WO2020075054A1

WO2020075054A1 - End effector device with safety cover and procedure for applying the device

Info

Publication number: WO2020075054A1
Application number: PCT/IB2019/058544
Authority: WO
Inventors: Adrián GŐGH
Original assignee: B & O Kft.
Priority date: 2018-10-11
Filing date: 2019-10-08
Publication date: 2020-04-16
Also published as: HU231104B1; HUP1800352A2

Abstract

The subject of the invention is an end effector device, with safety cover and to be connected suitably to a collaborative robot, so that it includes an end effector (1) fitted with a frame (9) and optical power meter sensor (2), and the end effector (1) has a piece gripping block (5) that is suitable for gripping pieces (6). It is characterized in that the end effector (1) includes a slider (3) and a holding unit (4) connecting to the slider (3), the piece gripping block (5) is connected to the holding unit (4), the optical power meter sensor (2) is mounted onto the frame (9), a cover panel (7) is connected to the optical power meter sensor (2), the cover panel (7) surrounds the end effector (1) from all directions, the cover panel (7) is covered from the outside by a flexible cover panel (8), and there is an opening (18) on the cover panel (7) and the flexible cover panel (8) the diameter of which is larger than the piece (6) so that the piece (6) can pass through it. The subject of the invention also includes the procedure for applying the device.

Description

End effector device with safety cover and procedure for applying the device

The subject of the invention is an end effector device with safety cover, suitably for being connected to a collaborative robot. The subject of the invention also includes the procedure for using the device.

Considerable developments have been achieved in collaborative robotics in recent years, and safety-compliant solutions have been created that are capable of working at the same place and on the same workflow as humans. A collaborative robot is defined as a robot that is capable of working at the same place and on the same workflow as humans without endangering humans and without being surrounded by a perimeter. Contemporary collaborative robots meet such safety requirements. However, they fail to meet such safety requirements when they are fitted with an end effector of any kind. In robotics, an end effector is a rotating part, also known as gripper, mounted onto a robotic arm. Attempts to design an end effector that more or less complies with applicable requirements resulted in considerable more complicated devices. In the course of designing a safe end effector, it must be taken into account that, in addition to the device mounted onto a robot, the transported object or tool may also be a source of danger. The state of the art includes the following solutions for the above problem.

Chinese publication document No. CN105835029 describes a collaborative robot and its operation. The robotic arm is mounted onto a moving platform, and the robotic arm is fitted with camera and power meter sensors. The camera takes a picture of the object to be gripped, and then the control system moves the platform and the robotic arm into the appropriate position based on the picture, and then another picture is taken when the object is grabbed. The power meter sensors detect when a human touches the robotic arm, and then the control system stops the movement to avoid personal injury. In the collaborative robot, manufacturer power meters are used to detect collision. Such detection is based on forces exerted onto the robotic arm. It does not provide adequate protection regarding collisions involving other auxiliary components mounted onto the robot. In our solution, such problems are solved by the active cover of the end effector mounted onto a collaborative robot.

US publication document No. US2016214261 Al describes a collaborative robot system and a procedure for operating that system. The robotic arm moves along a pre-defmed path fundamentally; however, when it detects any contact with a human, the movement is stopped, and the robotic arm switches to an operating mode where the it may be pushed away using human power. The robotic arm may include an end effector that is suitable for grabbing, and both the robot and the robotic arm is fitted with a soft cover to reduce the danger of injury. However, the description does not mention any particular protection mounted onto the gripper, it simply mentions the power meter sensors and the soft cover of the robot as safety components. It is mentioned that an end effector of any kind may be mounted onto the robot, but no adequate response is given regarding safety measures. Our solution provides a solution for these exact problems, and it also allows for the more refined measurement of collision power, as the power meters are not mounted onto the robot or the robot hinge.

US patent description No. US9579798 B2 also describes a collaborative robot system. The system includes a sensor unit that measures forces exerted onto the robotic arm during physical contact. If the measured signal level exceeds a pre-defmed threshold, the control unit stops the movement of the robotic arm. More than one threshold may be set in the system, each of which may be associated with different measures, such as stopping immediately or slowly. According to the patent document, the robot is caused to stop by power meters of the robot when collision happens. An end effector mounted onto the robot is simply mentioned shortly, and no safety feature of such an end effector is described. However, our solution may be used to create an end effector of any form or shape, and the end effector will be safe regardless to its shape.

US patent description No. US9200972 B2 describes a procedure for detecting external forces exerted onto a collaborative robot. The controller of the robot includes a decision-making unit, which makes deductions concerning external forces exerted onto the robot on the basis of differences in the expected and measured movement of the robot. When the impact of an external force exceeds a certain threshold, the controller stops the robot or, seeking to reduce the impact of the external force, instructs the robot to move and issues a warning signal. Details of the measuring unit are not described. However, the description does not mention any end effector mounted onto the robot. Similarly to the above, interference is based on information extracted from power meter sensors built into the collaborative robot. Our solution focuses on the end effector and the mitigation of injuries in case of colliding with it.

US patent description No. US9102067 B2 describes a piezoelectric power meter sensor that may also be mounted onto a collaborative robot. The impact of external forces induce voltage in the piezoelectric sensor, and the level of impact may be calculated from the measured voltage. The sensor signal is used by the control unit to ensure safe operation. The document describes the functioning of a power meter sensor that uses the principles of piezoelectricity, but quite limited information is provided on the possibility of mounting it onto a robot. The movement of the robot is controlled by forces exerted onto the surface of the piezoelectric power meter. The possibility of mounting it onto a gripper / end effector is not mentioned. Typically, our solution uses optical sensors, and the flexible cover panel is in contact with the object / human when a collision occurs. The power meter sensor has not connection to the outside world.

US patent document No. US9671298 B2 describes an optical power meter sensor that may be mounted onto a robot. The device emits diffuse light, and it detects the reflected light. The reflected light is distorted due to the movement and deformation of the reflecting surface, and conclusions may be made from such distortion regarding the features of the external force (power, direction). According to the US solution, the optical power meter sensor does not provide clear information on the positions on the robot. The optical sensors on the gripper are located on the grabbing blocks, meaning that it can measure only forces that are exerted during grabbing. This means that these sensor do not play any role in case of a collision. According to our solution, the cover placed onto the power meter, as already described above, covers the entire end effector (also known as gripper), and it detects collisions on the entire surface.

Chinese publication document No. CN105841721 describes an optical power meter sensor, a robot, and a procedure for using the robot and the optical power meter sensor. A power meter sensor that uses the Bragg effect is mounted onto the surface of the robot, and it measures deformations caused by external impacts; a control unit controls the movement of the robot on the basis of the measured signal. The patent document does not include any specific indication as to where this sensor, which relies on an optical thread, would be mounted onto the robot. In our solution, it is recommended to use an optical power meter sensor that relies on light emission diodes, so that it holds the cover securely due to its design.

German publication document No. DE102008004037 Al describes a robotic arm fitted with sensors, where sensors are surrounded by a protective cover to avoid damages that may be used by a collision. Advantageously, the protective cover is implemented with bars, so that it does not interfere with the functioning of the sensors; advantageously, the cover is made of a flexible and/or deformable material that absorbs the force of collision. The robotic arm does not perform any manipulation task. According to the German invention, the cover is used to protect the sensors, but, according to our solution, it is used to measure forces exerted onto the cover. Spanish publication document No. ES2153761 Al describes a retractable robotic arm. The robotic arm consists of three concentric parts that can slide into each other. The document describes the mechanism of movement only. However, the robotic arm in our invention is a collaborative robot, and the manipulator located onto the gripper is moved into the cover so that the piece (or tool or other device) is protected and injury may be avoided.

US publication document No. US2006020272 Al describes a device used to remove surgical stitches. The device includes nippers or pliers that may be moved telescopically, and they may be retracted into the cover of the device when closed. In our solution, retraction is used to promote safety, and the cover is fitted with active detection.

German patent description No DE102005009180 B4 describes an industrial robot that is fitted with a moving needle, and the end of the needle is fitted with a sensor. When the sensor indicates that the needle touched something, the needle is retracted into the case. Other parts may also be mounted onto the end of the needle, and they may be partially retracted into the case of the device. According to the German solution, the needle/sensor is retracted into the case only in response to an external physical impact. According to our solution, the sensor is mounted onto the cover, and it does not move. Furthermore, according to our invention, the piece is located inside the cover while the robot is moving; when the piece is moved out from there, it is already in a protected position, and the gripper may open safely.

In conclusion, the state of the art does not include any solution where even the end effector of a collaborative robot is operated safely and it would comply with the requirements of collaborative operation pursuant to the technical specifications laid down in ISO/TS 15066 (2016).

As a result of the workflow performed by a collaborative robotics cell, a compact solution is received, where operators can also work on the necessary operations closely alongside one or more robots and without any safety perimeter. As operators work directly next to robots without being separated physically, dangerous collision situations in a robotics cell need to be examined. For an end effector to function as a collaborative gripper, it may not cause any injury during the movement of the robot or the performance of manipulation tasks. In light of such considerations, dangerous cases of collision may be divided into two groups, i.e. collisions during the movement of a robot, and collisions during manipulation tasks. These two groups may be demonstrated easily using a simple pick-and-place task as an example. During the workflow, the robot picks up a product from a fixed point where it is adequately positioned. Then, it is placed into another fixed position, where it needs to be picked up again so that the product may go through further procedures. In the first scenario, the robot moves at maximum permissible speed between the pick-up and placement points. Another type of collision happens when the robot collides with a human at the pick-up or placement point due to certain manipulations. If the robotic arm collides during the movement of the robot, detection is performed by the power and torque meter sensors located in the hinges of the collaborative robot. Further protection is required when the implementation of the end effector fails to meet the requirements of the standard, or if there is a danger of accident when colliding with a piece in transport.

The purpose of the invention is to eliminate the defects and shortfalls of the known solutions, and implement an end effector fitted with a safety cover, which may have any shape and, when mounted on any collaborative robot, ensures safe operations during movement and manipulation. The goal is to protect from injuries not only the end effector, but also the objects it transports and the humans and operators working with the collaborative robot.

The inventive step is based on the recognition that an invention, which is more advantageous than the previous ones, may be created by implementing the invention according to claim 1.

The essence of another recognition supporting the inventive step is that the entire end effector is surrounded by a cover, and optical power meter sensor is built into the device. This recognition makes it possible to detect forces that are exerted on the entire surface of the cover. Another recognition is that accidents that may occur during the second category of collisions (where manipulation is also performed in addition to movement) may be prevented by protecting and delimiting the critical area physically. This recognition makes it possible for the operator not to have any physical contact with the pick-up or placement location, thereby avoiding injuries. The entirety of covers on the hand-over case, located at the placement/pic-up locations, and the end effector provides comprehensive protection at critical access points.

In line with the desired purpose, the most general implementation form of the solution according to the invention may be realized according to claim 1. The most general form of the application procedure is described in the main procedural claim. The various implementation forms are described in the dependent claims.

Generally, the solution is an end effector device, with safety cover, to be connected suitably to a collaborative robot; it is fitted with an end effector with a frame and optical power meter sensor, and the end effector has a piece gripping block that is suitable for gripping pieces. A distinctive feature of the invention is that the end effector includes a slider and a holding unit connecting to the slider, the piece gripping block is connected to a holding unit, the optical power meter sensor is mounted onto the frame, a cover panel is connected to the optical power meter sensor, the cover panel surrounds the end effector from all directions, the cover panel is covered from the outside by a flexible cover panel, and there is an opening on the cover panel and the flexible cover panel the diameter of which is larger than the piece so that the piece can pass through it.

In another implementation form, the cover panel includes a cover end panel and a cover side panel, and the flexible cover panel includes a flexible cover end panel, a flexible cover side panel, and a flexible cover front panel.

In another implementation form, the slider and the holding unit is operated pneumatically or electrically.

In another implementation form, the device include two optical power meter sensors, and each optical power meter sensor is fitted with light emission diodes.

In the course of applying the invention in a general manner, the device is mounted onto a collaborative robot, and one or more pieces are grabbed by the piece gripping block.

A distinctive feature of the procedure is that, during or before the collaborative robot moves or is moved, the piece is moved toward the frame of the end effector through the opening on the slider and/or the holding unit connected to the slider, and then it is moved into the closed space surrounded by the cover panel.

Another distinctive feature of the procedure may be that, after the device moves or is moved, the piece is pushed outside the flexible cover panel through the opening on the slider and/or holding unit connected to the slider.

Another distinctive feature of the procedure may be that force impacts and/or collisions are detected on the entire surface of the cover panel by the optical power meter sensor, and the movement of the collaborative robot is controlled according to the detected forces and/or collisions, so that the movement may even be stopped if necessary, or other safety measures may be taken as appropriate.

Another distinctive feature of the procedure may be that, in the course of picking up and/or putting down a piece, the device is moved to a hand-over structure, the flexible cover panel is adjusted to the hand-over case located on the hand-over structure, and then the piece is pushed into the hand-over case through the opening by the slider and/or the holding unit connected to the slider, and then it is moved from the put-down position into the pick-up position by the hand- over structure slider, or the piece is moved from the pick-up position into the put-down position inside the hand-over case by the hand-over structure slider, and then the piece is moved into the space surrounded by the cover panel through the opening by the slider and/or the holding unit connected to the slider.

Another distinctive feature may be that the device is mounted onto a collaborative robot with an adapter.

The invention is presented in more detail using drawings of the possible implementation forms. On the attached drawings,

Figure 1 shows an exploded spatial drawing of the end effector with cover,

Figures 2 and 3 show a longitudinal section of the end effector with cover,

Figure 4 shows a front-view drawing of the end effector with cover, mounted onto a

collaborative robot, and with a hand-over structure, and

Figure 5 shows a front-view drawing of the end effector with cover, mounted onto a

collaborative robot, located next to an operator.

The device according to the invention is presented on the exploded spatial drawing shown on Figure 1. In the implementation form shown, the end effector 1 includes a frame 9, a pneumatically driven slider 3, a pneumatically driven holding unit 4, and a piece gripping block 5 mounted onto the holding unit 4. It is also possible to use an electrically driven slider instead of a pneumatically driven one. The frame 9 of the end effector is suitably made of milled aluminium parts. The end effector 1 will be connected to the robot by way of the frame 9 using an appropriate adapter, as shown on the following drawing. The slider 3 is connected to the frame 9, and it moves the holding unit 4. The end effector 1 may be implemented in or with any shape or operation. At least one, but in the present example two, optical power meter sensor 2 is connected to the end effector 1, or more specifically to the frame 9, but any number of optical power meter sensors 2 may be used. The optical power meter sensor 2 uses light emission diodes, and these optical power meter sensors 2 provide active protection for the in case of a collision. Advantageously, the optical power meter sensors 2 do not have any connection with the outside world. Other control, safety, and sensor components may also be mounted onto the frame 9 of the end effector. In the implementation form shown on Figure 1, the cover that covers the end effector 1 entirely includes a cover panel 7 and a flexible cover panel 8, and the cover panel 7 includes a cover end panel 7a and a cover side panel 7b, and the flexible cover panel 8 includes a flexible cover end panel 8a, a flexible cover side panel 8b, and a flexible cover front panel 8c. The cover end panel 7a protects the slider 3 so that it does not cause any injury. The cover panel 7 may also be made of parts of different sizes and shapes, and it may include various holes that enables various ways of mounting. The flexible cover panel 8 is implemented for further enhanced security, so that the cover panel 7 is also surrounded by a soft and flexible material. It also provides protection for humans working with the robot together. The piece gripping block 5 is suitable for gripping, holding, and moving the pieces 6; mechanic, pneumatic (e.g. vacuum), or electric (e.g. magnet) principles may also be used for gripping. A piece 6 may also mean a product, tool, working tool, or any other object the collaborative robot works with. The holding unit 4 moves together with the piece gripping block 5 and the piece 6 it holds, so that it can bring the piece 6 through the opening 18 of the flexible cover front panel 8c into the area protected by the cover.

The end effector 1 may be provided with both active and passive protection; passive protection is provided by the cover panels 7 and the flexible cover panels 8 together, while active protection is provided by the optical power meter sensor 2. The optical power meter sensor 2 makes it possible for the robot controller to interfere with the movements of the robot as appropriate. The optical power meter sensor 2 detects the forces exerted onto the cover, and the robot may be programmed to implement safety measures accordingly. If a suitable power meter cell is selected, adequate information may also be received regarding the power and direction of collision forces, so that the robot may be controlled with due regard to the collision situation. This also makes it possible to move the robot away into a direction opposite to the force, or even stop the robot. Such interference (stopping or releasing the robot etc.) must be performed so that the system keeps meeting the applicable maximum force and surface pressure thresholds. By selecting an appropriate sensor, for example an optical power meter sensor, the response to a collision may be adjusted to a considerable extent, as such power meters work with great detection resolution. Another considerable advantage is that it allows for mounting the cover in a more flexible manner. With a view to reducing the impact of forces that arise from the inertia of the plates during the movement of the robot, rubber rams may be used to hold the cover; the impact of forces may change as a result, and such changes need to be handled by the software of the machine. For active protection, the cover is mounted onto the frame 9 of the end effector through a six-cylinder optical power and torque meter. In another possible form, multiple smaller 3D optical power meter sensors 2 are used to detect collisions with the cover. Such optical power meter sensors 2, set to various directions, may be mounted onto numerous parts of the frame 9. The original force and torque may be calculated from the data sets provided by each optical power meter sensor 2. Such an implementation also allows for greater freedom for programming the responses to be given by the robot. Cover panels 7 may also be mounted in a stable manner onto the optical power meter sensors 2 fixed at numerous locations, so that undesirable forces arising from movement may also be reduced. When using such an implementation form, it is advisable to produce a 3D-printed cover for the end effector, as it can follow the shape more easily, thereby reducing the final size of the end effector 1 and increasing the range of places it can reach.

Figure 2 shows the end effector in an extended position, while Figure 3 shows the end effector in a retracted position. The cover, which includes the cover panel 7 and the flexible cover panels 8, is to prevent injuries that may be caused by a collision between a human and the end effector or the piece. While the robot is moving, the piece 6 is retracted or moved inside the cover in some other way. In this implementation form, the end effector, which is suitable for performing the basic pick-and-place operation, includes a pneumatic parallel holding unit 4; this is moved by a pneumatically driven slider 3. Electric driving may also be used instead of pneumatic driving. Such movement and gripping may also be affected electronically, and it is also possible to grip and move more than one piece 6 at the same time. As a result of movement, the holding unit 4 and the piece gripping block 5, together with the piece 6 being moved, are moved inside the cover; thus, the possibly dangerous design of the piece 6 does not cause any difficulty. For example, it is possible to move pieces with sharp edges and pointed corners. Figure 3 shows a position where the piece 6 is pulled into the space surrounded by the cover panels 7. The piece 6 is pulled in through the opening 18 located on the cover panel 7 and the flexible cover panel 8, i.e. on the flexible cover front panel 8c in this example. It follows that the size of the opening 18 must allow the piece 6 to be moved, i.e. former must be larger than the latter. The frame 9 of the end effector is also clearly shown on the longitudinal section drawings, including the connected optical power meter sensors 2 located on the cover side panel 7b. The sensor may be of various types and may be installed in any number; in this example, two optical power meter sensors 2 are used. The cover mounted onto the optical power meter sensor 2 covers the entire end effector, and it detects collisions on the entire surface. The movement of the slider 3 is limited by the cover end panel 7a. The cover panel 7, which includes the cover end panel 7a and the cover side panel 7b, is surrounded on the outside by the flexible cover panel 8; in this example, the latter also includes more than one parts, i.e. a flexible cover end panel 8a, a flexible cover side panel 8b, and a flexible cover front panel 8c.

Figure 4 shows the end effector 1 with cover, mounted onto a collaborative robot 10. The figure shows the external part of the cover, i.e. the flexible cover panel 8, but the cover panels and the sensor are not visible. The end effector 1 may be mounted onto any collaborative robot 10 or robotic arm with an adapter 17. In a situation shown on Figure 4, an extra safety solution is required when the collaborative robot 10, mounted onto a collaborative robot holding device 11 and fitted with an end effector 1 including a special cover, is to pick up or put down the piece 6 to be manipulated. In such a situation, the piece put-down position 15 of the pneumatically operated hand-over structure slider 14, located on the hand-over structure 12, is to be protected with a hand-over case 13 that provides adequate safety. For this purpose, the collaborative robot 10 needs to move to the hand-over case 13 without causing any jamming. If the cover surrounding the end effector 1, i.e. the external flexible cover panel 8 in this example, and the hand-over case 13 forms an uninterrupted and closed safe space, the end effector 1 can move the piece 6 out of the cover with the slider, and then it can put it down at the put-down position 15. Thus, the piece 6 remains inside the cover or the hand-over case 13 until it is safely placed into the put-down position 15. During movement, the opening the piece 6 moves through may be turned to a position that is opposite to the direction of movement, thereby reducing the danger of accidents even further. Then, the slider moves inside the cover. For the piece 6 to move on to the next working phase, it is moved from the put-down position 15 into the pick-up position 16 by the hand-over structure slider 14. From there, the piece 6 may be picked up by an operator or another robot without any injury or collision. The collaborative robot 10 cannot cause any injury or bruise while closing, because the active protective cover keeps monitoring any possible collision, and it may interfere with the movement of the collaborative robot 10 immediately.

Figure 5 shows a general drawing of the solution and an operational situation. The collaborative robot 10 is mounted onto a suitable and welded collaborative robot holding device 11. This device is fixed to the ground. The end effector, surrounded on the outside by the flexible cover panel 8, is connected to the collaborative robot 10 with an adapter 17. The figure shows the opening 18 on the front of the flexible cover panel 8, through which the end effector pulls the piece to be moved inside the cover for the period of movement. An end effector implemented this way with cover provides adequate protection even in the presence of operators, as there is no danger of injury to the robot, the piece, the end effector, or the person working with the robot. This means that even sharp objects may be moved by the end effector. As a result of the safety measures, injuries caused by collision between a human and the robot may be avoided.

The invention described above has numerous advantages. An important advantage of the invention is that it reduces the danger of accidents, as the cover provides protection for the end effector, the piece, and the person working with the robot. It also allows the manipulating part of the end effector to be implemented in a manner that is most suitable for the task, so that its functions are not limited by safety considerations. Adequate operational safety may be ensured this way. When implementing the end effector, only the mounting points of the power meters need to be implemented. Applicable safety requirements are met by the cover that is adapted to the final design of the end effector. Due to the power meter sensor, it is possible to interfere with the movements of the robot to a considerable extent and in a manner most suitable for a collision. By making available the information required for such interference, it is possible to program the robot in a way that meets the most all safety requirements, and local needs and opportunities. It is also advantageous that even sharp and dangerous obj ects may be manipulated without any risk of danger. The invention altogether increases the usability of collaborative robots on fields and for workflows where using such robots were considered difficult or even impossible. Another advantage is that the piece gripping block may be implemented in various manners, as it may rely on the use, for example, of magnets, vacuum, or mechanical solutions.

The primary field of application of the invention is robotics and end effectors of collaborative robots.

In addition to the above examples, the invention may be implemented in other forms and with other manufacturing procedures within the scope of invention as defined in the appended claims.

Claims

1. End effector device, with safety cover and to be connected suitably to a collaborative robot, so that it includes an end effector (1) fitted with a frame (9) and an optical power meter sensor (2); the end effector (1) has a piece gripping block (5) configured to grip pieces (6), characterized in that the end effector (1) includes a slider (3) and a holding unit (4) connected to the slider (3); the piece gripping block (5) is connected to the holding unit (4); the optical power meter sensor (2) is mounted onto the frame (9); a cover panel (7) is connected to the optical power meter sensor (2); the cover panel (7) surrounds the end effector (1) from all directions; the cover panel (7) is covered from the outside by a flexible cover panel (8); and there is an opening (18) on the cover panel (7) and the flexible cover panel (8) the diameter of which is larger than the piece (6) so that the piece (6) can pass through it.

2. The device according to claim 1, characterized in that the cover panel (7) includes a cover end panel (7a) and a cover side panel (7b), and the flexible cover panel (8) includes a flexible cover end panel (8a), a flexible cover side panel (8b), and a flexible cover front panel (8c).

3. The device according to claim 1 or 2, characterized in that the slider (3) and the holding unit

(4) is operated pneumatically or electronically.

4. Any of the devices according to claims 1 to 3, characterized in that it includes two optical power meter sensors (2), and each optical power meter sensor (2) is fitted with light emission diodes.

5. Procedure for applying the device according to claim 1 during which the device is mounted onto a collaborative robot (10) and one or more pieces (6) are grabbed by the piece gripping block

(5), characterized in that, during or before the collaborative robot (10) moves or is moved, the piece (6) is moved toward the frame (9) of the end effector (1) through the opening (18) on the slider (3) and/or the holding unit (4) connected to the slider (3), and then it is moved into the closed space surrounded by the cover panel (7).

6. The procedure according to claim 5, characterized in that, after the device moves or is moved, the piece (6) is pushed outside the flexible cover panel (8) through the opening (18) on the slider (3) and/or holding unit (4) connected to the slider (3).

7. The procedure according to claim 5 or 6, characterized in that force impacts and/or collisions are detected on the entire surface of the cover panel (7) by the optical power meter sensor (2), and the movement of the collaborative robot (10) is controlled according to the detected forces and/or collisions, so that the movement may even be stopped if necessary, or other safety measures may be taken as appropriate.

8. The procedure according to claim 5 or 7, characterized in that, in the course of putting down and/or replacing and/or picking up a piece (6), the device is moved to a hand-over structure (12), the flexible cover panel (8) is adjusted to the hand-over case (13) located on the hand-over structure,

and then the piece (6) is pushed into the hand-over case (13) through the opening (18) by the slider (3) and/or the holding unit (4) connected to the slider (3), and then it is moved from the put-down position (15) into the pick-up position (16) by the hand-over structure slider (14),

or the piece (6) is moved from the pick-up position (16) into the put-down position (15) inside the hand-over case (13) by the hand-over structure slider (14), and then the piece (6) is moved into the space surrounded by the cover panel (7) through the opening (18) by the slider (3) and/or the holding unit (4) connected to the slider (3).

9. Any of the procedures according to claims 1 to 9, characterized in that the device is mounted onto a collaborative robot (10) with an adapter (17).