EP4493365A1 - Ensemble robot pour le traitement et/ou la manipulation d'une pièce, élément de protection pour un ensemble robot et ensemble de protection - Google Patents

Ensemble robot pour le traitement et/ou la manipulation d'une pièce, élément de protection pour un ensemble robot et ensemble de protection

Info

Publication number
EP4493365A1
EP4493365A1 EP22717363.0A EP22717363A EP4493365A1 EP 4493365 A1 EP4493365 A1 EP 4493365A1 EP 22717363 A EP22717363 A EP 22717363A EP 4493365 A1 EP4493365 A1 EP 4493365A1
Authority
EP
European Patent Office
Prior art keywords
unit
securing element
flange surface
robot assembly
section
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22717363.0A
Other languages
German (de)
English (en)
Inventor
Oliver Krieg
Etienne Eichstaedt
Hermann Wieser
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Roundpeg Technologies GmbH
Original Assignee
Roundpeg Technologies GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Roundpeg Technologies GmbH filed Critical Roundpeg Technologies GmbH
Publication of EP4493365A1 publication Critical patent/EP4493365A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance

Definitions

  • Robot assembly for processing and/or handling a workpiece, securing element for a robot assembly and securing assembly
  • the invention relates to a robot assembly for processing and/or handling a workpiece.
  • the robot assembly comprises a manipulator unit with a flange surface, with a flange surface central axis standing perpendicular to the flange surface and a flange surface transverse direction running parallel to the flange surface.
  • the robot assembly has an effector unit that is mounted on the flange surface and has an extension component along the flange surface central axis and an extension component along the flange surface transverse direction.
  • the invention is directed to a securing element for such a robot assembly.
  • the invention also relates to a protection assembly with such a protection element.
  • the flange surface center axis and the flange surface transverse direction are defined to intersect.
  • the flange surface central axis and the flange surface transverse direction are therefore not skewed.
  • the flange surface transverse direction and the flange surface central axis are also perpendicular to one another.
  • robot assemblies Many applications of robot assemblies require the robot assembly to share its workspace with humans. This happens, for example, in the context of human-robot cooperation. In such cases, it must be ensured that the people present within the working space of the robot assembly remain unharmed. Also AS: TOP Collisions of the robot assembly and its components with other non-human objects in the workspace must be avoided. For this purpose, it is known to equip robot assemblies with corresponding sensor units that are designed to detect distances to people and non-human objects. Based on this, movement of the robot assembly can be slowed down, changed in direction, stopped or prevented entirely.
  • the manipulator unit is understood to mean a programmable device by means of which the flange surface can be positioned in space in the desired manner.
  • the manipulator unit is designed as a robot arm.
  • the effector unit is understood to mean an assembly that is designed to interact with the workpiece to be machined and/or handled.
  • the effector unit can be designed as a gripper unit or as a tool unit.
  • a robot assembly of the type mentioned at the outset which includes a securing element which is attached to the manipulator unit and/or to the effector unit.
  • the securing element has an extension component along the flange surface central axis and is at least partially along the Flange surface positioned in the transverse direction next to the effector unit.
  • a fastening interface for fastening a sensor unit for collision protection is provided on the securing element.
  • the protection element can be monitored using sensors to protect against collisions.
  • the securing element therefore extends at least in sections radially outside of at least one section of the effector unit with respect to the flange surface central axis.
  • the securing element projects over at least part of the effector unit with respect to the flange surface.
  • a section of the securing element is always spaced from the effector unit. This applies in particular to an end of the securing element that is not attached to the manipulator unit and/or the effector unit. This results in an exposed position of the fastening interface for fastening a sensor unit. Alternatively, this results in an exposed section of the securing element, which can be detected indirectly or directly by sensors. Consequently, for the purpose of collision protection, the space around the effector unit can be monitored using sensors in particularly detailed and reliable manner.
  • the arrangement of the securing element means that a surrounding section of the effector unit, which is arranged at an end of the effector unit opposite the flange surface, can be reliably monitored by sensors. Due to the arrangement of the securing element, there is little or no concealment of this surrounding area by the effector unit. When interacting with a workpiece, a precise distinction can be made between the workpiece and other objects or a person. In addition, a workpiece picked up by the effector unit can also be reliably protected against collisions with a person or other objects by means of the securing element. Overall, the robot assembly together with any workpiece that may be picked up can be reliably protected against unwanted collisions.
  • sensor units in addition to a sensor unit that can be attached to the fastening interface of the securing element, further sensor units can be provided, for example on the manipulator unit and/or are mounted on the effector unit. These can also serve to protect against collisions.
  • All sensor units are signal-coupled to a control unit of the robot assembly, so that the robot assembly can be operated depending on detection results determined by the sensor units.
  • a sensor unit attached to the mounting interface or the sensor-monitored safety element can also be used for tasks that go beyond collision protection.
  • the sensor unit and/or the sensor-monitored security element can also be used for teaching, i.e. H. Can be used to teach certain points in the room. These can be points where you want to interact with a workpiece or the environment.
  • an environment can be detected by means of a sensor unit attached to the fastening interface or by means of the sensor-monitored securing element and this can be used to recalibrate the drive system and/or the position detection system of the robot assembly in order to compensate for load-dependent or aging-dependent influences.
  • an extension component of the securing element along the flange surface central axis is greater than an extension component of the securing element along the flange surface transverse direction.
  • the securing element extends comparatively far in the direction of an end of the effector unit facing away from the flange surface.
  • a sensor unit mounted on the fastening interface can therefore be used to secure particularly well the area around the effector unit that is remote from the flange surface. The same applies if the security element is monitored using sensors.
  • Distance sensor unit lies and comes closest to the device surface, taking into account a spatial course of the device surface
  • the robot assembly according to the invention has a device surface. More specifically, the device surface is designed as a surface of the securing element, which includes the fastening interface for the distance sensor unit.
  • the robot assembly according to the invention can also be designed as a handling device in the sense of the international patent application PCT/EP2021/054849.
  • the safety device is suitable for a handling device having a device surface, in particular for a robot or a robot assembly having a device surface.
  • the safety device comprises a first distance sensor unit which can be positioned on or in the device surface, i.e. on a surface of the securing element, and an evaluation unit which is coupled to the distance sensor unit for signaling purposes and is designed to carry out the method according to the international patent application PCT/EP2021/ when the distance sensor unit is mounted.
  • the safety device minimum distances from device surfaces, i.e. H. from a surface of the securing element.
  • devices equipped with the safety device for example the robot assembly according to the invention and in particular handling devices, can be operated reliably in work spaces in which potentially collision-prone objects and, in particular, people are present.
  • the securing element is rod-shaped and has a first end and a second end. The second end is opposite to the first end.
  • the securing element is connected via the first end to the manipulator unit and/or to the Effector unit attached.
  • the fastening interface for fastening a sensor unit is provided in the area of the second end. This means that the attachment interface is closer to the second end than the first end. This of course includes the special case that the fastening interface is arranged directly at the second end.
  • the securing element has the shape of a sensor or an antenna, with the fastening interface for fastening a sensor unit being positioned in the area of a sensor tip or antenna tip.
  • security elements can be referred to as security sensors or security antennas.
  • This detection area includes in particular those sections of the effector unit that are designed to interact with a workpiece and, if applicable, the workpiece. Collision protection is therefore particularly reliable and precise.
  • the robot assembly can always include several safety elements.
  • two or more rod-shaped securing elements can be provided.
  • the securing element is sleeve-shaped or sleeve-section-shaped.
  • the securing element runs completely or partially around an outer circumference of the effector unit.
  • the securing element is formed as a completely or partially circumferential collar. It can therefore be described as a hedging collar.
  • the rotation is to be understood as rotation with respect to the central axis of the flange surface. This also results in a particularly favorable detection range for a sensor unit that is mounted on the fastening interface of the securing element. The same applies if the security element is monitored using sensors.
  • the securing element can comprise a plastic material.
  • the securing element can comprise a support structure which is provided with a covering.
  • the support structure can comprise a plastic material.
  • the covering can also comprise a plastic material. It is also possible for the covering to comprise a textile material.
  • At least two fastening interfaces for fastening a sensor unit for collision protection can be provided on or adjacent to an edge of the securing element facing away from the flange surface.
  • the securing element is therefore designed to carry at least two sensor units. Consequently, the effector unit and any workpiece that may interact with it can be monitored using sensors with particular reliability and precision to prevent collisions.
  • the securing element has at least one opening.
  • a central axis of the at least one opening runs essentially radially to the flange surface central axis.
  • the at least one opening is preferably designed so that a person can look through it. This means that the effector unit and any workpiece that may interact with it can be observed if necessary. More preferably, the size of the opening is limited or shaped in such a way that a person cannot reach through the opening. The security element therefore provides protection against injury.
  • the securing element prefferably be transparent at least in sections. In this way, too, a person can observe the effector unit and any workpiece that may interact with it.
  • At least a portion of the securing element is movable along the flange surface central axis.
  • This section can therefore assume different positions along the central axis of the flange surface. In other words, this section can be moved along the central axis of the flange surface.
  • the fastening interface is provided for fastening a sensor unit for collision protection.
  • a sensor unit mounted thereon can thus detect different areas of an environment depending on the position of the section of the securing element along the central axis of the flange surface. The detection range can therefore be adjusted in particular depending on whether the effector unit is currently interacting with a workpiece, should interact, should not interact, or whether no workpiece interaction is intended.
  • the securing element is rod-shaped, this rod can be extended and retracted.
  • the securing element is designed to be telescopic for this purpose.
  • the securing element is in the form of a sleeve or a sleeve section, the sleeve or the sleeve section can be extended and retracted. In this case too, the securing element can be designed telescopically.
  • At least a section of the securing element can also be rotatable about at least a section of the effector unit with respect to the central axis of the flange surface.
  • the section of the securing element can therefore be rotated completely or partially around an outer circumference of the effector unit.
  • the section of the securing element can be mounted on an arcuate or ring-shaped rail.
  • the securing element can comprise at least one section made of elastically deformable material.
  • a security element can work tactilely. This means that it is designed to come into contact with objects in the vicinity of the robot assembly, workpieces and also people to prevent collisions. Due to the elastically deformable material, at least a section of the securing element deforms as soon as there is force or moment-loaded contact between it protection element and another object, workpiece or person occurs. Due to this deformation, at least a section of the securing element changes its spatial position. This is monitored using sensors. It is noted that that section of the securing element whose change in spatial position is monitored by sensors can, but does not have to, coincide with the section made of elastically deformable material.
  • the section of the securing element monitored by sensors with regard to its spatial bearings can therefore also be designed to be rigid in comparison to the section made of elastically deformable material. By monitoring the deformation, a collision with the effector unit can therefore be prevented. Such collision monitoring is simple and robust. In particular, sensor units used for collision protection can be mounted in comparatively less exposed positions.
  • a deformation sensor unit it is possible for a deformation sensor unit to be positioned on the manipulation unit or on the effector unit. This is designed to detect a deformation of the section made of elastically deformable material. As already explained, reliable collision protection can also be achieved in this way.
  • the securing element protrudes in the undeformed state along the flange surface central axis on a side facing away from the flange surface relative to the effector unit. This is particularly the case in a view perpendicular to the central axis of the flange surface.
  • the securing element always contacts an object, a workpiece or a person first. Only after a certain deformation of the securing element can the effector unit contact the object, the workpiece or the person. Undesirable collisions can therefore be reliably avoided.
  • the effector unit can comprise a movement unit or can be coupled to the manipulator unit via a movement unit, so that at least a section of the effector unit can be selectively moved out of an environment of the securing element is.
  • the effector unit can therefore assume two states. In a first state, it is in an environment of the protection element and is therefore protected against unwanted collisions by means of the protection element. In a second state, the effector unit is outside the environment of the protection element and is therefore at least no longer completely protected by the protection element with regard to unwanted collisions. The effector unit can therefore be selectively transferred to a less well-protected state. This can be used, for example, to hold a workpiece.
  • the securing element comprises a mounting section for attaching the securing element to a manipulator unit and/or to an effector unit of the robot assembly.
  • the securing element has a cantilever section which is designed to extend laterally next to at least a section of the effector unit.
  • a fastening interface for fastening a sensor unit for collision protection is provided on the cantilever section.
  • at least a section of the cantilever section can be monitored using sensors to prevent collisions.
  • the cantilever section therefore projects over at least part of the effector unit with respect to the flange surface. This allows a sensor unit to be mounted in a comparatively exposed location.
  • a comparatively exposed section of the protection element can be detected using sensors, so that comparatively simple but reliable collision protection for the effector unit can be implemented by means of the protection element.
  • the cantilever section can be rod-shaped, sleeve-shaped or sleeve-section-shaped.
  • a cantilever section shaped in this way an area of the environment of an effector unit, which lies at an end of the effector unit facing away from the flange surface, can be reliably protected against unwanted collisions.
  • a section of the securing element can be movable along the flange surface central axis. The length of the securing element can thus be adjusted along the central axis of the flange surface. In this way, a detection range of a sensor unit mounted on the protection element can be set easily and reliably. Alternatively, the detection range of a sensor-monitored security element can be easily adapted. Both enable reliable and flexible collision protection.
  • a section of the securing element prefferably be rotatable about at least a section of the effector unit with respect to the flange surface central axis. This makes it possible to protect a large area of the effector unit's surroundings with regard to possible collisions.
  • the securing element comprises at least one section made of elastically deformable material.
  • a deformation of the section made of elastically deformable material can be monitored using sensors.
  • the section of the securing element consequently deforms as soon as contact under force or moment occurs between the securing element and another object, workpiece or person. This represents simple and robust collision monitoring.
  • the task is solved by a protection assembly with a protection element according to the invention and a distance sensor unit.
  • the distance sensor unit is attached to the fastening interface of the securing element. Consequently, the distance sensor unit can be used to determine distances with high reliability and precision, even in an area around an end of an effector unit that faces away from a flange surface, and to prevent unwanted collisions.
  • the distance sensor unit can be a distance sensor unit of a safety device according to the international patent application PCT/EP2021/054849. This can be coupled for signaling purposes with an evaluation unit of the safety device from the international patent application PCT/EP2021/054849.
  • a method for determining a minimum distance according to the international patent application PCT/EP2021/054849 can therefore be used to determine the position using the distance sensor unit.
  • PCT/EP2021/054849 the content of which is hereby incorporated in its entirety into this application.
  • FIG. 1 shows schematically a robot assembly according to the invention with two protection assemblies according to the invention, each of which comprises a protection element according to the invention according to a first embodiment
  • FIG. 2 shows schematically a section of a further robot assembly according to the invention, with two protection assemblies according to the invention, each of which comprises a protection element according to the invention according to a second embodiment
  • Figure 3 is a perspective view of a section III of the robot assembly from Figure 2,
  • Figure 4 shows schematically a section of a robot assembly according to the invention, with a protection assembly according to the invention, which comprises a securing element according to the invention according to a third embodiment
  • FIG. 5 shows the section of the robot assembly from FIG. 4 in a different operating state
  • Figure 6 shows a detail VI from Figure 5
  • FIG. 7 shows schematically a section of another robot assembly according to the invention, with a protection assembly according to the invention, which includes a protection element according to the invention according to a fourth embodiment,
  • FIG. 10 shows schematically a section of a further robot assembly according to the invention, with a protection assembly according to the invention, which includes a protection element according to the invention according to a sixth embodiment,
  • Figure 12 shows schematically a section of a further robot assembly according to the invention, with a protection assembly according to the invention comprises a securing element according to the invention according to a seventh embodiment,
  • a flange surface transverse direction 22 runs parallel to the flange surface 18 and perpendicular to the flange surface central axis 20, which is shown by a double arrow.
  • Each of the protection assemblies 26 includes a protection element 28 which is rod-shaped.
  • each of the securing elements 28 has a cantilever section 32, which extends laterally next to at least a section of the effector unit 24.
  • the securing elements 28 are positioned at least in sections along the flange surface transverse direction 22 next to the effector unit 24.
  • one of the cantilever sections 32 extends above the effector unit 24 and one of the cantilever sections 32 extends below the effector unit 24.
  • Both cantilever sections 32 therefore protrude over the effector unit 24. In the embodiment shown, the cantilever sections 32 also protrude over the workpiece 12.
  • Two fastening interfaces 34 are provided on each of the cantilever sections 32 for fastening an associated sensor unit 36 for collision protection.
  • the sensor units 36 are designed as distance sensor units 38.
  • a distance sensor unit 38 is therefore attached to each of the attachment interfaces 34.
  • the associated detection areas 40 of the distance sensor units 38 are each indicated by two thin boundary lines 40a, 40b. It is understood that the detection areas 40 are actually conical.
  • the detection areas 40 of the distance sensor units 38 positioned at a second end 28b of the securing elements 28 extend to a side of the effector unit 24 facing away from the flange surface 18.
  • the second end 28b is opposite the first end 28a. Distances that lie along the flange surface central axis 20 in front of the effector unit 24 can therefore also be recorded.
  • a workpiece 12 is received by the effector unit 24.
  • the detection areas 40 also extend to a side of the workpiece 12 facing away from the flange surface 18.
  • the distance sensor units 38, 42 are designed to determine distances between components of the robot assembly 10 and people 44 and other objects 46 that are located in the working area of the robot assembly 10.
  • a movement of the robot assembly 10 can be slowed down, its direction adjusted, stopped or completely prevented by means of the control unit so that no undesirable collisions of components of the robot assembly 10 with the human 44 and/or the object 46 take place.
  • the two securing assemblies 26 with the securing elements 28 and the distance sensor units 38 are now attached to the effector unit 24 via the respective mounting sections 30.
  • the associated securing element 28 extends essentially along the flange surface central axis 20. It therefore has essentially no extension component along the flange surface transverse direction 22. Otherwise, the effector unit 24 is essentially identical to the effector unit 24 from FIGS. 2 and 3. Only the distance sensor units 42 are positioned slightly differently.
  • the distance sensor units 38, 42 are used as usual for collision protection.
  • the distance sensor unit 38 is used to teach in a predetermined recording position for receiving the workpiece 12 and to be able to approach it reliably during operation. This is particularly advantageous if a position of the workpiece 12 is subject to fluctuations or is only roughly known.
  • a reference contour 48 is provided on a workpiece carrier 47 from which the workpiece 12 is to be removed, which can be scanned by means of the distance sensor unit 38. In this way it is ensured that the workpiece 12 is picked up at the designated location by means of the effector unit 24.
  • FIG. 6 shows in this context a variant in which a total of three distance sensor units 38 are arranged on the securing element 28, so that the effector unit 24 can be aligned with high precision relative to the workpiece 12.
  • a force sensor unit can be provided.
  • FIGS 7 and 8 show a further robot assembly 10, for which only the differences compared to the embodiments already explained are explained. As usual, identical or corresponding components have the same reference numbers.
  • the securing element 28, to which a distance sensor unit 38 is attached is displaceable along the flange surface central axis 20.
  • a displacement drive 50 is provided, which is driven by the
  • Hedging element 28 is coupled.
  • the securing element 28 can thus be moved back and forth along the flange surface central axis 20.
  • the securing element 28 can be withdrawn from the workpiece carrier 47 for picking up and placing a workpiece 12 (see in particular FIG. 8). This results in a sufficiently large free space for the interaction of the effector unit 24 with the workpiece 12.
  • the distance sensor unit 38 attached to the securing element 28 can also be selectively deactivated.
  • the workpiece 12 is therefore not detected as a potentially collision-prone object.
  • Figure 9 shows another robot assembly 10, for which only the differences compared to the already explained embodiments are explained. As usual, identical or corresponding components have the same reference numbers.
  • the robot assembly 10 from FIG. 9 has a single protection assembly 26.
  • the securing element 28 extends along the flange surface central axis 20 and along the flange surface transverse direction 22.
  • the securing element 28 is also rod-shaped and has a fastening interface 34 at its second end, on which a distance sensor unit 38 is mounted.
  • the securing element 28 can now be rotated about the effector unit 24 with respect to the flange surface central axis 20. This is illustrated by the arrow 52 and an alternative position of the securing element 28 and the distance sensor unit 38 shown in dashed lines. However, it goes without saying that the securing element can be rotated continuously with the distance sensor unit 38. In addition to the positions shown in FIG. 9, intermediate positions can also be assumed. By rotating the securing element 28 with the distance sensor 38 about the flange surface central axis 20, an environment of the effector unit 24, which is located at an end of the effector unit 24 facing away from the flange surface 18, can be scanned for possible obstacles.
  • a robot assembly 10 can also be seen in Figures 10 and 11. As usual, this is explained based on the previous embodiments.
  • the securing element 28 also has a plurality of openings 54. Through these openings 54, the effector unit 24 and a workpiece 12 that may interact with it can be observed during operation of the robot assembly 10.
  • FIG. 12 Another robot assembly 10 is shown in Figures 12 and 13.
  • the securing element 28 is sleeve-shaped and runs completely around an outer circumference of the effector unit 24.
  • the securing element 24 protrudes along the flange surface central axis 20 on a side facing away from the flange surface 18 relative to the effector unit 24.
  • the deformation sensor units 58 are designed as distance sensor units.
  • the securing element 28 is now designed in the shape of a sleeve section. In the embodiment shown, the securing element 28 only partially runs around the outer circumference of the effector unit 24.
  • the sleeve section-shaped securing element 28 has the shape of a half-shell.
  • the effector unit 24 now includes a movement unit 62, via which a section of the effector unit 24 can optionally be moved out of an environment of the securing element 28.
  • the second position can be used, for example, if the effector unit is to pick up or put down a workpiece 12.
  • the first position is used in all other cases.
  • At least a section of the securing element 28 is monitored by sensors and mounted exposed in such a way that objects 46 and/or people 44 that are in a surrounding section at an end of the effector unit 24 that is opposite the flange surface 18 are detected with high precision and reliability can be. This can also be done regardless of whether the effector unit 24 has gripped a workpiece or not. A deformation of the securing element 28 is determined using sensors.
  • Hedging element a first end of the hedging element b second end of the hedging element

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

L'invention se rapporte à un ensemble robot (10) pour le traitement et/ou la manipulation d'une pièce (12). L'ensemble robot comprend : une unité de manipulateur (14) présentant une surface de bride (18) ; une unité d'effecteur (24), qui est montée sur la surface de bride (18) ; et un élément de protection (28), qui est fixé à l'unité de manipulateur (14) et/ou à l'unité d'effecteur (24). L'élément de protection (28) présente un composant d'extension le long d'un axe central de surface de bride (20) et est positionné, au moins en partie dans une direction transversale de surface de bride (22), à côté de l'unité d'effecteur (24). Une interface de fixation (34) est également fournie sur l'élément de protection (28) pour la fixation d'une unité de capteur (36) pour une protection contre les collisions. En variante, l'élément de protection (28) peut être surveillé par des capteurs pour une protection contre les collisions. L'invention se rapporte également à un élément de protection (28) pour un tel ensemble robot (10). L'invention se rapporte également à un ensemble de protection (26) comprenant un tel élément de protection (28) et une unité de capteur de distance (38).
EP22717363.0A 2022-03-18 2022-03-18 Ensemble robot pour le traitement et/ou la manipulation d'une pièce, élément de protection pour un ensemble robot et ensemble de protection Pending EP4493365A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2022/057192 WO2023174557A1 (fr) 2022-03-18 2022-03-18 Ensemble robot pour le traitement et/ou la manipulation d'une pièce, élément de protection pour un ensemble robot et ensemble de protection

Publications (1)

Publication Number Publication Date
EP4493365A1 true EP4493365A1 (fr) 2025-01-22

Family

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EP22717363.0A Pending EP4493365A1 (fr) 2022-03-18 2022-03-18 Ensemble robot pour le traitement et/ou la manipulation d'une pièce, élément de protection pour un ensemble robot et ensemble de protection

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US (1) US20250214263A1 (fr)
EP (1) EP4493365A1 (fr)
KR (1) KR20250072900A (fr)
WO (1) WO2023174557A1 (fr)

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WO2026153649A1 (fr) * 2025-01-17 2026-07-23 Roundpeg Technologies Gmbh Système robotique pour l'usinage et/ou la manipulation d'une pièce, élément de protection contre les collisions, élément de retenue et élément de palier pour un système robotique, module de protection contre les collisions, et procédé pour faire fonctionner un système robotique

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DE102008004037A1 (de) * 2008-01-11 2009-07-23 Audi Ag Kollisionsschutz für einen optischen oder opto-elektronischen Sensor
DE202013104860U1 (de) * 2013-10-30 2015-02-02 Daimler Ag Arbeitsvorrichtung
DE102015112656A1 (de) * 2015-07-31 2017-02-02 Sick Ag Distanzsensor
DE102015216665A1 (de) * 2015-09-01 2017-03-02 Siemens Aktiengesellschaft Vorrichtung zur Anbindung an einen Roboter
EP3744482B1 (fr) * 2019-05-27 2021-12-29 Sick Ag Fixation d'une pièce de machine mobile

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KR20250072900A (ko) 2025-05-26
WO2023174557A1 (fr) 2023-09-21
US20250214263A1 (en) 2025-07-03

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