelement 38 umfasst zudem einen Ultraschall-Sender und einen Ultraschall-Empfänger. Der Ultraschall-Sender sendet Ultraschallwellen mit der Messkeule 24, die gestrichelt eingezeichnet ist. Der Ultraschall- Empfänger empfängt von einem schematisch eingezeichneten Objekt 40 reflektierte Ultraschallwellen und er findet daraus einen Abstand d zu dem Objekt 40.The sensor element 38 additionally comprises an ultrasound transmitter and an ultrasound receiver. The ultrasonic transmitter sends ultrasonic waves with the measuring lobe 24, which is shown in dashed lines. The ultrasonic receiver receives reflected ultrasound waves from a schematically drawn object 40 and finds a distance d from the object 40.
Auf der der äußeren Membran 32 abgewandten Seite ist eine Basisplatte 42 angeordnet, die ausgebildet ist, um mit Kontakt zur mehrgliedrigen Maschine angebracht zu werden. Zwischen der Basisplatte 42 und der inne- ren Membran 34 ist eine Platte 44 mit einer Kommunikationsvorrichtung 46 angeordnet. Die Abstandserfassungseinheit 20 umfasst zudem einen Sensor 48 zur Eigenidentifizierung.On the side facing away from the outer membrane 32, a base plate 42 is arranged, which is designed to be mounted in contact with the multi-unit machine. Between the base plate 42 and the inner ren membrane 34, a plate 44 is arranged with a communication device 46. The distance detection unit 20 also includes a sensor 48 for self-identification.
Auf der Platte 44 ist zudem eine Sendevorrichtung 50 angeordnet, die ausgebildet ist, um den gemessenen Abstand d an eine weiter unten beschriebene Zentraleinheit zu senden.On the plate 44, a transmitting device 50 is also arranged, which is designed to transmit the measured distance d to a central unit described below.
Figur 4 zeigt eine erfindungsgemäße Sicherungsvorrichtung 52, die eine Vielzahl von Abstandserfassungseinheiten 20.1 , ... , 20.9 aufweist, die ü- ber einen Datenbus 54 miteinander verbunden sind. Alternativ ist es auch möglich, dass die Abstandserfassungseinheiten 20.1 , ... , 20.9 ein lokales Funknetzwerk aufbauen.FIG. 4 shows a securing device 52 according to the invention which has a multiplicity of distance detection units 20.1,..., 20.9, which are connected to one another via a data bus 54. Alternatively, it is also possible for the distance detection units 20.1,..., 20.9 to set up a local radio network.
Eine der Abstandserfassungseinheiten, nämlich die Abstandserfassungseinheit 20.9, fungiert als Zentraleinheit, die ausgebildet ist, um Signale von den übrigen Abstandserfassungseinheiten 20.1., ... , 20.8 zu empfangen. An der Zentraleinheit 20.9 liegen daher Informationen zu allen Abständen dj (i=1 ,2,...) vor. Das heißt, der Zentraleinheit 20.9 liegt der Abstand di der Abstandserfassungseinheit 20.1 zu dem etwaig vorhandenen Objekt 40, der Abstand d2 der Abstandserfassungseinheit 20.2 zu dem etwaig vorhandenen Objekt 40 oder zu einem anderen Objekt, und so weiter, vor. Es könnte also auch davon gesprochen werden, dass die Abstandserfassungseinheiten 20.1 , ..., 20.8 als Slave-Einheiten fungieren, wohingegen die Abstandserfassungseinheit 20.9 als Master-Einheit fungiert.One of the distance detection units, namely the distance detection unit 20.9, functions as a central unit, which is designed to receive signals from the other distance detection units 20.1,..., 20.8. Information about all distances dj (i = 1, 2,...) Is therefore present at the central unit 20.9. That is, the central unit 20.9 is the distance di the distance detection unit 20.1 to the eventual existing object 40, the distance d 2 of the distance detection unit 20.2 to the eventual existing object 40 or to another object, and so on. It could therefore also be said that the distance detection units 20.1, ..., 20.8 act as slave units, whereas the distance detection unit 20.9 acts as a master unit.
Zwischen den einzelnen Abstandserfassungseinheiten 20. i sind Blindmodule 56.1 , 56.2, ... angeordnet, die zusammen mit den Abstandserfassungseinheiten 20 eine flexible Matrix 58 bilden. Die flexible Matrix 58 ist so ausgebildet, dass sie in zwei Richtungen gekrümmt werden kann, so dass eine große Vielzahl beliebig gekrümmter mehrgliedriger Maschinen mit der Matrix 58 bedeckt werden kann. Die Zentraleinheit 20.9 ist über eine Funkverbindung mit einer Auswerteeinheit 60 verbunden, die die gemessenen Abstände dj der jeweiligen Ab- standserfassungseinheit 20. i erfasst und ein Signal ausgibt, wenn ein Ob- jekt einen vorgegebenen Schwellenwert dSchweiie unterschreitet. Die Auswerteeinheit 60 kann zusammen mit der Abstandserfassungseinheit 20.9 als Teil einer Zentraleinheit aufgefasst werden.Blind modules 56.1, 56.2,... Are arranged between the individual distance detection units 20. I, which together with the distance detection units 20 form a flexible matrix 58. The flexible matrix 58 is formed so that it can be curved in two directions, so that a large number of arbitrarily curved multi-unit machines can be covered with the matrix 58. The central unit 20.9 is connected via a radio link to an evaluation unit 60 that detects the measured distances dj of the respective distance-detecting unit 20 i and outputs a signal when a Obwalden ject a predetermined threshold d Sch weiie below. The evaluation unit 60 can be considered together with the distance detection unit 20.9 as part of a central unit.
Figur 5 zeigt schematisch den zweiten Arm 16 (vgl. Figur 1), auf dem die Sicherungsvorrichtung 52 angebracht ist. Die Kontur der Sicherungsvorrichtung 52 folgt der Kontur des Substrats, im vorliegenden Fall der Kontur des zweiten Arms 16. Es kann daher bei der Matrix 58 auch von einer Sensorhaut gesprochen werden. Um eine erfindungsgemäße Maschine zu erhalten, wird eine herkömmliche Maschine, beispielsweise der Roboter 10 (Figur 1) zumindest abschnittsweise mit der Sicherungsvorrichtung 52 wie in Figur 5 schematisch gezeigt, verbunden. Anschließend wird die Lage der Messkeulen 24. i für alle Abstandserfassungseinheiten 20. i relativ zu dem Glied der mehrgliedrigen Maschine 10 ermittelt, auf dem es angebracht ist.Figure 5 schematically shows the second arm 16 (see Figure 1) on which the securing device 52 is mounted. The contour of the securing device 52 follows the contour of the substrate, in the present case the contour of the second arm 16. Therefore, in the case of the matrix 58, it is also possible to speak of a sensor skin. In order to obtain a machine according to the invention, a conventional machine, for example the robot 10 (FIG. 1), is connected at least in sections to the securing device 52, as shown schematically in FIG. Subsequently, the position of the measuring lobes 24 i for all distance detection units 20 i is determined relative to the member of the multi-unit machine 10 on which it is mounted.
Figur 1 zeigt schematisch eine Maschinensteuerung 62 der mehrgliedrigen Maschine 10, die mit der Auswerteeinheit 60 der Sicherungsvorrichtung 52 in Kontakt steht, so dass Daten ausgetauscht werden können. Aus der Position der Maschinenglieder, hier des ersten Arms 14, des zweiten Arms 16 und des Aktuators 18, kann die Lage der jeweiligen Messkeulen 24. i relativ zum Sockel 12 berechnet werden. Detektiert nun einer der Sensoren 22. i einen Abstand dj, der kleiner ist als der Schwellenwert dschweiie, so wird zunächst überprüft, ob es sich bei dem detektierten Objekt um ein Teil der mehrgliedrigen Maschine 10 handelt. Ist das nicht der Fall, wird die Bewegung der mehrgliedrigen Maschine 10 abgebremst oder angehalten. Figur 3 zeigt schematisch, dass das Sensorelement 38 einen Beschleunigungssensor 64 umfasst, der innerhalb kurzer Zeitabschnitte, beispielsweise innerhalb von 50 Millisekunden, Beschleunigungsmesswerte erfasst. Diese Beschleunigungsmesswerte werden von einer zugeordneten elektri- sehen Steuerung mittels schneller Fourier-Transformation (FFT fast Fou- rier transform) zweifach integriert, so dass die absolute Position in einem raumfesten Koordinatensystem bekannt ist.FIG. 1 schematically shows a machine controller 62 of the multi-unit machine 10, which is in contact with the evaluation unit 60 of the securing device 52, so that data can be exchanged. From the position of the machine members, here the first arm 14, the second arm 16 and the actuator 18, the position of the respective measuring lobes 24. I relative to the base 12 can be calculated. If one of the sensors 22 i now detects a distance dj which is smaller than the threshold value dsc h , then it is first checked whether the detected object is a part of the multi-unit machine 10. If this is not the case, the movement of the multi-unit machine 10 is braked or stopped. FIG. 3 shows schematically that the sensor element 38 comprises an acceleration sensor 64 which detects acceleration measurement values within short time periods, for example within 50 milliseconds. These acceleration measured values are integrated twice by an associated electrical control by means of fast Fourier transformation (FFT fast Fourier transform), so that the absolute position in a spatially fixed coordinate system is known.
In regelmäßigen Zeitabständen, beispielsweise alle 5 Sekunden, wird die so erfasste Position an die Auswerteeinheit 60 gesendet (Figur 1), die diese mit der Position abgleicht, die sie nach den Daten der Maschinensteuerung 62 haben müsste. Etwaige Unterschiede werden an die Abstandser- fassungseinheit 20 zurückgesendet, so dass in jeder Abstandserfassungs- einheit 20 stets die korrekte Position innerhalb vorgegebener Fehlertole- ranzen in absoluten Koordinaten bekannt ist. At regular time intervals, for example every 5 seconds, the position thus detected is sent to the evaluation unit 60 (FIG. 1), which adjusts it with the position which it would have to have according to the data of the machine controller 62. Any differences are sent back to the distance detection unit 20, so that in each distance detection unit 20, the correct position is always known within predefined error tolerances in absolute coordinates.

Claims

Ansprüche: Claims:
1. Sicherungsvorrichtung zum Betreiben einer mehrgliedrigen Maschine (10), mit1. Safety device for operating a multi-unit machine (10), with
(a) einer Vielzahl an Abstandserfassungseinheiten (20), wobei die Abstandserfassungseinheiten(a) a plurality of distance detection units (20), wherein the distance detection units
(i) zumindest einen Sensor (22) zum Ermitteln eines Abstands des Sensors zu einem in einer Sensorrichtung etwaig vorhandenen Objekt und(i) at least one sensor (22) for determining a distance of the sensor to an object possibly present in a sensor direction and
(ii) eine Kommunikationsvorrichtung (46), die eingerichtet ist zum Abgeben eines Signals, das den Abstand kodiert, umfassen, und(ii) a communication device (46) arranged to output a signal encoding the distance, and
(b) einer Zentraleinheit, die ausgebildet und eingerichtet ist, um(B) a central unit, which is designed and set up to
(i) die Signale der Abstandserfassungseinheiten (20) zu empfangen, (ii) daraus zeitabhängig eine Position der Abstandserfassungseinheiten (20) in einem vorgegebenen Koordinatensystem zu ermitteln und (iii) ein Warnsignal abzugeben, wenn das etwaig vorhandene Objekt kein Teil der Maschine ist und der Abstand einen vorgegebenen Schwellenwert (dschweiie) unterschreitet.(i) receive the signals from the distance detection units (20), (ii) time-dependently determine a position of the distance detection units (20) in a given coordinate system and (iii) issue a warning signal if the object present is not part of the machine and the distance falls below a predetermined threshold (dschweiie).
2. Sicherungsvorrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass zumindest einige der Sensoren berührungslose Sensoren sind, insbesondere Ultraschall-Sensoren.2. Safety device according to claim 1, characterized in that at least some of the sensors are non-contact sensors, in particular ultrasonic sensors.
3. Sicherungsvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass zumindest einige der Abstandserfas- sungseinheiten (20) taktile Sensoren umfassen. 3. Safety device according to one of the preceding claims, characterized in that at least some of the distance detection units (20) comprise tactile sensors.
4. Sicherungsvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass die Zentraleinheit eine richtungssensitive Antenne aufweist und eingerichtet ist zum zeitabhängigen Ermitteln der Position der Abstandserfassungseinheiten (20) mittels Triangulation.4. Safety device according to one of the preceding claims, characterized in that the central unit has a direction-sensitive antenna and is adapted for the time-dependent determination of the position of the distance detection units (20) by means of triangulation.
5. Sicherungsvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass die Kommunikationsvorrichtungen (46) der Abstandserfassungseinheiten (20) eingerichtet sind zum Abgeben eines Identifikationssignals, das die sendende Abstandserfas- sungseinheit (20) eindeutig identifiziert.5. Safety device according to one of the preceding claims, characterized in that the communication devices (46) of the distance detection units (20) are arranged to output an identification signal that uniquely identifies the transmitting distance detection unit (20).
6. Sicherungsvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass die Abstandserfassungseinheiten (20) Beschleunigungssensoren (64) umfassen und die Sicherungsvorrichtung (52) eingerichtet ist, um aus Beschleunigungsmessdaten der Beschleunigungssensoren (64) die jeweilige Position der jeweiligen Abstandserfassungseinheiten (20) in einem vorgegebenen Koordinatensystem zu ermitteln.6. Securing device according to one of the preceding claims, characterized in that the distance detection units (20) acceleration sensors (64) and the securing device (52) is adapted to from acceleration measurement data of the acceleration sensors (64) the respective position of the respective distance detection units (20) to determine a given coordinate system.
7. Sicherungsvorrichtung nach Anspruch 6, dadurch gekennzeichnet, dass die Zentraleinheit ausgebildet ist zum Abgleichen der mittels der Beschleunigungssensoren (64) ermittelten Position mit einer in einer Maschinensteuerung (62) der mehrgliedrigen Maschine (10) vorgehal- tenen Position.7. Safety device according to claim 6, characterized in that the central unit is designed to balance the position determined by means of the acceleration sensors (64) with a position preset in a machine controller (62) of the multi-member machine (10).
8. Sicherungsvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass die Abstandserfassungseinheiten (20) in Form einer Matrix (58), insbesondere in einem flächigen, flexiblen Substrat, angeordnet sind. 8. Safety device according to one of the preceding claims, characterized in that the distance detection units (20) in the form of a matrix (58), in particular in a flat, flexible substrate, are arranged.
9. Sicherungsvorrichtung nach einem der vorstehenden Ansprüche, gekennzeichnet durch einen Energiewandler zum Umwandeln von aus einer Umgebung der Sicherungsvorrichtung (52) stammender Energie in elektrische Energie.9. Safety device according to one of the preceding claims, characterized by an energy converter for converting from an environment of the securing device (52) derived energy into electrical energy.
10. Sicherungsvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass mindestens eine der Abstandserfas- sungseinheiten (20) einen Sender und - einen Empfänger aufweist, die eine Übertragungsstrecke einschließen, wobei die Zentraleinheit ausgebildet ist zum Ermitteln, ob die Übertragungsstrecke unterbrochen ist und/oder die Übertragungsstrecke eine vorgegebene Mindestlänge unter- schreitet, und bejahendenfalls Ausgeben eines sicherheitsgerichteten Signals.10. Safety device according to one of the preceding claims, characterized in that at least one of the distance detection units (20) has a transmitter and - a receiver, which include a transmission path, wherein the central unit is designed to determine whether the transmission path is interrupted and / or the transmission path falls below a predetermined minimum length, and, if so, outputting a safety-related signal.
11. Sicherungsvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass für jeden Punkt eines Arbeitsbereichs der mehrgliedrigen Maschine (10) so viele Abstandserfassungseinhei- ten (20) vorhanden sind, dass stets zumindest zwei Sensoren (22) den Abstand zu einem etwaigen an dem Punkt vorhandenen Objekt ermitteln können.11. Securing device according to one of the preceding claims, characterized in that for each point of a working area of the multi-unit machine (10) so many Abstandserfassungseinhei- th (20) are present, that always at least two sensors (22) the distance to any on the Can detect point existing object.
12. Sicherungsvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass die Zentraleinheit ausgebildet ist zum Durchführen eines Verfahrens nach einem der Ansprüche 17 bis 19.12. Securing device according to one of the preceding claims, characterized in that the central unit is designed for carrying out a method according to one of claims 17 to 19.
13. Mehrgliedrige Maschine, insbesondere Roboter, mit einer Siche- rungsvorrichtung (52) nach einem der vorstehenden Ansprüche. 13. Multi-unit machine, in particular robot, with a securing device (52) according to one of the preceding claims.
14. Maschine nach Anspruch 13, dadurch gekennzeichnet, dass die Ab- standserfassungseinheiten (20) lösbar mit der Maschine verbunden sind.14. Machine according to claim 13, characterized in that the distance detection units (20) are detachably connected to the machine.
15. Maschine nach Anspruch 13 oder 14, gekennzeichnet durch eine Maschinensteuerung (62), wobei die Zentraleinheit und/oder die Maschinensteuerung ausgebildet ist, um nach vorgegebenen Zeitabschnitten die ermittelten Positionen mit in der Maschinensteuerung (62) hinterlegten Positionsdaten abzugleichen.15. Machine according to claim 13 or 14, characterized by a machine control (62), wherein the central unit and / or the machine control is designed to adjust after predetermined time periods, the determined positions with stored in the machine control (62) position data.
16. Produktionsanlage mit zumindest zwei mehrgliedrige Maschinen nach einem der Ansprüche 13 bis 15, wobei jede der mehrgliedrigen Maschinen einen Gefahrenbereich aufweist, in dem die mehrgliedrige Maschine (10) beim Be- trieb mit einem Objekt kollidieren kann, und wobei sich die Gefahrenbereiche von zumindest zwei der mehrgliedrigen Maschinen überlappen. 16. A production plant comprising at least two multi-unit machines as claimed in any one of claims 13 to 15, wherein each of the multi-unit machines has a danger zone in which the multi-unit machine (10) may collide with an object during operation, and wherein the hazardous areas of at least two of the multi-unit machines overlap.
17. Verfahren zum Betreiben einer mehrgliedrigen Maschine (10), mit den Schritten:17. A method of operating a multi-unit machine (10), comprising the steps of:
(a) Anbringen einer Sicherungsvorrichtung (52) nach einem der vorstehenden Ansprüche an zumindest ein Glied der Maschine, (b) kontinuierliches automatisches Empfangen der Signale der Ab- standserfassungseinheiten (20) mittels der Zentraleinheit,(a) attaching a securing device (52) according to any one of the preceding claims to at least one member of the machine, (b) continuously receiving automatically the signals of the distance detecting units (20) by means of the central unit,
(c) zeitabhängiges Ermitteln einer Position der Abstandserfas- sungseinheiten (20) in einem vorgegebenen Koordinatensystem,(c) time-dependent determination of a position of the distance detection units (20) in a predetermined coordinate system,
(d) zeitabhängiges Erfassen der Abstände, (e) aus den Abständen und den Positionen Ermitteln, ob ein fremdes Objekt einen Abstand zu der mehrgliedrigen Maschine (10) hat, der unterhalb eines vorgegebenen Schwellenwerts (dschweiie) liegt und (f) bejahendenfalls Abgeben eines Warnsignals.(d) time-dependent detection of the distances, (e) the distances and the positions determining whether a foreign object has a distance to the multi-unit machine (10), which is below a predetermined threshold (dsc h weiie) and (f) if so Issuing a warning signal.
18. Verfahren nach Anspruch 17, gekennzeichnet durch die Schritte: aus den Abständen und den Positionen Ermitteln, ob ein fremdes Objekt einen Warn-Abstand zu der mehrgliedrigen Maschine (10) hat, der unterhalb eines Warn-Schwellenwerts liegt, und - bejahendenfalls Ansteuern der mehrgliedrigen Maschine, so dass eine Bewegung verringert, nicht aber gestoppt wird.18. A method according to claim 17, characterized by the steps of: determining, from the distances and the positions, whether a foreign object has a warning distance to the multi-unit machine (10) which is below a warning threshold and, if so, driving the multi-unit machine, so that a movement is reduced, but not stopped.
19. Verfahren nach Anspruch 17 oder 18, gekennzeichnet durch die Schritte: - aus den Abständen und den Positionen Ermitteln, ob ein fremdes Objekt einen Alarm-Abstand zu der mehrgliedrigen Maschine (10) hat, der unterhalb eines Alarm-Schwellenwerts liegt, und bejahendenfalls Ansteuern der mehrgliedrigen Maschine (10), so dass eine Bewegung der Maschine gestoppt wird. A method according to claim 17 or 18, characterized by the steps of: determining from the distances and the positions whether a foreign object has an alarm distance to the multi-unit machine (10) which is below an alarm threshold, and if so Driving the multi-unit machine (10) so that movement of the machine is stopped.
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