• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method and a device for the protection of persons and stationary or autonomously moving obstacles from stationary or autonomously moving handling devices such as manufacturing, transport, inspection or service robots and their manipulators from collisions in their work area by means of pressure sensors in filled with a medium Protective covers such that each protective element (1), the medium is not supplied from the outside, but the protective elements in each case in addition to a pressure sensor (4) also have a pressure increasing device (7) which suck the medium, preferably ambient air and one from the control unit (8) generate adjustable pressure inside the protective element.
    公开号:AT516097A1
    申请号:T50463/2014
    申请日:2014-07-03
    公开日:2016-02-15
    发明作者:Michael Dr Zillich
    申请人:Blue Danube Robotics Og；
    IPC主号:
    专利说明:

    description
    The invention relates to a method and a device for protecting persons and stationary or autonomously moving obstacles from stationary or autonomously moving handling devices such as manufacturing, transport, inspection or service robots and their manipulators from collisions in their work area by means of protective covers with internal pressure sensors and built-in , Booster and pressure holding device.
    From DE 10 2007 062 245 Al a collision detection device is known, which surrounds the movable elements of the handling device with a made of flexible material medium storage. The medium reservoirs are equipped with pressure sensors that can indicate a pressure increase in the event of a collision and can be used to trigger protective circuits.
    From EP 1 810 795 Al a safety device is known, in which an elastic, sealed gas-filled protective cover surrounding the manipulators of a robot, which are equipped with one or more pressure sensors, which can be used in conjunction with a reference sensor for the triggering of protective circuits ,
    From DE 10 2006 044 071 B4 a robotic protective device is known, in which also an elastic protective cover surrounds the manipulator (s) for damping an impact and the pressure change of these protective sheaths in the event of collision is detected by means of pressure sensors.
    All of these approaches have in common that they require the filling of the protective sheaths with the gas or fluid of an external source for the supply, which in particular requires in a variety of cases elaborate and the mobility of the manipulators restrictive tube connections. As a result, the manageable number of individual protective covers is limited and limited their use in autonomously moving robots.
    After the pressure increase in collision in protective cases with a small volume turns out to be more pronounced than with large-volume protective covers, the amount of the ideal template pressure of the medium in the protective cover also depends on its size.
    It has therefore proved to be advantageous, rather than less bulky protective covers, to provide a variety of small protective elements. This also has the further advantage that their shape can be adapted to the shape of the robot surface and its manipulators. The protection against their particularly collision-prone zones, especially in autonomous robots is more feasible.
    The size of the protective covers, their shape and the pressure applied in their interior also defines their dimensional stability.
    After the shape of the protective elements has a significant influence on the height of the ideal template pressure of the medium in the protective cover, the resolution of the protective covers in smaller protective elements is only practically feasible if each protective element can be assigned the ideal pressure for its shape and size.
    The invention will be explained in more detail with reference to an embodiment according to the drawings below, wherein
    1 protective elements with base shell without foam filling,
    2 protection elements cross section directly mounted with foam filling,
    3 protection elements cross section directly mounted with foam filling and lateral arrangement of the sensors and pressure-increasing device,
    Fig. 4 protection elements cross section directly mounted with foam filling and lateral joint arrangement of the sensors and pressure-increasing device reproduces.
    According to the invention, the problem as shown in Fig. 1 in cross-section is achieved in that each protective element 1, the medium is not supplied from the outside, but the protective elements in their interior in addition to at least one pressure sensor 4 and a pressure increasing device 7, preferably the medium ambient air suck in and generate an adjustable pressure from the control unit 8 in the interior of the protective element.
    As shown in FIG. 1, a preferred embodiment of the device of the protective elements 1 typically consists of the base shell made of plastic 12, air inlet and cable passage 13, the pressure increasing device 7, the pressure-increasing device 7, which is kept free by means of spacers 2 and the at least one pressure sensor 4 without reference sensor 6 and the elastic sheath 11 of the protective elements.
    In a further preferred embodiment of the device according to the invention of the protective elements 1 as shown in Figure 1, for example, the piezoelectric pressure increasing device 7, the at least once existing internal pressure sensor 4 and optionally the at least one external pressure sensor 6 mounted on a support plate 3 formed as a circuit board, the glued into the base shell.
    The internal pressure increasing device 7 is also a certain protection against damage to the elastic protective cover 11 of the protective elements 1, namely, that small injuries of the elastic protective cover or leaks are automatically compensated.
    The power supply cables and data lines 5 of the booster pump and the pressure sensors are guided in grooves 13 under the base plate via a collecting channel to the control device 8.
    The power supply of this integrated pressure-increasing device 7 is preferably carried out by means of electrical energy, which is supplied via an outside of the protective elements 1 arranged control device 8, if necessary.
    This control device 8 can be implemented as an analog controller or as a digital controller. It can, depending on the purpose of the
    Pressure booster devices 7 control individually or in groups. The individual combination of control algorithms per protection element is also possible.
    The inventive design of the protective elements 1 with internal pressure-increasing device 7 can be controlled via the control device 8 according to a predetermined pressure increase profile or by pulsating pressure increase.
    The pressure-increasing device 7 is preferably designed as a piezoelectric pump.
    As shown in FIG. 2, in a further preferred embodiment, the inner filling 9 of the protective elements 1 can be supplemented with an open-pore foam filling 9 for better dimensional stability and damping effect, which results in an inherent elasticity of the protective elements 1 in the event of a collision.
    A further embodiment of the device of the protective elements 1 is that the foam filling 9 is enveloped gas-tight with an outer casing 11 made of hardened liquid plastic and this coating is applied by painting, spraying or dipping. The carrier plate 3 described in the preceding paragraph, designed as a printed circuit board, together with the piezoelectric pressure-increasing device 7, the internal pressure sensor 4 and optionally the external one
    Pressure sensor 6 subsequently glued into this outer casing 11.
    This gas-tight outer envelope 11 may be made of elastic materials with different, adapted to the particular application properties, such as high temperature resistant, refractory, antibacterial coated or in different colors for distinguishing, alarm or design purposes.
    Their layer thickness is variable and is typically between 20 pm and 2 mm.
    In a further preferred embodiment, the parts protective cover 11 and
    Foam filling 9 made of a material which forms a gas-tight outer skin in gas-permeable inner structure in the production, such as foam rubber or integral foam.
    A further preferred embodiment of the device of the protective elements 1 is that a shape adapted to the surface of the robot or manipulator 10 to be protected is used. This design can be used for corresponding surfaces, for example, as a flat or slightly curved flat cushion, as half shells for cladding cylindrical or conical pipe parts and round manipulator elements. The attachment of the protective elements by gluing, magnetic attachment or
    Mounting straps for fastening screws on the plastic base shell.
    The design of the protective elements 1 can also be carried out as shown in Fig. 3 and 4 in cross section. In this case, the inner pressure sensors 4, the outer pressure sensors 6 and the pressure-increasing device 7 are arranged laterally on the protective elements. The can be done on any side of the protective elements 1 separately or as shown in cross-section Fig. 4 on a common, preferably designed as a circuit board base plate.
    A further preferred embodiment of the device of the protective elements 1 is that it is used as a ball or mushroom-shaped button for switching operations such as emergency stop button or in an elongated strip form for safety circuits in squeeze bars.
    The device and possible combinations of their design variants in shape and size make it possible to realize the control of different countermeasures in case of risk of collision by appropriate programming of the control device 8. In particular, it is intended for emergency shutdowns,
    Proximity control over the pressure gradient, proximity controls via capacitive proximity sensors in combination with the protective element according to the invention as a touch sensor, preferably in that the affected protective element inflates more when approaching and thus enhances the protective effect.
    It is thought in the same way to the combination of a control of the surface to be protected of the manipulator 10 with the protection elements according to the invention as a touch sensor with a 3-dimensional spatial imaging digital camera. This in particular to secure the last approximation distance of the manipulator of about 1 to 3 cm, which a 3-dimensional imaging digital camera is not or poorly recorded and therefore must be covered by the manipulator in crawl.
    权利要求:
    Claims (19)
    [1]
    1. A method for protecting persons and stationary or autonomously moving obstacles against stationary or autonomously moving handling devices such as manufacturing, transport, inspection or service robots and their manipulators before collisions in their work area characterized by protective sleeves with one or more internal pressure sensors characterized that each individual protective element 1, the medium is not supplied under pressure from the outside, but the overpressure is generated in the interior of the protective element and in addition to one or more pressure sensors 4 and an internal pressure increasing device 7 have.
    [2]
    2. The method of claim 1 wherein the medium is preferably ambient air and sucks through intake ducts is characterized in that the medium is generated under a pressure adjustable by the control unit 8 in the interior of the protective element.
    [3]
    3. The method according to claim 1 and 2, characterized in that the power supply of this integrated pressure-increasing device 7 by means of electrical energy, which is supplied via a control device 8 arranged outside of the protective elements 8 as needed.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that this control device 8 is designed as an analog control.
    [5]
    5. The method according to any one of claims 1 to 3, characterized in that this control device 8 is designed as a digital control.
    [6]
    6. The method according to any one of claims 4 to 5, characterized in that this control device 8, the pressure booster devices 7 individually or in groups drive together.
    [7]
    7. The method according to any one of claims 2 to 6, characterized in that the pressure-increasing device 7 via the control device 8 for a predetermined pressure increase profile, are also controlled pulsating.
    [8]
    8. The method according to any one of claims 2 to 7, characterized in that the pressure increasing device 7 is controlled via the individual combination of control algorithms per protection element.
    [9]
    9. A device for the protection of persons and stationary or autonomously moving obstacles against stationary or autonomously moving handling equipment such as manufacturing, transport, inspection or service robots and their manipulators against collisions in their work area by means of protective sleeves with internal pressure sensors, characterized in that each individual protective element 1, the medium is not supplied under pressure from the outside, but the overpressure is generated in the interior of the protective element and in addition to at least one pressure sensor 4 and an internal pressure increasing device 7 have.
    [10]
    10. The device according to claim 9, characterized in that the inner filling 9 of the protective elements 1 consists of open-cell foam "
    [11]
    11. Device according to one of claims 9 or 10, characterized in that the air inlet and cable passage channel 13 is kept free by means of spacers 2.
    [12]
    12. Device according to one of claims 9 or 10, characterized in that the pressure-increasing device 7, the one or more internal pressure sensors 4 and optionally the one or more external pressure sensors 6 are mounted on a carrier plate 3 formed as a common circuit board.
    [13]
    13. Device according to one of claims 9 to 12, characterized in that the foam filling 9 is enveloped gas-tight with an outer casing 11 made of cured liquid plastic and this coating is spread over, sprayed or applied by dipping.
    [14]
    14. Device according to one of claims 9 to 12, characterized in that the foam filling 9 is made of a material which forms a gas-tight outer skin in gas-permeable internal structure.
    [15]
    15. The apparatus of claim 13 or 14, characterized in that the gas-tight outer sheath 11 consists of high temperature resistant or antibacterial coating.
    [16]
    16. Device according to one of claims 9 to 15, characterized in that they are used in spherical, mushroom-shaped or elongated design as a button for switching operations.
    [17]
    17. Device according to one of claims 9 to 15 in combination with capacitive proximity sensors, characterized in that only the affected protective element inflates more in case of risk of collision and thus enhances the protective effect.
    [18]
    18. Device according to one of claims 9 to 15 for their combination with digital three-dimensional detection of the surface shape of a collision object or a person characterized in that only the respective affected protective element inflates more in case of risk of collision and thus enhances the protective effect.
    [19]
    Device according to one of claims 9 to 15 for its combination with digital three-dimensional detection of the surface shape of a collision object or a person characterized in that the control device 8 controls the movements of the robot and / or the manipulator such that the approach distance of the robot and / or or the manipulator is covered in crawl.
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    同族专利:
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    JP2017526540A|2017-09-14|
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    CN106470806B|2019-11-05|
    CN106470806A|2017-03-01|
    JP6649285B2|2020-02-19|
    US10518424B2|2019-12-31|
    TR201808857T4|2018-07-23|
    CA2954001C|2020-04-07|
    KR102019571B1|2019-09-06|
    DK3164246T3|2018-07-02|
    WO2016000005A1|2016-01-07|
    EP3164246B1|2018-04-11|
    AT516097B1|2016-09-15|
    KR20170026462A|2017-03-08|
    CA2954001A1|2016-01-07|
    US20170136633A1|2017-05-18|
    ES2672385T3|2018-06-14|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50463/2014A|AT516097B1|2014-07-03|2014-07-03|Protection method and protective device for handling equipment|ATA50463/2014A| AT516097B1|2014-07-03|2014-07-03|Protection method and protective device for handling equipment|
    TR2018/08857T| TR201808857T4|2014-07-03|2015-06-30|Protection method and protection device for a use apparatus.|
    KR1020177000556A| KR102019571B1|2014-07-03|2015-06-30|Protection method and protection device for a handling apparatus|
    US15/322,679| US10518424B2|2014-07-03|2015-06-30|Protection method and protection device for a handling apparatus|
    EP15790441.8A| EP3164246B1|2014-07-03|2015-06-30|Protection method and protection device for a handling apparatus|
    PCT/AT2015/000094| WO2016000005A1|2014-07-03|2015-06-30|Protection method and protection device for a handling apparatus|
    JP2016576036A| JP6649285B2|2014-07-03|2015-06-30|Protection method and protection device for handling device|
    CA2954001A| CA2954001C|2014-07-03|2015-06-30|Protection method and protection device for a handling apparatus|
    ES15790441.8T| ES2672385T3|2014-07-03|2015-06-30|Protection procedure and protection device for a handling device|
    DK15790441.8T| DK3164246T3|2014-07-03|2015-06-30|PROTECTION PROCEDURE AND PROTECTION DEVICE FOR HANDLING DEVICE|
    CN201580036376.0A| CN106470806B|2014-07-03|2015-06-30|For manipulating the guard method and protective device of instrument|
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