WO2010072193A1 - Dispositif de sécurité et procédé pour faire fonctionner une machine à éléments multiples - Google Patents

Dispositif de sécurité et procédé pour faire fonctionner une machine à éléments multiples Download PDF

Info

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
Authority
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)
English (en)
Inventor
Jan Friederichs
Armin Wedler
Berend Denkena
Original Assignee
Gottfried Wilhelm Leibniz Universität Hannover
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 Gottfried Wilhelm Leibniz Universität Hannover filed Critical Gottfried Wilhelm Leibniz Universität Hannover
Publication of WO2010072193A1 publication Critical patent/WO2010072193A1/fr

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
    • 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

L'invention concerne un dispositif de sécurité pour faire fonctionner une machine à éléments multiples (10), comprenant une pluralité d'unités de détection de distance (20), les unités de détection de distance comprenant au moins un capteur (22) pour déterminer une distance du capteur par rapport à un objet se trouvant éventuellement dans une direction de capteur et un dispositif de communication (46) qui est conçu pour émettre un signal qui code la distance, et une unité centrale qui est réalisée et conçue pour recevoir les signaux des unités de détection de distance (20), pour déterminer à partir de là en fonction du temps une position des unités de détection de distance (20) dans un système de coordonnées prédéfini et pour émettre un signal d'avertissement quand un objet éventuellement présent ne fait pas partie de la machine et que la distance est inférieure à une valeur seuil (dschwelle) prédéfinie.
PCT/DE2009/001733 2008-12-24 2009-12-07 Dispositif de sécurité et procédé pour faire fonctionner une machine à éléments multiples WO2010072193A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008063081.0 2008-12-24
DE102008063081.0A DE102008063081B4 (de) 2008-12-24 2008-12-24 Sicherungsvorrichtung und Verfahren zum Betreiben einer mehrgliedrigen Maschine

Publications (1)

Publication Number Publication Date
WO2010072193A1 true WO2010072193A1 (fr) 2010-07-01

Family

ID=41698480

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2009/001733 WO2010072193A1 (fr) 2008-12-24 2009-12-07 Dispositif de sécurité et procédé pour faire fonctionner une machine à éléments multiples

Country Status (2)

Country Link
DE (1) DE102008063081B4 (fr)
WO (1) WO2010072193A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103249530A (zh) * 2010-12-16 2013-08-14 罗伯特·博世有限公司 用于运行搬运装置用的防护装置的方法，用于搬运装置的防护装置，和搬运装置
WO2015074841A1 (fr) * 2013-10-30 2015-05-28 Kuka Systems Gmbh Dispositif de travail et procédé de fonctionnement
DE102016114835A1 (de) * 2016-08-10 2018-02-15 Joanneum Research Forschungsgesellschaft Mbh Robotervorrichtung
FR3060182A1 (fr) * 2016-12-12 2018-06-15 Institut De Recherche Technologique Jules Verne Procede et dispositif de detection d’une intrusion dans l’environnement d’un robot
FR3070294A1 (fr) * 2017-08-28 2019-03-01 Fogale Nanotech Dispositif de detection multi-distances pour un robot, et robot equipe de tel(s) dispositif(s)
US10295331B2 (en) * 2015-07-31 2019-05-21 Sick Ag Distance sensor
EP4124789A1 (fr) * 2021-07-27 2023-02-01 Sick Ag Fixation d'une pièce de machine mobile

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012007242A1 (de) * 2012-03-09 2013-09-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur sicheren Mensch-Roboter-Kooperation
DE102012014249B4 (de) * 2012-07-19 2014-04-03 Audi Ag Schutzvorrichtung zur Bewegungsabsicherung eines über mehrere Achsen verstellbaren Roboterarms
DE102012217762B4 (de) 2012-09-28 2023-05-17 Homag Holzbearbeitungssysteme Gmbh Bumper mit integriertem Sensor
DE102013021387B4 (de) * 2013-12-13 2019-09-12 Daimler Ag Roboter sowie Verfahren zum Betreiben eines solchen Roboters
DE102013020596A1 (de) * 2013-12-13 2015-06-18 Daimler Ag Arbeitsstation und Verfahren zum Durchführen wenigstens eines Arbeitsschritts, insbesondere zum Herstellen eines Kraftwagens
JP5902664B2 (ja) 2013-12-25 2016-04-13 ファナック株式会社 保護部材を有する人協調型産業用ロボット
DE102014012563B4 (de) 2014-08-04 2018-10-25 Abb Schweiz Ag Näherungssensorik für einen Roboter
DE102015000793A1 (de) * 2015-01-23 2016-07-28 Daimler Ag Sensorvorrichtung für unterschiedliche Robotervarianten
DE102016203701A1 (de) * 2016-03-07 2017-09-07 Kuka Roboter Gmbh Industrieroboter mit mindestens zwei Bilderfassungseinrichtungen
DE102016222016B4 (de) * 2016-11-09 2021-09-02 Kuka Deutschland Gmbh Verfahren zur Überwachung eines Roboters und Steuereinheit
JP6879736B2 (ja) * 2016-12-28 2021-06-02 川崎重工業株式会社 ロボットシステム
JP6496335B2 (ja) * 2017-03-03 2019-04-03 ファナック株式会社 ロボットシステム
JP2018146456A (ja) * 2017-03-07 2018-09-20 旭光電機株式会社 物体検知装置
DE202017101627U1 (de) 2017-03-21 2018-06-22 Sick Ag Sensorsystem für einen mehrgliedrigen Roboter
DE102017105999B3 (de) 2017-03-21 2018-03-01 Sick Ag Sensorsystem für einen mehrgliedrigen Roboter
WO2018195569A1 (fr) * 2017-04-24 2018-11-01 Blue Danube Robotics Gmbh Détection d'une collision entre un dispositif de manutention et un obstacle
DE102017010403B3 (de) 2017-11-09 2019-03-07 Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, vertreten durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr Sensoranordnung zur Erfassung von Verschiebungen von Ansprengzielen
JP6680752B2 (ja) * 2017-11-28 2020-04-15 ファナック株式会社 ロボットの速度を制限する制御装置
DE102017129959A1 (de) * 2017-12-14 2019-04-25 Schaeffler Technologies AG & Co. KG Verfahren zum Betrieb eines Systems mit mehreren Maschinen
DE102018110852A1 (de) * 2018-05-07 2019-11-07 Kinotex Sensor Gmbh Vorrichtung und Verfahren zur Sicherung eines maschinell oder automatisch gesteuerten beweglichen Gerätes und Sensorkachel
DE102018113362B4 (de) * 2018-06-05 2021-07-15 Sick Ag Sensorsystem mit optoelektronischen Distanzsensormodulen
DE102018118909B3 (de) 2018-08-03 2019-12-05 Sick Ag Sensoranordnung und Verfahren zur Erfassung von Objekten
WO2020036217A1 (fr) * 2018-08-17 2020-02-20 旭光電機株式会社 Dispositif de détection d'objet
DE102019106423B3 (de) * 2019-03-13 2020-06-25 Sick Ag Sicherheitsvorrichtung für einen Roboter
CN113162940A (zh) * 2021-04-27 2021-07-23 深圳深度探测科技有限公司 一种夜间监护用阵列天线雷达和阈值训练及规则评估系统及管理方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52105464A (en) * 1976-02-27 1977-09-03 Hitachi Ltd Collision preventing apparatus in use of ultrasonic wave
EP0158593A1 (fr) * 1984-04-09 1985-10-16 GET Gesellschaft für Elektronik-Technologie mbH Dispositif électronique de surveillance et d'avertissement pour manipulateur
DE102004042489A1 (de) * 2004-08-31 2006-03-16 Siemens Ag Medizinische Untersuchungs- oder Behandlungseinrichtung
US20080079590A1 (en) * 2006-10-03 2008-04-03 Stork Townsend Inc. Method and means for controlling the operation of a machine based upon the wearing of a sensor by a machine operator
DE102007062245A1 (de) * 2007-12-21 2009-06-25 Robert Bosch Gmbh Kollisionsdetektionsvorrichtung sowie Handhabungsgerät

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5280622A (en) * 1992-07-17 1994-01-18 Mitsubishi Semiconductor America, Inc. Combined light beam and ultrasonic transducer safety sensing system
DE10162412A1 (de) * 2001-12-19 2003-07-10 Kuka Roboter Gmbh Einrichtung und Verfahren zum Sichern von Vorrichtungen mit frei im Raum beweglichen Teilen
DE102004043514A1 (de) * 2004-09-08 2006-03-09 Sick Ag Verfahren und Vorrichtung zum Steuern einer sicherheitsrelevanten Funktion einer Maschine
DE102004043515A1 (de) * 2004-09-08 2006-03-09 Sick Ag Verfahren und Vorrichtung zum Erfassen eines Objekts
AT502931A2 (de) * 2004-10-05 2007-06-15 Keba Ag Arbeitsbereichsüberwachung für automatisierte, programmgesteuerte maschinen und roboter
DE102005003492B4 (de) * 2005-01-25 2008-05-29 Sick Ag Sensorsystem und Sicherungsverfahren
DE102005003827B4 (de) * 2005-01-26 2007-01-04 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur Interaktion zwischen einem Menschen und einer Robotereinheit an einem Roboterarbeitsplatz
DE102006048163B4 (de) * 2006-07-31 2013-06-06 Pilz Gmbh & Co. Kg Kamerabasierte Überwachung bewegter Maschinen und/oder beweglicher Maschinenelemente zur Kollisionsverhinderung
DE102007007576B4 (de) * 2007-02-15 2009-01-15 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Sichern eines Arbeitsraums

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52105464A (en) * 1976-02-27 1977-09-03 Hitachi Ltd Collision preventing apparatus in use of ultrasonic wave
EP0158593A1 (fr) * 1984-04-09 1985-10-16 GET Gesellschaft für Elektronik-Technologie mbH Dispositif électronique de surveillance et d'avertissement pour manipulateur
DE102004042489A1 (de) * 2004-08-31 2006-03-16 Siemens Ag Medizinische Untersuchungs- oder Behandlungseinrichtung
US20080079590A1 (en) * 2006-10-03 2008-04-03 Stork Townsend Inc. Method and means for controlling the operation of a machine based upon the wearing of a sensor by a machine operator
DE102007062245A1 (de) * 2007-12-21 2009-06-25 Robert Bosch Gmbh Kollisionsdetektionsvorrichtung sowie Handhabungsgerät

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
CHEUNG E ET AL: "MOTION PLANNING FOR A WHOLE-SENSITIVE ROBOT ARM MANIPULATOR", PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. CINCINNATI, MAY 13 - 18, 1990; [PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION], LOS ALAMITOS, IEEE COMP. SOC. PRESS, US, vol. -, 13 May 1990 (1990-05-13), pages 344 - 349, XP000139887, ISBN: 978-0-8186-9061-7 *
EVERETT H R: "SURVEY OF COLLISION AVOIDANCE AND RANGING SENSORS FOR MOBILE ROBOTS", ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER SCIENCE PUBLISHERS, AMSTERDAM, NL, vol. 58, no. 1, 1 May 1989 (1989-05-01), pages 5 - 67, XP000113868, ISSN: 0921-8890 *

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103249530A (zh) * 2010-12-16 2013-08-14 罗伯特·博世有限公司 用于运行搬运装置用的防护装置的方法，用于搬运装置的防护装置，和搬运装置
JP2014501179A (ja) * 2010-12-16 2014-01-20 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング 操作装置用の安全装置の動作方法、操作装置用の安全装置および操作装置
WO2015074841A1 (fr) * 2013-10-30 2015-05-28 Kuka Systems Gmbh Dispositif de travail et procédé de fonctionnement
US10295331B2 (en) * 2015-07-31 2019-05-21 Sick Ag Distance sensor
DE102016114835A1 (de) * 2016-08-10 2018-02-15 Joanneum Research Forschungsgesellschaft Mbh Robotervorrichtung
FR3060182A1 (fr) * 2016-12-12 2018-06-15 Institut De Recherche Technologique Jules Verne Procede et dispositif de detection d’une intrusion dans l’environnement d’un robot
WO2018109355A1 (fr) * 2016-12-12 2018-06-21 Irt Jules Verne Procede et dispositif de detection d'une intrusion dans l'environnement d'un robot
FR3070294A1 (fr) * 2017-08-28 2019-03-01 Fogale Nanotech Dispositif de detection multi-distances pour un robot, et robot equipe de tel(s) dispositif(s)
WO2019042784A1 (fr) * 2017-08-28 2019-03-07 Fogale Nanotech Dispositif de detection multi-distances pour un robot, et robot equipe de tel(s) dispositif(s)
US10919157B2 (en) 2017-08-28 2021-02-16 Fogale Nanotech Multi-distance detection device for a robot, and robot equipped with such (a) device(s)
EP4124789A1 (fr) * 2021-07-27 2023-02-01 Sick Ag Fixation d'une pièce de machine mobile

Also Published As

Publication number Publication date
DE102008063081A1 (de) 2010-08-05
DE102008063081B4 (de) 2014-10-23

Similar Documents

Publication Publication Date Title
DE102008063081B4 (de) Sicherungsvorrichtung und Verfahren zum Betreiben einer mehrgliedrigen Maschine
DE102020101482B3 (de) Sicherheitssystem und Verfahren
EP2231369A1 (fr) Robot et procédé pour surveiller les couples sur un tel robot
EP1426784B1 (fr) Dispositif et procédé de localisation
EP3828584B1 (fr) Système de sécurité
WO2019206753A1 (fr) Système de localisation intérieure pour la production industrielle
EP3859382B1 (fr) Système de sécurité et procédé de localisation d'une personne ou d'un objet dans une zone de surveillance à l'aide d'un système de sécurité
DE102019211770B3 (de) Verfahren zur rechnergestützten Erfassung und Auswertung eines Arbeitsablaufs, bei dem ein menschlicher Werker und ein robotisches System wechselwirken
DE102018125736A1 (de) Verfahren zum Schutz von Menschen in einer Umgebung einer beweglichen Maschine
WO2014072064A1 (fr) Dispositif pour améliorer les procédés de production
WO2022002503A1 (fr) Procédé pour faire fonctionner un système de radiolocalisation, station de base et dispositif d'évaluation
DE202019106569U1 (de) Sicherheitssystem
DE202021100273U1 (de) Sicherheitssystem
EP3791375A1 (fr) Procédé et dispositif de surveillance et/ou de commande mutuelle de systèmes techniques autonomes
EP4033140B1 (fr) Système de sécurité et procédé comprenant un système de sécurité
DE202020100454U1 (de) Sicherheitssystem zur Lokalisierung einer Person oder eines Objektes in einem Überwachungsbereich
WO2006015651A1 (fr) Procede de surveillance de position fiable
DE102020103298A1 (de) Verfahren und System zum Überwachen von einem Objekt im Umfeld eines Luftfahrzeugs
DE102017122589A1 (de) Verfahren und Vorrichtung zur Kollisionsprävention zwischen einem Flurförderzeug und mindestens einem Kollisionspartner
DE102021120130A1 (de) Sicherheitssystem und Verfahren mit einem Sicherheitssystem
DE102022118737B3 (de) Funkortungssystem mit Testeinrichtung
WO2013120527A1 (fr) Ensemble réseau radio pour un édifice
US20240054876A1 (en) Safety system and method using a safety system
EP3770708B1 (fr) Dispositif de surveillance
DE102021120131A1 (de) Sicherheitssystem und Verfahren mit einem Sicherheitssystem

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09804241

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 09804241

Country of ref document: EP

Kind code of ref document: A1