• 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 (l) for controlling a handling device comprising a mountable on the handling device carrier housing (2) with a outside on the carrier housing (2) arranged tactile sensor body (4) and on the carrier housing (2) movably mounted tool carrier (3) the sensor body (4) can be actuated when the tool carrier (3) is loaded by the tool carrier (3).
    公开号:AT521204A1
    申请号:T1142018
    申请日:2018-04-20
    公开日:2019-11-15
    发明作者:Baldinger Andreas；Ferner Tobias；Wohlkinger Walter；Zillich Michael；Byberg Daniel；Frager Patrick
    申请人:Blue Danube Robotics Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a device for controlling a handling device and a handling device with the device according to the invention
    WO 2016/000005 A1 describes 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 described. For collision detection, the safety sensor or a plurality of such safety sensors is attached to the handling device and / or to its manipulators. 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.
    While this safety sensor offers a high level of operational safety with regard to the structure of the handling device itself, there is still the risk that a user or a fixed structure with / 21
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    an object and in particular collides with a tool guided by a robot, whereby there is still a considerable risk of injury when handling such handling devices. The object of the invention is therefore to minimize this risk as well.
    To achieve this object, the device according to the invention comprises a carrier housing which can be arranged on the handling device, with a tactile sensor body arranged on the outside of the carrier housing, and a tool carrier which is movably mounted on the carrier housing, the sensor body being actuatable by the tool carrier when the tool carrier is loaded.
    The device according to the invention therefore serves as a control device for protection by securing a tool guided by a handling device (e.g. a robot) against collision with an obstacle. In the event of such a collision, the tool is loaded and the tool carrier is moved due to its movable mounting, as a result of which the sensor body is actuated by the tool carrier. The sensor body registers the load and the machine can be controlled accordingly. The control can include the immediate stopping and, if necessary, the retraction of the handling device, or the handling device can be moved into a rest position.
    According to a preferred embodiment of the present invention, the sensor body is formed by a gas-filled chamber which is surrounded by a flexible shell which can be deformed by collision with an obstacle and further comprises a pressure sensor for measuring the gas pressure in the interior of the chamber. Such sensor bodies are for / 21
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    have already been tested with robots and can be designed in any conceivable form in order to essentially completely cover the handling device. This more or less secures the entire area of a robot, so that collisions with serious consequences for facilities or people in the vicinity of a robot can be avoided without having to use completely new technology to secure a tool guided by the robot. In particular, the control of the device according to the invention can be integrated into the control of the handling device with such a shaped body.
    The sensor bodies just mentioned evaluate the pressure increase in the gas-filled chamber when touched from the outside. Therefore, for reliable detection of a collision with the tool carrier or a tool attached to the tool carrier, it is advantageous if the sensor body is at least partially arranged in a gap between the carrier housing and the tool carrier. When the tool carrier is loaded in the event of a collision with an obstacle, it moves relative to the carrier housing and the gap is reduced, as a result of which the sensor body is pinched, which leads to a strong and therefore easily evaluable pressure increase in the chamber.
    The device according to the invention is preferably developed in such a way that the sensor body surrounds the carrier housing with a first region and engages with a second region in the gap between the carrier housing and the tool carrier. The entire device according to the invention is thus secured, since both a collision of the tool carrier or a / 21
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    Tool with an obstacle and a collision with the carrier housing is detected with the help of the sensor body and can be evaluated accordingly to control the handling device.
    In a particularly favorable manner, the tool carrier has a mounting plate for tools, which forms the gap together with the holder housing. Mounting plates are used for the modular assembly of robots and enable rapid tool changes. If the device according to the invention now provides such a plate, which together with the carrier housing forms the gap, the usual use of tools with the device according to the invention is not complicated, since the tool can be easily mounted on the mounting plate.
    This idea is pursued particularly efficiently if the carrier housing comprises a mounting element suitable for a mounting plate for a tool, as corresponds to a preferred embodiment of the present invention. This means that the safety device according to the invention can be connected to the handling device like a conventional tool.
    In order to ensure the necessary mobility of the tool carrier relative to the carrier housing, the device according to the invention is preferably further developed such that the tool carrier protrudes from the interior of the carrier housing through an opening in the wall of the carrier housing and is pressed resiliently against the inside of the wall of the carrier housing ,
    To ensure sufficient mobility of the tool holder in / 21
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    To ensure the opening, the invention is preferably further developed in such a way that the tool carrier, on its region protruding through a wall of the carrier housing, comprises an outwardly tapering handle so that the tool carrier has sufficient clearance in the opening when it is moved in the sense of tilting ,
    The handling device according to the invention is distinguished by the presence of the device according to the invention and is preferably further developed in such a way that the handling device carries a sensor body in areas different from the device for controlling the handling device. According to this preferred embodiment of the present invention, the handling device, for example a robot, can be completely or at least partially secured against collisions with devices or people, so that a high level of operational reliability of the robot is achieved.
    In the context of the present invention, the sensor body is preferably formed by a gas-filled chamber which is surrounded by a flexible shell which can be deformed by collision with an obstacle and further comprises a pressure sensor for measuring the gas pressure in the interior of the chamber. Such sensor bodies have already been tested for use with robots and can be designed in any conceivable form in order to cover the handling device essentially completely or at least in regions.This more or less secures the entire area of a robot threatened by a collision, so that collisions with it serious consequences for facilities or people in the vicinity of a robot / 21
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    can be avoided without having to use completely new technology to secure a tool guided by the robot. In particular, the control of the handling device according to the invention can be carried out analogously to the control of the known handling device with such a shaped body.
    The invention is explained in more detail below on the basis of an exemplary embodiment schematically illustrated in the drawing. In this show:
    FIG. 1 shows a schematic exploded view of the device according to the invention,
    Figure 2 is a sectional view of the device according to the invention and the
    Figures 3 and 4 are sectional views of the device according to the invention in different stress situations.
    In Figure 1, the device according to the invention is generally designated by the reference number 1. It essentially consists of a carrier housing 2, a tool carrier 3 and a sensor body 4 which essentially completely surrounds the carrier housing with a first region 5. The sensor body 4 also has a second region 6 which engages in the gap 7 between the carrier housing 2 and the tool carrier 3. The sensor body 4 is of the type mentioned in WO 2016/000005 A1 and is formed by a gas-filled chamber which is surrounded by a flexible shell which can be deformed by collision with an obstacle and further comprises a pressure sensor for measuring the gas pressure in the interior of the chamber , wherein the pressure sensor and evaluation electronics are not shown in Figure 1. A / 21
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    Spring is designated by the reference number 18.
    In Figure 2 it can be seen more clearly how the sensor body 4 engages with its second region 6 in the gap 7 between the carrier housing 2 and the tool carrier 3, the tool carrier 3 in the examples shown in the figures having a mounting plate 8 for tools which forms the gap 7 together with the carrier housing 2. The carrier housing 2 also has a mounting element 9 in the region of its base which is suitable for a mounting plate 8 for a tool and is not shown in the drawing. With 11 an unspecified attachment of a handling device is designated. In Figure 2 it can also be seen that the tool carrier 3 protrudes from the interior 13 of the carrier housing 2 through an opening 14 in the wall 15 of the carrier housing 2 and is resiliently pressed against the inside 16 of the wall 15 of the carrier housing 2, the Tool holder 3 is secured in the opening 14 of the tool holder 2 by a hem that is offset compared to a handle 17. The handle 17 of the tool carrier 3 tapers from the inside to the outside in order to ensure sufficient freeing of the handle 17 in the opening 14 of the carrier housing 2 so that the tool carrier 3 can tilt. The tool carrier 3 is biased by a spring, not shown, so that it remains rigidly in the rest position without the action of external forces. If the acting forces exceed a limit that can be set by the stiffness of the spring, the tool holder tilts or shifts.
    It can be seen in FIG. 3 that when the tool carrier 3 is subjected to a radial load in the direction of the arrow 10, it changes from the spring-mounted basic position according to / 21
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    2 is deflected, as a result of which the sensor body 4 is clamped in the region of the gap 7, which leads to a detectable pressure change in the sensor body 4. The corresponding signal can be used in a known manner to stop the robot or the handling device. The same applies to the axial load situation in FIG. 4 according to arrow 12, in which the sensor body 4 is clamped all around in the gap 7. For the sake of clarity, no tool is shown mounted on the tool carrier 3 or on its mounting plate 9, but it is obvious that loads due to collisions in the sense of arrow 10 or 12 are transmitted via the tool to the tool carrier 3 and a corresponding deflection of the tool carrier result in which the sensor body 4 is actuated by the tool carrier 3.
    FIG. 5 shows that even a slight movement of the tool carrier 3, in which the sensor body 4 is touched only slightly, already leads to a detectable signal and is therefore sufficient to detect a collision.
    The device according to the invention thus provides a secure flange which is mounted between the robot and the tool. If the tool collides with an obstacle, a force or moment acts on the safe flange. If the force or torque exceeds preset limit values, the safe flange yields and at the same time triggers an emergency stop of the robot.
    Furthermore, a direct collision of an obstacle with the envelope-like sensor body itself leads to a deformation, which is also detected, and in turn to a stop of the / 21
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    Robot leads. The safe flange thus detects both a collision of the tool and of the flange itself via the sleeve designed as a tactile safety sensor.
    权利要求:
    Claims (11)
    [1]
    claims:
    1. Device for controlling a handling device comprising a carrier housing (2) that can be arranged on the handling device, with a tactile sensor body (4) arranged on the outside of the carrier housing (2) and a tool carrier (3) movably mounted on the carrier housing (2), the sensor body (4) can be actuated by the tool carrier (3) when the tool carrier (3) is loaded.
    [2]
    2. Device according to claim 1, characterized in that the sensor body (4) is formed by a gas-filled chamber, which is surrounded by a flexible, deformable by collision with an obstacle and further comprises a pressure sensor for measuring the gas pressure inside the chamber ,
    [3]
    3. Device according to claim 1 or 2, characterized in that the sensor body (4) is at least partially arranged in a gap (7) between the carrier housing (2) and the tool carrier (3).
    [4]
    4. The device according to claim 3, characterized in that the sensor body (4) with a first region (5) encloses the carrier housing (2) and with a second region (6) in the gap (7) between the carrier housing (2) and engages the tool carrier (3).
    [5]
    5. The device according to claim 3 or 4, characterized in that the tool carrier (3) has a mounting plate (8) for tools, which forms the gap (7) together with the carrier housing (2).
    11/21
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    [6]
    6. Device according to one of claims 1 to 5, characterized in that the carrier housing (2) comprises a mounting element (9) suitable for a mounting plate for a tool.
    [7]
    7. Device according to one of claims 1 to 6, characterized in that the tool carrier (3) from the inside (13) of the carrier housing (2) through an opening (14) in the wall (15) of the carrier housing (2) to the outside protrudes and is resiliently pressed against the inside (16) of the wall (15) of the carrier housing (2).
    [8]
    8. Device according to one of claims 1 to 6, characterized in that the tool carrier (3) on its through a wall (15) of the carrier housing (2) projecting outward region comprises an outwardly tapering handle (17).
    [9]
    9. Handling device with a device according to one of claims 1 to 8.
    [10]
    10. Handling device according to claim 9, characterized in that the handling device carries a sensor body (4) in areas different from the device for controlling the handling device.
    [11]
    11. Handling device according to claim 9 or 10, characterized in that the sensor body (4) is formed by a gas-filled chamber by a flexible, deformable by collision with an obstacle shell
    类似技术:
    公开号 | 公开日 | 专利标题
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    DE102007038922B3|2008-12-18|Collision protector intervening between industrial tool and automatic guidance equipment, includes membrane abruptly reversing its curvature when overloaded
    DE3511554A1|1986-02-13|GAS SPRING
    DE10247801B4|2006-01-26|Pedestrian protection actuator
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    DE2609631B2|1979-10-18|Support for a motor vehicle
    DE202014009315U1|2014-12-18|Medical examination and / or treatment device
    DE3814582A1|1988-11-10|Collision sensor
    EP3441352A1|2019-02-13|Surveillance device
    DE3804111C2|1990-09-27|
    DE102015226205A1|2017-06-22|Protective device for a manipulation device on a handling device and handling device
    DE102019112001B4|2021-06-24|Overload protection device for handling devices
    DE102019106423B3|2020-06-25|Safety device for a robot
    同族专利:
    公开号 | 公开日
    US20210146550A1|2021-05-20|
    AT521204B1|2020-02-15|
    EP3781369A1|2021-02-24|
    WO2019200415A1|2019-10-24|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102007038922B3|2007-08-17|2008-12-18|Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.|Collision protector intervening between industrial tool and automatic guidance equipment, includes membrane abruptly reversing its curvature when overloaded|
    US20180029238A1|2016-07-26|2018-02-01|Illinois Tool Works Inc.|Tool holders for robotic systems having collision detection|
    US5002173A|1989-03-09|1991-03-26|Auto/Con Corporation|Breakaway clutch device|
    DE102007062245A1|2007-12-21|2009-06-25|Robert Bosch Gmbh|Collision detection device for robot arm in automatic production process, has tube and/or hose shaped, sectional, flexible storage units filled with medium and attached with pressure sensors, and control device detecting collision|
    US8606398B2|2008-08-29|2013-12-10|Abb Research Ltd.|Compliant end of arm tooling for a robot|
    DE202012012857U1|2012-05-16|2014-02-03|Schunk Gmbh & Co. Kg Spann- Und Greiftechnik|Overload protection device for handling equipment|
    AT516097B1|2014-07-03|2016-09-15|Blue Danube Robotics Gmbh|Protection method and protective device for handling equipment|
    DE102015219332A1|2015-10-07|2017-04-13|Robert Bosch Gmbh|Sensor device and robot assembly with the sensor device|DE102020114700A1|2020-06-03|2021-12-09|Schaeffler Technologies AG & Co. KG|Device for controlling a manipulator arm for a robot and manipulator arm with such a device|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA114/2018A|AT521204B1|2018-04-20|2018-04-20|Device for controlling a handling device|ATA114/2018A| AT521204B1|2018-04-20|2018-04-20|Device for controlling a handling device|
    US17/048,854| US20210146550A1|2018-04-20|2019-04-18|Device for controlling a handling device|
    PCT/AT2019/000012| WO2019200415A1|2018-04-20|2019-04-18|Apparatus for controlling a handling device|
    EP19723305.9A| EP3781369A1|2018-04-20|2019-04-18|Apparatus for controlling a handling device|
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