• 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:
    In a device for detecting a collision of a handling device with an obstacle comprising at least one gas-filled chamber, which is surrounded by a flexible, deformable by collision with an obstacle shell and having a flexible support structure, wherein the support structure formed a damping element, which together with the shell the forces acting on a collision mechanically dampens, and further comprising a pressure sensor for measuring the gas pressure inside the chamber, wherein the device at least a first and a second region of the handling device covering the applicator can be attached, the shell and the support structure are integrally formed with each other and provide a mutually different degree of attenuation in the first and in the second range.
    公开号:AT519655A4
    申请号:T166/2017
    申请日:2017-04-24
    公开日:2018-09-15
    发明作者:
    申请人:Blue Danube Robotics Gmbh；
    IPC主号:
    专利说明:

    Collision of a handling device with an obstacle comprising at least one gas-filled chamber, which is surrounded by a flexible sheath that can be deformed by collision with an obstacle and has a flexible support structure, the support structure forming a damping element which, together with the sheath, forms the forces acting in the event of a collision mechanically damped, and further comprising a pressure sensor for measuring the gas pressure inside the chamber, the device being attachable to the handling device covering at least a first and a second area of the handling device.
    The invention further relates to a method for
    Manufacture of such a device.
    The invention also relates to a handling device with at least a first and a second area of the same covering collision detection device of the type mentioned above, wherein the handling device has an emergency shutdown that can be activated depending on the signals of the pressure sensor.
    A device of the type mentioned at the outset is described, for example, in WO 2016/000005 A1 and serves as a tactile safety sensor for protecting people and stationary or autonomously moving obstacles from stationary or autonomously moving handling devices, in particular industrial robots, such as e.g. Manufacturing, transport, inspection or service robots and their manipulators. For collision detection, the safety sensor or a plurality of such safety sensors on the handling device and / or on their
    2/25 • · · · · · «·· ····
    Manipulators attached. The safety sensor described in WO 2016/000005 A1 essentially comprises an airtight envelope, which encloses a gas or air-filled chamber, and an internal barometric pressure sensor. The shape of the shell is held by a resilient support structure, the support structure and the shell together forming the body of the sensor. The support structure ensures dimensional stability and mechanical damping of the forces acting in the event of a collision. Touching the sensor leads to deformation of the casing and thus to compression of the chamber including the support structure, which in turn leads to a measurable pressure increase inside the casing. A pressure increase above a certain threshold value leads to the stopping of the handling device to be secured, on the surface of which the sensor is attached.
    In the safety sensor described in WO 2016/000005 A1, each sensor has its own pressure-increasing device, with which a predetermined internal pressure can be set and maintained in the sensor chamber. The overpressure inside the sensor chamber is used to check the tightness of the casing. If the cover should leak due to damage and the safety sensor could no longer function properly, this would be indicated by the excess pressure escaping and would lead to a corresponding emergency signal from the safety sensor. In addition to the choice of material for the flexible support structure, the damping property of a safety sensor can also be adjusted to a certain extent by the amount of internal pressure.
    3/25 • · ·· ·· · ·· ····
    However, it has been found that the homogeneous support structure provided in the prior art, together with an adjustable internal pressure, does not always ensure an adequate setting of the damping property in the entire area of the device. The present invention therefore aims to better respond to the sensor
    Adapt the safety requirements of the work process to be secured or the machine to be secured and at the same time simplify the sensor manufacturing process.
    To achieve this object, the invention essentially consists in a device of the type mentioned at the outset that the casing and the support structure are formed in one piece with one another and provide a mutually different degree of damping in the first and in the second region. Due to the fact that the casing and the support structure are formed in one piece with one another, the casing and the support structure can be formed in a simple manner as a unitary body, in particular new types of spatial structures for the support structure that are adapted to the respective requirements can be created. According to a preferred embodiment of the invention, the one-piece design is achieved in that the casing and the support structure are produced by a generative manufacturing process, in particular in layers, e.g. are produced by selective laser sintering. Generative manufacturing processes are also known as 3D printing processes and allow the production of support structures with a high geometric complexity.
    The use of generative manufacturing processes allows the casing and the support structure to be made in a simple manner
    4/25 • · · · · · · · · · · • · · · v · ·· · ···· * · · · · * ·· * * <** ·! ·· · Ι · * · ♦ * 1 that a different degree of damping is provided in the first and in the second area. In particular, the structure and the strength of the support structure can be selected locally in such a way that the required mechanical damping is achieved on each section of the surface of the handling device. The required damping results from the safety requirements of the work process to be secured or the handling device to be secured, e.g. the travel speed and the maximum permitted contact force.
    It is preferably provided here that the support structure and / or the casing is changed locally in such a way that a different degree of damping is provided in the first and in the second region. The variation of the degree of damping according to the invention can either take place by locally varying the design of the casing or by locally varying the design of the support structure, or both the design of the casing and the design of the support structure can be varied locally.
    The degree of damping of the sensor body consisting of support structure and casing can preferably be varied within one and the same sensor chamber. Alternatively, it can be provided that several separate chambers are provided, i.e. several sensor bodies consisting of support structure and casing, which provide different degrees of damping. The design is advantageously made such that the device comprises at least a first gas-filled chamber and a second gas-filled chamber, the shell and support structure of which are each formed in one piece with one another
    5/25 • · • · · »e · · · · • ·» · · · · · * • 9 ·· «« ·· ··· 4 · I, where the shell and the support structure of the first chamber are one of provide different degrees of damping of the shell and the support structure of the second chamber.
    The support structure is preferably constructed in such a way that it connects opposite areas of the casing, in particular the area of the casing arranged on the top of the device and the area of the casing arranged on the underside of the device. The support structure is designed so that it passes through the chamber. The upper side of the device here designates the side facing away from the handling device to be secured and the lower side denotes the side of the device facing the handling device to be secured. Furthermore, hereinafter referred to “inside all parts within the airtight envelope and“ outside all parts outside the airtight envelope.
    The support structure preferably has a multiplicity of
    Support elements. The support elements can, for example, form a space lattice within the chamber, which is preferably constructed from cubes, tetrahedra or truncated octahedra or is designed as a honeycomb lattice.
    As an alternative or in addition, the support elements can be formed by webs and / or rods passing through the chamber.
    Training is also possible in which the
    Support structure comprises a tree structure branching from the bottom to the top of the device. The tree structure here includes, for example, thick bars that branch out towards the top of the sensor body and become finer. This enables training at which
    6/25 the proportion of the cavity left free by the support structure is relatively large in the area of the underside of the device, which saves weight, while in the area of the upper side a well-distributed support effect is achieved by the finer rods branching out.
    The degree of damping can be set in a particularly simple manner in that the number of support elements per unit volume of the chamber is chosen to be larger in the first area than in the second area. The higher the number of support elements selected per unit volume of the chamber, the stiffer or stronger the support structure. The lower the number of support elements selected per unit volume of the chamber, the softer or more flexible the support structure. By using a generative
    Manufacturing process can change the spatial density of the
    Support elements in a simple manner within one and the same chamber, i.e. can be varied locally within one and the same body consisting of shell and support structure.
    The support elements of the support structure can preferably have rounded connections to one another and / or to the shell in order to ensure better mechanical stability. In the case of a rounded connection, the individual support elements merge into one another over a radius.
    The local variation in the degree of damping can alternatively or additionally also be carried out by changing the physical material properties of the support structure, in particular by varying the stiffness of the material.
    7/25 • · · ·
    It is preferably provided here that the support structure in the first area is made of a more rigid material than in the second area.
    The local variation in the degree of damping can alternatively or additionally also be achieved by correspondingly changing the thickness of the support structure. In particular, it can be provided that the support structure has a greater thickness in the first region than in the second region. The thickness here is understood to mean the distance between the top and the bottom of the sensor body consisting of the support structure and the casing.
    In an embodiment in which the variation of the
    Degree of damping takes place by a local change in the casing, it can be provided that the thickness of the casing and / or the strength of the casing on the upper side of the device is selected to be greater in the first area than in the second area. The support structure can either be designed with homogeneous damping properties or an additional local influence on the degree of damping can be achieved by additional local changes in the support structure. In the latter case, it can be provided that the degree of damping of the casing on the upper side of the device is selected to be greater in the first region than in the second region and that the degree of damping of the support structure in the second region is selected to be greater than in the first region.
    In particular, a thick or firm shell, possibly in combination with a soft support structure, leads to a rather large-area impression of the sensor body when it comes into contact with an obstacle. Conversely leads
    8.25
    I • »·« ·· «· · · • ··« · · «« Λ · • · · · »· · · • · · · ·« · · • «« · ♦ «·« a thin or soft Envelope, possibly in
    Combination with a solid support structure, for a more local impression of the sensor body.
    A further preferred embodiment provides that the thickness of the casing and / or the strength of the casing on the upper side of the device is chosen to be lower in an edge region of the chamber than in a central region of the chamber. The edge area can be a curved area. The thickness of the casing and / or the strength of the casing can be selected to be lower on the top of the device in a curved area of the casing than in a flat area of the casing. This ensures a consistently high sensitivity of the sensor up to the edge area or even in a curved area of the upper side.
    According to a further preferred embodiment, it can be provided that the support structure has a material reinforcement which is arranged on the inside of the casing on the top of the device, the material reinforcement preferably having a honeycomb-like pattern. For example, the shell and support structure can be designed such that the support structure consists of a few support elements, such as consists of webs or rods, and the shell is reinforced by a honeycomb structure. This enables a high proportion of voids, which results in a weight saving and high strength.
    As is known per se, it is preferably provided that each chamber has its own pressure increasing device, preferably a pump, in particular a piezoelectrically driven pump or
    9.25
    I • 4 4 · · 4 · 4 · · • • 44 »· ·· • 4 4 4 · 4 · ·
    4 · »4 444 has a blower. The pressure increasing device is preferably arranged so that it can convey ambient air into the respective chamber. The pressure sensor preferably interacts with the via a control circuit
    Pressure increasing device together to establish and maintain a predetermined gas pressure in the chamber.
    The invention further provides a handling device in which at least one according to the invention
    Collision detection device covers at least a first and a second area of the handling device, the handling device having an emergency shutdown that can be activated as a function of the signals from the pressure sensor.
    The handling device can be designed as an industrial robot, in particular as a manufacturing, transport, inspection or service robot.
    The invention is explained in more detail below on the basis of exemplary embodiments schematically illustrated in the drawing. 1 shows a
    Collision detection device according to the prior art in cross section, FIG. 2 a collision detection device according to the invention, FIG. 3 a detailed view of a first embodiment of the support structure, FIG. 4 a detailed view of a second embodiment of the support structure, FIG. 5 a detailed view of a third embodiment of the support structure 6 shows a detailed view of a fourth embodiment of the support structure, FIG. 7 shows a detailed view of a fifth embodiment of the support structure, FIG. 8 shows a detailed view of a sixth embodiment of the support structure, FIGS. 9a and 9b show a detailed view of a seventh and eighth embodiment
    10/25 «··· · · ·· · ··« «· · · · · • · · ♦ · · · · · • · · * ♦ · · · · · · · · · of the support structure, Fig. 10 a detailed view of a ninth embodiment of the support structure, FIG. 11 a detailed view of a tenth embodiment of the support structure and FIG. 12 a detailed view of an eleventh embodiment of the support structure.
    In Fig. 1, a collision detection device is shown, which is attached to the surface 1 of a handling device. The device comprises a plurality of sensor bodies 2, each of which has an air-filled chamber 4 surrounded by a casing 3. The casing 3 is fastened to a plastic base shell 5 and forms an airtight seal of the chamber 4 with it. The base shell 5 is connected to the surface 1 of the handling device e.g. attached by means of an adhesive connection. The clearance achieved by the spacers 6 creates an air inlet and cable passage channel 7 between the underside of the sensor body 2 and the surface 1.
    The pressure prevailing in the chamber 4 is set or maintained with the aid of a pressure increasing device 8, which draws in ambient air from the channel 7 and thereby generates or maintains a pressure that can be set by the control device 9 inside the sensor body 2. The pressure increasing device 8 is received in a recess in the base shell 5. A pressure sensor 10, which measures the air pressure prevailing in the chamber 4, is likewise received in the recess of the base shell 5. The internal pressure sensor 10 is preferably attached to a carrier plate 11 designed as a printed circuit board, which can also carry a reference pressure sensor 12 on the outside. With regard to the functioning of the collision detection device, reference is made to WO 2016/000005 A1.
    11/25 • · · «· · · · ·« * · · »···· ·« • · · · · * ·· * • * · * · ♦ · «* * · · · · ···· ·· ·· ···· ··· ·· «
    The embodiment according to the invention, which is shown schematically in FIG. 2, functions analogously to the embodiment according to FIG. 1, but the sensor body 2 has a support structure 13 arranged in the chamber 4, which is indicated in FIG. 2 only with cross hatching. 1, the sleeve 3 is not attached to a base shell, but rather surrounds the chamber 4 in its entirety. Furthermore, the shell and the
    Support structure 13 formed together in one piece, in particular manufactured using a generative, layer-by-layer production method. The printed circuit board 11 together with the pressure sensors 10 and possibly 12 can be constructed as in the embodiment according to FIG. 1. The same applies to the pressure increasing device, which in FIG
    For clarity is not shown.
    The following figures show different ones
    Refinements of the support structure. FIG. 3 shows a support structure 13, which connects the envelope region 14 arranged on the upper side of the sensor body to the envelope region 15 arranged on the underside of the sensor body. 3 shows only a section of the support structure 13, but the support structure 13 also connects the two lateral regions (not shown) of the casing 3 to one another. The casing 3 and the support structure 13 consist of a flexible plastic material, preferably of the same material, and have been constructed in one piece using a generative manufacturing process, in particular by selective laser sintering (SLS). The support structure 13 in the present case consists of a plurality of bars crossing one another at right angles, a first group of parallel bars
    12/25 • · · ·
    Bars 16 connects the top to the bottom and a second group of parallel bars 17 runs from one side to the other, so that there is a cubic space grid.
    FIG. 4 shows a support structure 13, which connects the sleeve region 14 arranged on the upper side of the sensor body to the sleeve region 15 arranged on the underside of the sensor body and consists of parallel webs 18.
    FIG. 5 shows a support structure 13, which connects the sleeve region 14 arranged on the upper side of the sensor body to the sleeve region 15 arranged on the underside of the sensor body and consists of parallel bars 19.
    6 shows a support structure 13, which connects the sleeve region 14 arranged on the upper side of the sensor body to the sleeve region 15 arranged on the underside of the sensor body and consists of a tree structure branching from the underside to the upper side, a trunk section 20 being branched 21 branches.
    FIG. 7 shows an embodiment in which the support structure 13 is formed by webs 22 and 23 arranged in an X-shape, the webs 22 and 23 with the sheath 3 and / or in the crossover area 24 and in the connecting area 25
    Envelope areas 14 and 15 a radius is formed.
    3 to 7, the degree of damping provided by the support structure can be varied locally, for example by the number of
    13/25 • · · · * · · · · · · · ft »········· · • · · · · · · · ft • · ♦ · · · · · ♦ • · · ·« · · · · • · · · ft ··· ··· ft ft ·
    Support elements (bars, rods, tree structure) are varied per unit volume, so that either a denser or a less dense structure is created. The local variation in the degree of damping can also be changed by changing the material thickness (thickness) or
    Material rigidity of the respective support elements can be made.
    However, the local variation in the degree of damping can also take place by changing the thickness measured between the top and bottom, as is shown, for example, in FIG. 8. 8 shows an area of a handling device, the surface 1 of which is covered by a sensor body 2. The support structure 13 is made thicker in a first area 26 than in a second area 27.
    Fig. 9 shows an embodiment in which the wall thickness and / or strength of the shell 3 is varied. In particular, a thick / firm shell 3, possibly in
    Combination with a soft support structure 13, at
    Touch to a rather large impression of the sensor body (Fig. 9a). Conversely, a thin / soft cover 3, possibly in combination with a fixed support structure 13, leads to a more local impression of the sensor (FIG. 9b).
    Furthermore, as shown in Fig. 10, the
    Wall thickness of the shell 3 in the middle 28 of the sensor surface may be chosen to be greater than at the edge 29 of the sensor surface.
    11, the support structure comprises a smaller number of support elements 30, e.g. Crosspieces or rods, which are on the top of the sensor body
    14/25 • · · ♦ connect the arranged sleeve area 14 to the sleeve area 15 arranged on the underside of the sensor body, an additional support effect being formed by a sleeve area 14 formed on the upper side
    Reinforcement structure 31 is achieved, which a
    Honeycomb pattern. This enables a big one
    Void share, and thus a weight saving, with high strength at the same time.
    As shown in FIG. 12, the sensor body 2 can have a multiple thickness variation, the chamber 4 comprising a central region 32 and two lateral regions 33, which are connected to one another by hose-like connections. Only the central area 32 contains the pressure sensor 10 together with the electronics.
    15/25
    权利要求:
    Claims (21)
    [1]
    1. A device for detecting a collision of a handling device with an obstacle comprising at least one gas-filled chamber, which is surrounded by a flexible shell deformable by collision with an obstacle and has a flexible support structure, the support structure forming a damping element which, together with the shell mechanically dampens the forces acting in the event of a collision, and further comprising a pressure sensor for measuring the gas pressure inside the chamber, the device covering at least a first and a second region of the handling device being attachable to the handling device, characterized in that the casing and the support structure are integrally formed with each other and provide a different degree of damping in the first and in the second region.
    [2]
    2. Device according to claim 1, characterized in that the shell and the support structure by a generative manufacturing process, in particular in layers, such as are produced by selective laser sintering.
    [3]
    3. Device according to claim 1 or 2, characterized in that the support structure and / or the shell is changed locally such that a different degree of damping is provided in the first and in the second region.
    [4]
    4. The device according to claim 1, 2 or 3, characterized in that the device at least a first gas-filled chamber and a second gas-filled chamber
    16/25 • · · · • · · · · · · · φ ··· ♦ ······ φ • · · · · C φφ φ • φ · * »·« ·· φ · · · · · · · · • φ ·· ···· ··· · Φ ·, whose shell and support structure are each integrally formed with each other, the shell and the support structure of the first chamber one of the shell and the
    Support structure of the second chamber different
    Provide degree of damping.
    [5]
    5. Device according to one of claims 1 to 4, characterized in that the support structure connects opposite areas of the casing, in particular the area of the casing arranged on the top of the device and the area of the casing arranged on the underside of the device.
    [6]
    6. Device according to one of claims 1 to 5, characterized in that the support structure has a plurality of support elements.
    [7]
    7. The device according to claim 6, characterized in that the supporting elements form a space lattice, which is preferably constructed from cubes, tetrahedra or truncated octahedra or is designed as a honeycomb lattice.
    [8]
    8. The device according to claim 6, characterized in that the supporting elements are formed by webs and / or rods penetrating the chamber.
    [9]
    9. Device according to one of claims 1 to 8, characterized in that the support structure comprises a tree structure branching from the bottom to the top of the device.
    [10]
    10. Device according to one of claims 6 to 9, characterized in that the number of support elements each
    17/25 • ·· · · · ·· · · · • $ · · φ · • · · · · ···· ·· ·· ···· ··· ·· ·
    Volume unit of the chamber is chosen larger in the first area than in the second area.
    [11]
    11. Device according to one of claims 1 to 10, characterized in that the support structure in the first region is made of a stiffer material than in the second region.
    [12]
    12. Device according to one of claims 1 to 11, characterized in that the support structure has a greater thickness in the first region than in the second region.
    [13]
    13. Device according to one of claims 1 to 12, characterized in that the thickness of the casing and / or the strength of the casing on the top of the device is chosen to be larger in the first region than in the second region.
    [14]
    14. Device according to one of claims 1 to 13, characterized in that the degree of damping of the casing on the upper side of the device is selected to be greater in the first region than in the second region and that the degree of damping of the support structure in the second region is selected to be greater than in the first region ,
    [15]
    15. Device according to one of claims 1 to 14, characterized in that the thickness of the casing and / or the strength of the casing is chosen to be lower in an edge region of the chamber at the top of the device than in a central region.
    [16]
    16. Device according to one of claims 1 to 15, characterized in that the thickness of the casing and / or the strength of the casing at the top of the device in
    18/25 • · • ·· · · · ·· · · · ···· · · ·· · • φ ·· · ♦ · · · ····· · »· · ·· ·· ··· · ··· ·· · a curved area of the envelope is chosen to be smaller than in a flat area of the envelope.
    [17]
    17. Device according to one of claims 1 to 16, characterized in that the support structure has a material reinforcement which is arranged on the inside of the casing on the upper side of the device, the material reinforcement preferably having a honeycomb-like pattern.
    [18]
    18. Device according to one of claims 1 to 17, characterized in that each chamber has its own pressure increasing device, preferably a pump or a blower, in particular a piezoelectrically driven one.
    [19]
    19. Device according to one of claims 1 to 18, characterized in that the pressure sensor cooperates with the pressure increasing device via a control circuit in order to produce and maintain a predetermined gas pressure in the chamber.
    [20]
    20. Handling device with at least a first and a second area of the same covering collision detection device according to one of claims 1 to 19, wherein the handling device has an emergency shutdown that can be activated depending on the signals of the pressure sensor.
    [21]
    21. A method for producing a device according to any one of claims 1 to 19, characterized in that the shell and the support structure in one piece with one another using a generative manufacturing method, in particular
    19/25 • ······ ·· »
    »• · in layers, e.g. by selective laser sintering.
    Vienna, April 24, 2017
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    同族专利:
    公开号 | 公开日
    AT519655B1|2018-09-15|
    US20200130623A1|2020-04-30|
    EP3615284A1|2020-03-04|
    KR20200024765A|2020-03-09|
    WO2018195570A1|2018-11-01|
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    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA166/2017A|AT519655B1|2017-04-24|2017-04-24|Detecting a collision of a handling device with an obstacle|ATA166/2017A| AT519655B1|2017-04-24|2017-04-24|Detecting a collision of a handling device with an obstacle|
    CN201880042354.9A| CN110944811A|2017-04-24|2018-04-24|Identification of a collision of an operating device with an obstacle|
    EP18726714.1A| EP3615284A1|2017-04-24|2018-04-24|Detection of a collision of a handling device with an obstacle|
    JP2020507720A| JP6940683B2|2017-04-24|2018-04-24|Detection of collision of handling device with obstacle|
    US16/606,819| US20200130623A1|2017-04-24|2018-04-24|Detection of a collision of a handling device with an obstacle|
    CA3060602A| CA3060602A1|2017-04-24|2018-04-24|Detecting a collision of a handling device with an obstacle|
    KR1020197034280A| KR20200024765A|2017-04-24|2018-04-24|Detection of collision of the handling device with obstacles|
    PCT/AT2018/000031| WO2018195570A1|2017-04-24|2018-04-24|Detection of a collision of a handling device with an obstacle|
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