WO2015074841A1 - Dispositif de travail et procédé de fonctionnement - Google Patents

Dispositif de travail et procédé de fonctionnement Download PDF

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Publication number
WO2015074841A1
WO2015074841A1 PCT/EP2014/073148 EP2014073148W WO2015074841A1 WO 2015074841 A1 WO2015074841 A1 WO 2015074841A1 EP 2014073148 W EP2014073148 W EP 2014073148W WO 2015074841 A1 WO2015074841 A1 WO 2015074841A1
Authority
WO
WIPO (PCT)
Prior art keywords
industrial robot
obstacle
working device
robot
distance
Prior art date
Application number
PCT/EP2014/073148
Other languages
German (de)
English (en)
Inventor
Matthias Reichenbach
Simon Klumpp
Robert Haman
Richard ZUNKE
Konrad Wirth
Christian Eberdt
Kurt Strauss
Reinhard NEUREITER
Niklas LEDERER
Thomas Rau
Julian STOCKSCHLÄDER
Georg Wild
Martin WITTEL
Otmar Honsberg
Ralf Kühnemann
Original Assignee
Kuka Systems Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuka Systems Gmbh filed Critical Kuka Systems Gmbh
Priority to EP14801948.2A priority Critical patent/EP3062971A1/fr
Publication of WO2015074841A1 publication Critical patent/WO2015074841A1/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • 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
    • F16P3/144—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 light grids

Definitions

  • the invention relates to a working device and an operating method with the features in the preamble of the method and device main claim.
  • MRK Failure safety and the like .
  • MRK a detected collision of the robot or its tool with an obstacle, in particular with a worker detected with a detection device and for safety
  • Collision detection can be touching and possibly with a measurement of collision forces occurring.
  • Suitable tactile articulated arm industrial robots for this purpose are known, for example, from DE 10 2007 063 099 A1, DE 10 2007 014 023 A1 and DE 10 2007 028 758 B4. It is an object of the present invention to provide a
  • the invention solves this problem with the features in the method and device main claim.
  • Availability of the working device without limitation of MRK fitness can be achieved. By measuring the distance, an imminent risk of collision can be detected in advance, with the industrial robot performing an evasive movement.
  • Dodge in particular the operating method of the working device, is an upstream
  • the industrial robot can make an evasive movement past the obstacle and avoid this.
  • the distance measurement can be continued, the success of the evasive movement checked and the evasive movement are corrected as needed can. This is particularly advantageous if the
  • the working device and in particular its control are provided for the aforementioned and claimed functions and designed in a suitable manner.
  • control for the evaluation of the measured or determined distances and the planning and initiation of the evasive movement and their possibly.
  • the detection device may comprise a plurality of sensor devices.
  • the detection device may comprise a plurality of sensor devices.
  • sensor devices for this purpose are in the subclaims
  • contacting detects the occurrence of a collision and additionally has a distance-measuring sensor device for the avoidance strategy.
  • Standard specifications are designed according to MRK-suitable.
  • a self-MRK-suitable, in particular tactile industrial robot, with an associated, in particular integrated, and acting loads detecting sensors are used.
  • the additional sensor device for preferably
  • Sensor device may have a simple and inexpensive sensor that can be located on the industrial robot or externally.
  • the sensor can be considered optical
  • Sensor e.g. as a 3D camera
  • Such cameras are from other areas, in particular
  • Figure 1 a schematic representation of a
  • Figure 4 a tactile industrial robot.
  • the invention relates to a working device (1) and a method for operating such a working device (1).
  • the working device (1) contains at least one industrial robot (2) which carries and guides a process tool (3) and carries out a process with it. A preferred embodiment is shown in Figure 4 and will be explained in more detail succession.
  • the working device (1) further comprises a controller (6). This can be a robot controller or another, in particular superior, station or system controller.
  • Processes can be designed as desired. It may be joining processes, client or forming processes, handling ⁇ and assembly processes and corresponding tool training.
  • the process tool (3) can also have one or more own axes of motion and drives. In the exemplary embodiments is a possibly changeable
  • the industrial robot (2) is programmable and has for this purpose a corresponding robot controller (6) with suitable interfaces and memories.
  • a corresponding robot controller (6) with suitable interfaces and memories.
  • Robot controller (6) are stored one or more path programs for the robot movements in the processes to be executed.
  • the railway programs the
  • an algorithm or a program for the evaluation of detected distances (d) and the execution of an evasive movement (a) of the industrial robot (2) can be stored in the controller or robot controller (6).
  • the working device (1) is for a human-robot cooperation or collaboration (abbreviated MRK) in
  • the MRK-compatible working device (1) introduces
  • Process tool (3) collides with the operator (7) or with another unforeseen obstacle and comes in touching contact sees the MRK measure e.g. a stoppage or a backward movement of the
  • the industrial robot (2) ago. At a standstill, the industrial robot (2) may also be switched powerless and can be pushed away by the worker (7) or another obstacle.
  • the working device (1) has a detection device (5). This can have one or more sensor devices (16) for collision detection.
  • the industrial robot (2) is itself MRK-capable and equipped with an associated sensor device (16) for collision detection.
  • the sensor device 16
  • (16) may include one or more sensors (17) for detecting a physical contact between the industrial robot (2) and / or the process tool (3) and the operator (7) or other obstacle. With a sensor (17) may possibly also occurring
  • one or more sensors (17) are integrated in the industrial robot (2) and detect the loads acting on the outside in the event of a collision. In another, not shown
  • one or more sensors (17) on the process tool (3) or between the industrial robot (2) and the process tool (3) may be arranged. Furthermore, it is possible to prevent the occurrence of a collision in another way, e.g. electrically via current flow upon contact or the like. , and with a suitably trained
  • the detection device (5) additionally detects a distance (d) between the industrial robot (2) and / or its process tool (3) and the worker (7) or another unforeseen obstacle.
  • the detection or detection can by direct measurement or by
  • Distance detection is one or more additional Sensor device (s) (14,15) provided.
  • Sensor devices (14, 15, 16) are connected to the controller (6) via a signal connection (18), e.g. the shown
  • Signal line or wirelessly coupled by radio or otherwise.
  • the working device (1) in particular the controller (6) is then designed to be at a threatening
  • the threat of collision can be determined from the recorded distance. This can be done by evaluating the distance size.
  • the detection device (5) checks in advance along the programmed trajectory the environment on the
  • the industrial robot (2) can complete its programmed process movement, e.g. the target point (19) shown in Figures 2 and 3 is achieved.
  • the evasive movement (a) can lead past the obstacle (7) and circumvent it or possibly increase too small a distance from the obstacle or the worker (7).
  • Figure 2 illustrates the case in which in the
  • a collision relevant point (4) may e.g. the in
  • the distance measurement then relates to the lateral distance (d) between the trajectory (21) and the obstacle or worker (7).
  • the detection device (5) detects the distance (d) according to position and size. This is preferably done without contact. The detection may consist in a direct measurement of the distance (d) between a collision-relevant point (4) and the obstacle or worker (7). On the other hand, the distance (d) can be determined from another distance measurement. This is the case, for example, if the measuring reference point is distanced from the collision-relevant point (4).
  • a sensor device (14) can eg according to Figure 1 on Industrial robot (2) and / or be arranged on the process tool (3). She is in the robot movement
  • Such a sensor device (14) can be one or more suitable sensors for preferably
  • Trajectory or trajectory (21) in advance and at a distance to the current robot position have.
  • a sensor may e.g. be an ultrasonic sensor.
  • an optical sensor or other suitable sensor with distance effect is possible.
  • the detection device (5) can alternatively or
  • Sensor device may e.g. an optical
  • a sensor may e.g. as a 3D camera, as a depth image camera, as
  • the working device (1) is suitable
  • Detection device (5) take place.
  • the fallback process can be dynamic.
  • a recording and evaluation of the distances can during the
  • the detection device (5) detects not only the existence, but also the position and / or the size and / or a possible movement of the obstacle or worker (7).
  • the said position closes the position and
  • the evasive movement is preferably planned and executed by the controller (6). This has for this purpose the mentioned algorithm for the compensation movement (a).
  • FIGS. 2 and 3 illustrate, e.g. of the
  • the evasive movement (a) leads via one or more additional track points (20) to the
  • the movement can be changed as a point-to-point movement on accordingly
  • the one or more track points (20) could, if necessary, in a dynamic
  • the MRK fitness of the working device (1) and possibly of the industrial robot (2) can be produced in different ways.
  • the industrial robot (2) itself is MRK-compatible.
  • Robot position occurs where this burden is not expected.
  • the tactile industrial robot (2) can with the worker (7) in an open
  • the industrial robot (2) may e.g. in accordance with DE 10 2007 063 099 A1, DE 10 2007 014 023 A1 and / or DE 10 2007 028 758 B4.
  • a preferred embodiment is shown in FIG.
  • the industrial robot (2) is connected to an external or
  • the tactile industrial robot (2) can be the in Figure 5
  • integrated sensor device (16) for the detection of externally acting forces and / or moments which is connected to the robot controller (6) and for control or regulation,
  • the tactile Industrial robots can in particular power or
  • the industrial robot (2) has several, e.g. four movable and connected members (8,9,10,11).
  • the links (8, 9, 10, 11) are preferably articulated and connected to one another and to a pedestal via rotating robot axes I-VII.
  • the socket may have a connection for equipment shown in FIG. It is also possible for individual members (9, 10) to be multi-part and movable, in particular rotatable about the longitudinal axis.
  • the industrial robot (2) is designed as Gelenkarm- or articulated robot and has seven driven axes or axes of motion I-VII.
  • the axes I-VII are connected to the robot controller and can be controlled and possibly regulated.
  • the output side end member (11) of the robot (2) is e.g. trained as a robot hand and assigns this to a
  • the axis of rotation (13) forms the last robot axis VII.
  • a possibly hollow output element (12) and possibly other robot members (8,9,10) one or more lines for resources, e.g. Power and signal currents, fluids, etc. be guided and on the flange (12) to the outside.
  • the signal line (18) can be guided inside the robot.
  • the robot (2) preferably has three or more movable members (8, 9, 10, 11). In the exemplary embodiment shown, it has a base with a base
  • intermediate links (9, 10) can alternatively be smaller or bigger.
  • individual or all intermediate links (9, 10) can be designed to be rotationally fixed and without an additional axle.
  • the industrial robot (2) can be arranged standing or alternatively hanging according to FIG.
  • the robot axes I-VII each have an axle bearing, e.g. Swivel or a joint, and a here associated and integrated controllable, possibly adjustable final drive, e.g. Rotary drive, up.
  • the robot axes I-VII may have a controllable or switchable brake and possibly redundant sensor device (16).
  • the sensor system may be integrated and may be e.g. Have one or more, schematically indicated in Figure 1 sensors (17) on one or more robot axes I-VII. These sensors (17) can have the same or different functions. In particular, they can be used to capture
  • the aforementioned force control or force control of the robot axes refers to the effect on the outside of the output element (12) of the end member (11) and on the reaction forces acting there.
  • Robot-internally, a torque control or torque control takes place on the rotating axes or axle drives.
  • the industrial robot (2) can be one or more resilient axles (I-VII) for the MRK-fitness
  • the compliance rule can be a pure
  • Load detection with the robot sensors on the axles (I - VII) can also search and find the
  • One or more compliant axes are also advantageous for tracking the process tool (3) according to the feed.
  • the industrial robot (2) can also apply as needed a defined pressing or pulling force. In the different cases, a weight compensation can also take place.
  • the illustrated industrial robot (2) can as
  • Process tool (3) also has a low weight.
  • the industrial robot (2) with its process tool (3) is thus lightweight overall and can be transported without much effort and moved from one location to another.
  • Industrial robot (2) and process tool (3) can be less than 50 kg, in particular about 30 kg.
  • the industrial robot (2) is programmable, wherein the robot controller (6) has a computing unit, one or more memories for data or programs as well as input and output units.
  • the process tool (3) can be connected to the robot controller (6) or another common control and can eg as
  • the robot controller may process relevant data, e.g. Sensor data, save and for a
  • an MRK-compatible working device (1) it is also possible to use another conventional industrial robot (2) without its own MRK capability, e.g. is not tactile and / or has only position controlled axes.
  • the detection device (5) in particular the
  • Collision detecting sensor device (16) is designed for this purpose.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de travail (1) comprenant une commande (6) et un robot industriel (2) qui supporte un outil de traitement (3). Le dispositif de travail (1) est conçu pour une collaboration homme-robot (MRK) et comporte un moyen de détection (5) relié à la commande et comportant un capteur (16) servant à détecter une collision se produisant entre le robot industriel (2) ou l'outil de traitement (3 ) et un opérateur (7). Le moyen de détection (5) détecte également une distance (d) entre le robot industriel (2) et/ou l'outil de traitement (3) et l'obstacle (7). Le dispositif de travail (1) ordonne au robot industriel (2) d'effectuer par rapport à l'obstacle (7) un mouvement de compensation (a) qui passe devant l'obstacle (7) et contourne l'obstacle (7) ou le mouvement de compensation (a) augmente la distance insuffisante par rapport à l'obstacle ou l'opérateur (7).
PCT/EP2014/073148 2013-10-30 2014-10-28 Dispositif de travail et procédé de fonctionnement WO2015074841A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP14801948.2A EP3062971A1 (fr) 2013-10-30 2014-10-28 Dispositif de travail et procédé de fonctionnement

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202013104860.7 2013-10-30
DE202013104860.7U DE202013104860U1 (de) 2013-10-30 2013-10-30 Arbeitsvorrichtung

Publications (1)

Publication Number Publication Date
WO2015074841A1 true WO2015074841A1 (fr) 2015-05-28

Family

ID=52478861

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/073148 WO2015074841A1 (fr) 2013-10-30 2014-10-28 Dispositif de travail et procédé de fonctionnement

Country Status (3)

Country Link
EP (1) EP3062971A1 (fr)
DE (1) DE202013104860U1 (fr)
WO (1) WO2015074841A1 (fr)

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JP2017078707A (ja) * 2015-07-31 2017-04-27 ジック アーゲー 距離センサ
CN106652634A (zh) * 2016-12-28 2017-05-10 济宁中科先进技术研究院有限公司 机器人教学平台及其教学方法
CN106971662A (zh) * 2017-04-28 2017-07-21 北京华航唯实机器人科技有限公司 一种工业机器人教学系统
DE202016103393U1 (de) * 2016-06-27 2017-09-28 Kuka Systems Gmbh Greifwerkzeug und Greifeinrichtung
CN108320606A (zh) * 2017-01-18 2018-07-24 上海福赛特机器人有限公司 工业机器人教学实训平台
US10065317B2 (en) 2016-06-30 2018-09-04 General Electric Company Control system for coordinating robotic machines to collaborate on tasks
JP2019518616A (ja) * 2016-05-19 2019-07-04 ポリテクニコ ディ ミラノ １または複数の協働ロボットの運動を制御するための方法およびデバイス
US10556353B2 (en) 2016-08-12 2020-02-11 Industrial Technology Research Institute Robot arm control device and robot arm operation method
CN111032292A (zh) * 2017-08-28 2020-04-17 Fogale 纳米技术公司 配备有多距离检测的功能头的机器人
JP2020062701A (ja) * 2018-10-15 2020-04-23 株式会社今仙電機製作所 ロボット、このロボットを備えた搬送車、このロボットの制御方法及び制御プログラム
DE102021201971A1 (de) 2021-03-02 2022-09-08 Psa Automobiles Sa Bearbeitungsvorrichtung für eine drehende Bearbeitung

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DE102016007519A1 (de) * 2016-06-20 2017-12-21 Kuka Roboter Gmbh Überwachung einer Anlage mit wenigstens einem Roboter
DE102016111521B4 (de) * 2016-06-23 2018-03-01 Lisa Dräxlmaier GmbH Vorrichtung zum Herstellen eines Kabelbaums
DE102016114835A1 (de) * 2016-08-10 2018-02-15 Joanneum Research Forschungsgesellschaft Mbh Robotervorrichtung
DE102017101905B4 (de) 2017-01-31 2021-07-29 Sick Ag Überwachungseinrichtung
DE102017202004A1 (de) * 2017-02-08 2018-08-09 Thyssenkrupp Ag Vorrichtung zur Absicherung eines maschinell gesteuerten Handhabungsgeräts und Verfahren
DE102017005194C5 (de) 2017-05-31 2022-05-19 Kuka Deutschland Gmbh Steuern einer Roboteranordnung
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WO2019010612A1 (fr) * 2017-07-10 2019-01-17 深圳市艾唯尔科技有限公司 Système et procédé de protection anti-collision de joint de robot reposant sur une technologie de fusion de détection
JP6687573B2 (ja) * 2017-09-07 2020-04-22 ファナック株式会社 ロボットシステム
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DE102018208813A1 (de) * 2018-06-05 2019-12-05 Robert Bosch Gmbh Sicherungseinrichtung für eine Handhabungsvorrichtung, Industrieroboter und Verfahren zum Betreiben einer Sicherungseinrichtung
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DE102019126465B4 (de) * 2018-10-01 2021-02-11 KBee AG Verfahren und Vorrichtung zur Trajektorienbestimmung für serielle Manipulatoren
WO2022179698A1 (fr) * 2021-02-26 2022-09-01 Roundpeg Technologies Gmbh Procédé pour déterminer une distance minimale entre un objet et une surface d'appareil, dispositif de sécurité pour un appareil de manutention ayant une surface d'appareil, et appareil de manutention
LU500261B1 (de) 2021-06-09 2022-12-13 Phoenix Contact Gmbh & Co System zum Steuern der Bewegungsrichtung und/oder Geschwindigkeit wenigstens einer selbstfahrenden Vorrichtung insbesondere in einer industriellen Umgebung
DE102021114805A1 (de) 2021-06-09 2022-12-15 Phoenix Contact Gmbh & Co. Kg Selbstfahrende Vorrichtung zum Einsatz in einer industriellen Umgebung
DE102021114807A1 (de) 2021-06-09 2022-12-15 Phoenix Contact Gmbh & Co. Kg System zum Steuern der Bewegungsrichtung und/oder Geschwindigkeit wenigstens einer selbstfahrenden Vorrichtung insbesondere in einer industriellen Umgebung
LU500260B1 (de) 2021-06-09 2022-12-13 Phoenix Contact Gmbh & Co Selbstfahrende Vorrichtung zum Einsatz in einer industriellen Umgebung
WO2023174557A1 (fr) * 2022-03-18 2023-09-21 Roundpeg Technologies Gmbh Ensemble robot pour le traitement et/ou la manipulation d'une pièce, élément de protection pour un ensemble robot et ensemble de protection

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JP7224843B2 (ja) 2018-10-15 2023-02-20 株式会社今仙電機製作所 ロボット、このロボットを備えた搬送車、このロボットの制御方法及び制御プログラム
DE102021201971A1 (de) 2021-03-02 2022-09-08 Psa Automobiles Sa Bearbeitungsvorrichtung für eine drehende Bearbeitung

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