WO2015082485A1 - Dispositif de travail et procédé de travail - Google Patents

Dispositif de travail et procédé de travail Download PDF

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Publication number
WO2015082485A1
WO2015082485A1 PCT/EP2014/076284 EP2014076284W WO2015082485A1 WO 2015082485 A1 WO2015082485 A1 WO 2015082485A1 EP 2014076284 W EP2014076284 W EP 2014076284W WO 2015082485 A1 WO2015082485 A1 WO 2015082485A1
Authority
WO
WIPO (PCT)
Prior art keywords
working device
robot
working
decoupling
process tool
Prior art date
Application number
PCT/EP2014/076284
Other languages
German (de)
English (en)
Inventor
Otmar Honsberg
Simon Klumpp
Ralf Kühnemann
Julian STOCKSCHLÄDER
Richard ZUNKE
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
Priority claimed from DE201320105504 external-priority patent/DE202013105504U1/de
Priority claimed from DE201320105501 external-priority patent/DE202013105501U1/de
Application filed by Kuka Systems Gmbh filed Critical Kuka Systems Gmbh
Priority to EP14823916.3A priority Critical patent/EP3077163A1/fr
Publication of WO2015082485A1 publication Critical patent/WO2015082485A1/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
    • B25J19/063—Safety devices working only upon contact with an outside object

Definitions

  • the invention relates to a working device and a working method with the features in the preamble of the method and device main claim.
  • a touch contact with the human body can be distinguished according to two types of stress, namely the impact force occurring and the
  • Impact force is a dynamic force transmitted in the first momentum on contact with the human body
  • the clamping and squeezing force is the static force that remains after a first momentum.
  • the force limit values for the respective types of stress are defined for individual body regions in a body model.
  • Standardization in particular ISO / TS 15066 and EN 10218-1,2, contain requirements for MRC with regard to protective measures, sensory reliability and the like
  • a collision of the robot or its tool with an obstacle, in particular with a worker is detected with a detection device and, for safety, a protective measure, in particular a standstill or a backward movement of the robot, is initiated.
  • the collision detection can be done touching and possibly with a measurement of occurring collision forces.
  • tactile articulated arm industrial robots are known for example from DE 10 2007 063 099 AI, DE 10 2007 014 023 AI and DE 10 2007 028 758 B4.
  • Robot speed on the other hand can be optimized.
  • Actuator allows a reduction of the body burden and the risk of injury as well as an optimal comparison of process and MRK requirements.
  • the personal safety device in particular the
  • decoupling device and its decoupling element can be designed so stiff that
  • the personal protection device can be designed to be controllable. It can be used in movement situations where one
  • executed process can be restored or increased. This allows an optimal balancing of process requirements and MRK requirements.
  • the controllable decoupling can take place in motion situations of the industrial robot, in which the process and tool precision play no role and the increase of robot speed and performance of the robot Working device or industrial robot in the
  • the working device can also be designed simpler and with better performance orientation according to MRK requirements.
  • Figure 1 a working device with a
  • Figure 2 a first variant of a personal protection device in the form of a
  • Decoupling device Figure 5: a variant of the personal protection device with a resilient protection means
  • Figure 13 a preferred embodiment of a tactile, multi-axis industrial robot.
  • the invention relates to a working device (1) and a working method.
  • the working device (1) and the working method are for cooperation with a worker (6) and for a so-called.
  • Human-robot cooperation or collaboration abbreviated MRK
  • the working device (1) has according to Figure 1 a multi-axis industrial robot (2) with a
  • the industrial robot (2) is designed as a tactile robot. He has an associated, stress-absorbing sensors (11).
  • the industrial robot (2) is designed as a tactile robot. He has an associated, stress-absorbing sensors (11).
  • Working device (1) in particular the industrial robot (2), may have a controller (26).
  • a preferred embodiment is shown in Figure 13 and will be explained later.
  • Process tool (3) can also be present multiple times.
  • the process tool (3) can optionally by means of a
  • the process tool (3) can be designed as desired.
  • In the embodiment shown is a
  • a personal protection device (4) is arranged in the area of the process tool (3) .
  • This can also be referred to as a MRK protection device.
  • FIGS. 2 to 12 show different embodiments for this purpose.
  • the personal protection device (4) is controllable.
  • Figures 6 to 12 show a variant of the personal protection device (4), which is passive and permanently in operation.
  • the controllable personal protection device (4) has an actuator (5) for their activation and deactivation on.
  • the activated personal safety device (4) allows its own contact with the worker (6)
  • Process tool (3) or a tool part has For this corresponding compliant properties.
  • the personal safety device (4) can be activated by the actuator (5) during a feed movement of the industrial robot (2).
  • a feeding movement can be any
  • the personal safety device (4) can be connected to the controller (26) by means of a cable or wirelessly. This is preferably the robot control of the industrial robot (2). It can be used in industrial robots
  • the controller (26) can control the personal safety device (4), in particular its actuator (5), depending on the situation and in dependence on the process flow.
  • the personal protection device (4) is designed as a controllable or activatable and deactivatable decoupling device (17), with the activated state at a
  • FIGS. 6 to 12 show the variant of a passive one
  • Decoupling device (17 ') which is permanently in operation. This effective mass is also called reflected mass in MRK practice. It is determined by the mass and the center of gravity, which are moved by the industrial robot with a so-called robot speed and hit the body in the event of a collision.
  • the controllable and the passive decoupling device (17,17 ') is arranged in each case between the parts to be decoupled. It may, for example, be arranged between the process tool (3) and the industrial robot (2), as shown in FIGS. 2 to 4 and FIGS. 6 to 12.
  • the decoupling device (17, 17 ') may be located elsewhere, e.g. be arranged between parts of the process tool (3).
  • Figure 1 shows a schematic diagram of the controllable decoupling device (17) and the passive
  • the activated decoupling device (17) enables the process tool (3) to be decoupled from the industrial robot (2) in such a way that a relative movement is possible between these parts (2, 3). This reduces the mass acting on a person contact or the reflected mass on the mass and the center of mass of the
  • Process tool (3) The much larger mass of the industrial robot (2) is decoupled. The same applies to the passive and permanently in function variant of the decoupling device (17 ') of Figure 6 to 12. In addition, the industrial robot (2) in the variants of Figure 2 to 4 and Figure 6 to 12, the process tool (3) in his Delivery movement to work or
  • the robot speed can be correspondingly increased while maintaining the load limit values mentioned above.
  • Decoupling device (17) the parts (2,3) are coupled again. They are preferably rigid and
  • the controllable decoupling device (17) of Figure 2 to 4 has interfaces (24,25) for connection to the parts to be decoupled. In the shown
  • (24, 25) may be designed in any manner, e.g. be designed as flanges or mounting plates.
  • the decoupling device (17) furthermore has a controllable coupling (20) for the rigid connection and release of the parts (2, 3) to be decoupled.
  • the controllable coupling (20) for the rigid connection and release of the parts (2, 3) to be decoupled.
  • Coupling (20) can form the actuator (5) in this case.
  • the clutch (20) is self-centering and has a controllable drive for releasing and closing.
  • the clutch (20) has two or more
  • the coupling parts (21, 22) are connected to the coupling drive and can be disengaged for release, e.g. be distanced from each other, so that a relative movement of the coupling parts (21,22) in a possible body contact is possible.
  • the decoupling device (17) has a resilient retaining means (18) for guiding the decoupled parts (2, 3), in particular the coupling parts (21, 22) connected therewith.
  • the resilient holding means (18) effects a captive mechanical connection of the decoupled parts (2, 3) or the released coupling parts (21, 22) and, on the other hand, permits a relative movement between the decoupled parts (2, 3) and the loosened ones
  • the resilient retaining means (18) as a spring (19), in particular as a preferably cylindrical
  • Coil spring formed on the e.g.
  • cylindrical coupling parts (21,22) is wound and at its ends with one interface (24,25) may be connected.
  • the decoupling device (17) can also be
  • the spring (19) may be formed as a compression spring and also have such a release and separation function.
  • the release agent (23) may additionally be present. It can e.g. as a pneumatic or hydraulic cylinder or the like. be educated. It can also be acted upon by the controller (26).
  • Detekt ions which detects a response of the decoupling element s (28) in the event of a collision and a relative movement of the interfaces (24,25). It is schematically indicated in FIG. 2 and may also be present in the other exemplary embodiments.
  • Detecting means (27) may e.g. be designed as a non-contact distance sensor or the like. And is connected to the controller (26).
  • the coupling (20) can in different ways
  • FIG. 3 a magnetic coupling is shown schematically, which can be designed differently.
  • the decoupling device (17) is activated and deactivated in different ways.
  • the magnetic coupling (20) can in one embodiment a controllable electromagnet at least one
  • Decoupling device (17) is thereby deactivated.
  • the spring (19) and possibly the release agent (23) are detached from each other and possibly distanced, the
  • Decoupling device (17) is activated.
  • the magnetic force connects and holds the coupling parts (21, 22), the decoupling device (17)
  • the controllable release agent (23) acts in its actor function against the magnetic force and triggers for activation of the decoupling device (17), the coupling parts (21,22) from each other.
  • the coupling (20) as a mechanical or fluidic coupling with a mechanical or electrical drive or a fluidic, in particular pneumatic or hydraulic drive for
  • Figure 4 shows a variant of the coupling (20), which is a ball joint with a ball cup guide to the
  • the drive for closing the clutch (20) can be designed in any desired manner and have a centering device with which the ball joint and the ball socket can be brought into a defined and positively supported position to each other.
  • Figure 4 also shows a variant of the yielding
  • FIG. 5 shows a further modification of the controllable personal safety device (4). This one has
  • the movable protective means (12) is linearly extendable. It may alternatively be pivoted or otherwise moved between a retracted or retracted rest position and an extended working or guard position.
  • the resilient protection means (12) is e.g. when
  • the end part may e.g. as a welding nozzle,
  • the actuator (15) can form the actuator (5). He pushes to activate the personal protection device (4), the sleeve (13) or other protection means (12) in the working position shown, whereby said
  • Tool end part is enclosed and shielded.
  • Robot speed can be increased.
  • the protection means (12) from the actuator (15) moved back to the rest position and the
  • the other portions of the process tool (3) may in turn be provided with a housing (16) of a soft and body contact compliant material, e.g. one
  • the housing (16) can be fixedly arranged on the process tool (3) and also reduces the body burden and the risk of injury in the contact case.
  • the resilient protection means (12) may further include a
  • the spring head (14) is e.g. arranged on the front end of the protective means (12) and also consists of a sleeve which is guided longitudinally movably on the protective means (12) and by means of one or more springs on the protective means (12) is supported in the axial direction.
  • the spring head (14) can also with a
  • Detection means e.g. a motion sensor or the like. be equipped with a body contact and an evasive movement of the spring head (14) can be detected.
  • the spring head (14) is an additional
  • the protective means (12) can thereby have a higher axial rigidity, which is compensated by the spring head (14).
  • the spring head (14) can also represent a kind of decoupling device and can even form the only very small reflected mass at an axial body contact.
  • the passive decoupling device (17 ') of Figure 6 to 12 also has interfaces (24,25) for connection to the parts to be decoupled.
  • these parts are the Industrial robot (2), in particular its output member (10), and the process tool (3).
  • the interfaces (24, 25) can be structurally designed in any desired way, for example as flanges or mounting plates.
  • decoupling device (17 ') also a
  • Detekt ions which detects a response of the decoupling element s (28) in the event of a collision and a relative movement of the interfaces (24,25). It is schematically indicated in FIG. 6 and may also be present in the other exemplary embodiments.
  • Detecting means (27) may e.g. as a non-contact distance sensor or the like. be educated.
  • Coil spring possibly as a compression spring, is formed.
  • the single spring can also be designed in another way.
  • Figure 7 shows a variant of the spring assembly (29), which is designed here as a spring assembly. This consists of several axially aligned and each end with the interfaces (24,25) connected metallic
  • Single feathers e.g. Coil springs or compression springs. These can be arranged in a ring or in any two-dimensional grid and take care of the said
  • FIG. 8 shows a further variant of a spring arrangement (29), which in turn is designed as a spring assembly.
  • the said individual springs are arranged obliquely and form a conical spring package. Again, a ring or grid arrangement is possible.
  • the individual springs are each equipped with a support ring
  • Cone shape a greater lateral stability is achieved than in the previous variant of Figure 7.
  • the cone shape can be designed differently. In the illustrated and preferred embodiment, it tapers from the robot side to the process tool (3).
  • the interfaces or flanges (24,25) can be designed differently.
  • FIG. 9 shows a variant in which the
  • the magnet is trained. It consists of two or more magnetically conductive coupling parts, one of which is e.g. is designed as a permanent magnet and the other consists of a ferromagnetic material or is also a permanent magnet with reversed polarity.
  • Coupling parts can at the contact point a
  • the magnetic holding force can be overcome, whereby the coupling parts can move relative to each other and possibly separate from each other.
  • one or more resilient retaining means (18 ') may be present, e.g. between the coupling parts and / or between the
  • the yielding Holding means (18 ') may be formed, for example, as ropes or chains. On the other hand, they can consist of a flexurally elastic and possibly also axially resilient material and can be designed, for example, as a flexible sleeve, which holds the magnetic coupling (32).
  • the decoupling element (28) is designed as a ball joint (30) which has a ball head and a ball socket, which are firmly connected to the respectively adjacent interface (24, 25).
  • a ball joint (30) for decoupling rotational movements are possible.
  • an adhesive effect or other resistance can be generated, the rotational movements such only when a predetermined collision or
  • Overload element (31) also made of a resilient and e.g. consist of rubber-like material, which is in the
  • a resilient holding means (18 ') may be present (not shown), which allows the relative movement during decoupling and an uncontrolled falling apart of
  • FIG. 12 shows a further variant in which the
  • Overload elements (31) is formed.
  • the overload elements (31) stabilize the ball joint (30) until the occurrence of a predetermined collision or reaction force in the event of a collision, where they then yield and the overload elements (31)
  • the industrial robot (2) has in the embodiments of Figures 1 and 13 a plurality of interconnected
  • the industrial robot (2) can have several rotary and / or translatory
  • the robot arms (8, 9) can be designed in several parts and rotatable by means of axes (III) and (V).
  • the industrial robot (2) in Fig. 13 has e.g. seven robot axes (I - VII).
  • the industrial robot (2) can be a multi-axis or multi-unit robot in conventional design
  • Such an industrial robot (2) requires special MRK protection measures to meet the requirements of accident prevention. This can e.g. a
  • the industrial robot (2) is more tactile
  • An external sensor can e.g. between the industrial robot (2) and the process tool (3)
  • the integrated sensor system (11) is preferred. She takes those at one
  • Robot axis (I - VII) acting loads may be arranged on the industrial robot (2) and / or on the process tool (3), which detects impending collisions and detects, e.g. is designed as a proximity sensor.
  • the tactile industrial robot (2) can have one or more force-controlled or force-controlled robot axes, in particular final drive (s).
  • all robot axes (I-VII) are force-controlled or
  • the tactile industrial robot (2) has at least one compliant robot axis (I-VII) with a
  • Robot axes (I - VII) a compliance control.
  • the compliance control may be e.g. a pure force control or a combination of a position and
  • a tactile industrial robot (2) can be switched to different operating modes. This allows
  • the tactile industrial robot (2) may e.g. be switched into a spring mode, in which he evades the external load resiliently until the load disappears.
  • a switch to a powerless mode is possible, in which the industrial robot (2) stops when such an external load occurs and moves on only after the elimination of the load.
  • the industrial robot (2) can also be manually guided and taught by e.g. acts on its output member (9) or on the process tool (3). The occurring robot and
  • Limb movements are registered and stored in order to generate a train or movement program for robot operation on this basis.
  • a tactile industrial robot (2) of the type described above is in particular in an implementation of
  • compliant robot axes suitable for a human-robot cooperation or collaboration (abbreviated MRK) and provided or trained. He may be at an unexpected or unexpected in the program flow
  • Such a tactile robot can eg according to DE 10 2007 063 099 AI, DE 10 2007 014 023 AI or DE
  • the industrial robot (2) preferably has a relatively low weight of less than 100 kg, especially 50 kg or less. He also has a correspondingly limited load capacity.
  • the industrial robot (2) can be designed as a small robot. Also preferred is a design as a lightweight robot, which is constructed of particularly lightweight materials, in particular plastic, at least in parts.

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

Abstract

L'invention concerne un dispositif de travail (1) et un procédé de travail utilisant un robot industriel (2) qui est apte à une coopération ou collaboration homme-robot (MRK) et qui supporte un outil de processus (3). Le robot industriel comporte plusieurs éléments (7,8,9,10) reliés à rotation entre eux et un ou plusieurs axes de robot (I-VII) dont la force est commandée ou régulée et qui comporte des capteurs intégrés qui détectent des contraintes externes exercées sur l'axe de robot (I à VII) respectif. À titre de mesure de protection MRK complémentaire, un dispositif de protection de personne (4) est disposé dans la zone de l'outil de processus (3).
PCT/EP2014/076284 2013-12-03 2014-12-02 Dispositif de travail et procédé de travail WO2015082485A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP14823916.3A EP3077163A1 (fr) 2013-12-03 2014-12-02 Dispositif de travail et procédé de travail

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE202013105501.8 2013-12-03
DE201320105504 DE202013105504U1 (de) 2013-12-03 2013-12-03 Arbeitsvorrichtung
DE202013105504.2 2013-12-03
DE201320105501 DE202013105501U1 (de) 2013-12-03 2013-12-03 Arbeitsvorrichtung

Publications (1)

Publication Number Publication Date
WO2015082485A1 true WO2015082485A1 (fr) 2015-06-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/076284 WO2015082485A1 (fr) 2013-12-03 2014-12-02 Dispositif de travail et procédé de travail

Country Status (2)

Country Link
EP (1) EP3077163A1 (fr)
WO (1) WO2015082485A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3061578A1 (fr) * 2015-02-25 2016-08-31 KUKA Systems GmbH Outil robot, moyen de traitement et procede de fonctionnement
CN109109000A (zh) * 2017-06-23 2019-01-01 康茂股份公司 包括配备有安全罩的操作单元的用于工业机器，具体是用于机器人的功能组件
DE102018208247A1 (de) * 2018-05-25 2019-11-28 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Handhabungseinheit in Art eines Roboters

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001287190A (ja) * 2000-04-07 2001-10-16 Denso Corp ロボット
DE102007014023A1 (de) 2007-03-23 2008-09-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter-Manipulatorarm-Gelenkantrieb
DE102007028758B4 (de) 2007-06-22 2009-04-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) Roboter-Manipulator-Gelenkantrieb
DE102007063099A1 (de) 2007-12-28 2009-07-02 Kuka Roboter Gmbh Roboter und Verfahren zum Überwachen der Momente an einem solchen
DE102010048369A1 (de) * 2010-10-13 2012-04-19 DLR - Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur Sicherheitsüberwachung eines Manipulators
DE102012015975A1 (de) * 2012-08-11 2013-03-21 Daimler Ag Verfahren zum Betreiben eines Sicherheitssystems für eine Produktionsstation und Sicherheitssystem für eine Produktionsstation
DE202012101121U1 (de) * 2012-03-29 2013-07-16 Kuka Systems Gmbh Trenneinrichtung
DE202012101120U1 (de) * 2012-03-29 2013-07-16 Kuka Systems Gmbh Bearbeitungseinrichtung

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001287190A (ja) * 2000-04-07 2001-10-16 Denso Corp ロボット
DE102007014023A1 (de) 2007-03-23 2008-09-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter-Manipulatorarm-Gelenkantrieb
DE102007028758B4 (de) 2007-06-22 2009-04-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) Roboter-Manipulator-Gelenkantrieb
DE102007063099A1 (de) 2007-12-28 2009-07-02 Kuka Roboter Gmbh Roboter und Verfahren zum Überwachen der Momente an einem solchen
DE102010048369A1 (de) * 2010-10-13 2012-04-19 DLR - Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur Sicherheitsüberwachung eines Manipulators
DE202012101121U1 (de) * 2012-03-29 2013-07-16 Kuka Systems Gmbh Trenneinrichtung
DE202012101120U1 (de) * 2012-03-29 2013-07-16 Kuka Systems Gmbh Bearbeitungseinrichtung
DE102012015975A1 (de) * 2012-08-11 2013-03-21 Daimler Ag Verfahren zum Betreiben eines Sicherheitssystems für eine Produktionsstation und Sicherheitssystem für eine Produktionsstation

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3061578A1 (fr) * 2015-02-25 2016-08-31 KUKA Systems GmbH Outil robot, moyen de traitement et procede de fonctionnement
CN109109000A (zh) * 2017-06-23 2019-01-01 康茂股份公司 包括配备有安全罩的操作单元的用于工业机器，具体是用于机器人的功能组件
DE102018208247A1 (de) * 2018-05-25 2019-11-28 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Handhabungseinheit in Art eines Roboters
DE102018208247B4 (de) * 2018-05-25 2020-03-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Handhabungseinheit in Art eines Roboters

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