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Robot arm safety system with runtime adaptable safety limits

A technology of robot system and robot arm, which is applied in the field of safety system, can solve the problem that the robot arm cannot enter the safe state, etc.

Pending Publication Date: 2021-11-16
UNIVERSAL ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Known safety systems monitor the operation of the robotic arm independently of the final end effector, so if for example the end effector is in an unsafe state, the safety system cannot bring the robotic arm into a safe state

Method used

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  • Robot arm safety system with runtime adaptable safety limits
  • Robot arm safety system with runtime adaptable safety limits
  • Robot arm safety system with runtime adaptable safety limits

Examples

Experimental program
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Embodiment Construction

[0054]The invention has been described in terms of exemplary embodiments which are intended to illustrate the principles of the invention only. A skilled person will be able to provide several embodiments within the scope of the claims. Throughout the specification, reference numerals of similar elements providing similar effects have the same last two digits. Furthermore, it should be understood that where an embodiment comprises a plurality of the same features, only some of the features may be labeled by reference numerals.

[0055] figure 1 A robotic arm 101 is shown comprising a plurality of robotic joints 103 a , 103 b , 103 c , 103 d , 103 e , 103 f connecting a robotic base 105 and a robotic tool flange 107 . Base joint 103a is configured to rotate the robot arm about base axis 111a (shown in dashed dashed line), as indicated by rotation arrow 113a; shoulder joint 103b is configured to rotate the robot arm about shoulder axis 111b (shown in dashed line). (cross) ind...

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PUM

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Abstract

The invention discloses a robot system, and the robot system comprising a robot arm controlled by a process controller according to a combination of basic software and process software and a safety controller configured to monitor and evaluate operation of a robot arm. The basic software is associated with safety limits having normal values limiting operation of the robot arm. The process software is associated with at least one safety limit having a process value which is different from the normal value. The value of a safety limit is configured to be updated with the process value while the robot system is in run-time mode and the robot safety controller is configured to bring the robot arm into a violation stop mode based on the result of an evaluation of an operation parameter, the normal value and the process value of the at least one safety limit.

Description

technical field [0001] The present invention relates to a safety system for a robotic arm, wherein the safety system is configured to monitor the robotic arm during operation of the robotic arm and to bring the robotic arm into a safe state if the robotic arm enters an unsafe operating mode. Background technique [0002] Robotic arms comprising a plurality of robotic joints and robotic links in which actuators can rotate or translate parts of the robotic arm relative to each other are known. The robotic arm may include a rotational joint in which the actuator is configured to rotate a portion of the robotic arm and / or a translational joint in which the actuator is configured to translate a portion of the robotic arm. Typically, a robot arm includes: a robot base, which serves as a mounting base for the robot arm; and a robot tool flange, to which various tools can be attached, and where a number of robot joints and robot links connect the robot base and robot tool flanges. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1674G05B2219/49142G05B2219/40202B25J9/1692B25J17/00
Inventor 安德斯·比莱索·贝克大卫·勃兰特雅各布·舒尔茨·奥姆霍吉斯特凡诺斯·纳西奥普洛斯
Owner UNIVERSAL ROBOT