Pneumatic system for detecting robotized arm disconnection

Abstract

A system and method for detecting a disconnection of a mobile component from an articulated robot, such as a delta robot uses for handling or for sorting facilities, including recycling sorting facilities. The system comprises a pressurized circuit comprising tubing, at least a portion of the tubing extending along the mobile component, wherein the tubing extends over a joint of the mobile component. The tubing is disconnectable from the pressurized circuit, at at least one end thereof (e.g., where there is a connector), by the joint over which it extends and is designed to disconnect if the arm or arm post on which it is installed is disconnected, causing a leak in the pressurized circuit. A pressure sensor or a flow sensor detects a change of pressure or change of flow, respectively, in the pressurized circuit upon disconnection of the mobile component of the articulated robot.

Description

PNEUMATIC SYSTEM FOR DETECTING ROBOTIZED ARM DISCONNECTIONCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority or benefit from U.S. patent application 63 / 522,054, filed March 23, 2022, the specification of which is hereby incorporated herein by reference in its entirety.BACKGROUND(a) Field

[0002] The subject matter disclosed generally relates to arms of articulated robots for manipulation. More specifically, it relates a system for detecting arm disconnection of parallel robots during operation.(b) Related Prior Art

[0003] Articulated robots for manipulation may be used in modern industrial facilities for manipulation. Such articulated robots comprise arms. If the arms are provided in parallel, they can be called parallel robots. There are parallel robots used in various contexts, typically for manipulation (picking and similar tasks, without limitation). A delta robot is a type of parallel robot comprising, most of the time, at least three arms, or more specifically, three pairs of arm posts with the arm posts arranged in parallel, connected to universal joints at the base. Delta robots may also be made with only two arms. A key design feature of delta robots in general is the use of parallelograms in the arms (e.g., the arms are made up of a pair of parallel elongated members, i.e., the arm posts), whereby this use of a parallelogram arrangement maintains the orientation of the end effector when in movement.

[0004] Delta robots have popular usage in picking and packaging in factories or in residual material treatment facilities because they can be quite fast, having a high rate of operation, for example for picking, sucking or displacing materials on a conveyor operated under the robot.

[0005] Delta robots, among others, and other types of robots having robotic arms, may suffer from arm disconnection during operation, typically when operated at high frequencies or high loads. When one of the arms or arm posts are disconnected, the disconnection makes the robot inoperable for the time they are disconnected. It may take time to notice that the arm is broken in such a way (arm post disconnected), time during which the robot keeps being operated, but uselessly (with no effect). For example, it the robot is used on a conveyor, the conveyor may be operated for some time without having the robot acting on it as expected, which may cause some issues such as a conveyor containing unhandled materials thereon and unexpectedly reaching a later stage in the facility. In worse cases, the arms or arm posts being disconnected may fall on the conveyor and mix with the materials on the conveyor, in which case they can be lost or permanently damaged due to laying on the conveyor for too long.SUMMARY

[0006] According to a first aspect of the disclosure, there is provided an articulated robot comprising:- a plurality of mobile components, each of the mobile components articulated at a joint;- a pressurized circuit comprising tubing comprising tubes, the tubing comprising a corresponding tube along each the mobile components and which extends on the joint, the corresponding tube being disconnectable from the pressurized circuit by the joint along which it extends for opening the pressurized circuit upon disconnection of one of said mobile components.

[0007] According to an embodiment of the disclosure, there is further provided a pressure sensor or a flow sensor for detecting a change of pressure or change of flow, respectively, in the pressurized circuit upon disconnection of the mobile component of the articulated robot.

[0008] According to an embodiment of the disclosure, the mobile components are arms.

[0009] According to an embodiment of the disclosure, the mobile components are arm posts.

[0010] According to an embodiment of the disclosure, the corresponding tube extends helicoidally around a corresponding one of the arm posts and clipped thereonto and clipped thereonto.

[0011] According to an embodiment of the disclosure, the tubing comprises a connector by said joint to which the corresponding tube is normally connected and from which it is disconnectable for detecting the disconnection of one of said mobile components, upon detecting the change of pressure or the change of flow.

[0012] According to an embodiment of the disclosure, the pressurized circuit for detecting the disconnection of one of said mobile components, upon detecting the change of pressure or the change of flow is the pressurized circuit powering an articulation or actuation of the mobile components.

[0013] According to an embodiment of the disclosure, the articulated robot is a delta robot.

[0014] According to another aspect of the disclosure, there is provided a system for detecting a disconnection of a mobile component from an articulated robot, the system comprising:- a pressurized circuit comprising tubing, at least a portion of the tubing extending along the mobile component, wherein the tubing extends over a joint of the mobile component, the tubing being disconnectable from the pressurized circuit, at at least one end thereof, by the joint over which it extends;-a pressure sensor or a flow sensor for detecting a change of pressure or change of flow, respectively, in the pressurized circuit upon disconnection of the mobile component of the articulated robot.

[0015] According to an embodiment of the disclosure, the mobile component is an arm.

[0016] According to an embodiment of the disclosure, the mobile component is an arm post.

[0017] According to an embodiment of the disclosure, the tubing extends helicoidally around the arm post and clipped thereonto.

[0018] According to an embodiment of the disclosure, the pressurized circuit comprises a connector by said joint to which the tubing is normally connected and from which it is disconnectable for detecting the disconnection of the mobile component, upon detecting the change of pressure or the change of flow.

[0019] According to an embodiment of the disclosure, the pressurized circuit for detecting the disconnection of the mobile component, upon detecting the change of pressure or the change of flow is the pressurized circuit powering an articulation or actuation of the mobile component.

[0020] According to an embodiment of the disclosure, the articulated robot is a delta robot.

[0021] According to another aspect of the disclosure, there is provided a method for detecting a disconnection of a mobile component from an articulated robot, the system comprising:- provided and pressurizing a pressurized circuit comprising tubing, at least a portion of the tubing extending along the mobile component, wherein the tubing extends over a joint of the mobile component, the tubing being disconnectable from the pressurized circuit, at at least one end thereof, by the joint over which it extends;- sensing a pressure or a flow for detecting a change of pressure or change of flow, respectively, in the pressurized circuit upon disconnection of the mobile component of the articulated robot.

[0022] According to an embodiment of the disclosure, the mobile component is an arm post.

[0023] According to an embodiment of the disclosure, the tubing extends helicoidally around the arm post.

[0024] According to an embodiment of the disclosure, the pressurized circuit comprises a connector by said joint to which the tubing is normally connected and from which it is disconnectable for detecting the disconnection of the mobile component, upon detecting the change of pressure or the change of flow.

[0025] According to an embodiment of the disclosure, providing and pressurizing the pressurized circuit for detecting the disconnection of the mobile component, upon detecting the change of pressure or the change of flow, comprises providing and pressurizing the pressurized circuit for an articulation or actuation of the mobile component.BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Further features and advantages of the present disclosure will become apparent from the following detailed description, taken in combination with the appended drawings, in which:

[0027] Fig. 1 is a perspective view illustrating a delta robot for use over a conveyor, according to an embodiment of the disclosure;

[0028] Fig. 2 is a picture illustrating a delta robot operated over a conveyor, wherein arm comprising a pair of elongated posts is disconnected, according to an embodiment of the disclosure;

[0029] Fig. 3 is a schematic diagram illustrating a system for detection of arm disconnection in an articulated robot, according to an embodiment of the disclosure;

[0030] Figs. 4-5 are perspective views illustrating an articulated robot comprising a system for detection of arm disconnection, according to an embodiment of the disclosure;

[0031] Fig. 6 is an exploded view of an articulated robot illustrating airpath from multi output manifold to each parallel arm of a pneumatic system for detection of arm disconnection, according to an embodiment of the disclosure;

[0032] Fig. 7 is a graph illustrating acceleration (measured in g) vs time of an arm of an articulated robot (delta robot) operated over a conveyor in a residual material treatment facility, according to an embodiment of the disclosure; and

[0033] Figs. 8A-8H are perspective views illustrating various parts of a pneumatic system for detection of arm disconnection for an articulated robot, according to an embodiment of the disclosure.

[0034] It will be noted that throughout the appended drawings, like features are identified by like reference numerals.DETAILED DESCRIPTION

[0035] There is described herein a system to detect arm disconnection immediately upon disconnection in order to immediately stop operation of the facility and the robot and make an immediate repair or reconnection with the arm or arm post having just disconnected, without waiting enough time for it to be lost or damaged. There is described, in relation with Fig. 1 , an articulated robot 10 such as a parallel robot, for instance and without limitation, a delta robot with two, three or four arms 20 connected to a base 12 at the top and a platform 14 at the bottom. Each arm 20 is made, according to an exemplary embodiment, of two elongated arm posts 21 which extend in parallel.

[0036] In a recycling sorting application, an articulated robot 10 (such as a delta robot) can be used to sort materials on a conveyor 30. As materials move along the conveyor 30, cameras detect their presence and send signals to the delta robot 10. A processor of the articulated robot 10, or a separate computeroperatively coupled thereto, uses these signals to calculate the location and trajectory of the material to be manipulated by the end effector of the articulated robot, and then, following this determination, the articulated robot 10 is instructed to move its arms using an actuator or an equivalent thereof to pick up the material and move it to the appropriate location for sorting (e.g., to a sorting chute aside and apart from the conveyor 30). This manipulation process takes place quickly and accurately, enabling the articulated robot 10 to sort a large quantity of material in a short time lapse. The ability of the articulated robot 10 to work quickly and accurately makes it an ideal solution for residual material treatment facilities, and in particular, without limitation, recycling sorting applications, where materials need to be sorted at a high rate into different categories according to their composition.

[0037] Articulated robots such as delta robots use arms 20 or elongated arm posts 21 made of carbon fiber (or other material) for their lightness and rigidity, enabling them to reach high speeds for high frequency of operation and deliver high precision as to the destination position of a given movement. Each arm 20 may be made of a pair of elongated members or posts 21 being articulated, at at least one end, by a joint such as a ball-and-socket joint 40 (as well shown in Figs. 4 and 5 showing a ball-and-socket joint 40 at an upper end and another one at a lower end of each elongated arm member 21 ). The arm 20 will from now on be considered to encompass both a single-member arm or an arm made of more than one, for example at least two or preferably exactly two elongated members or posts 21 provided as parallel members (extending in the same direction and actuated altogether) to form the arm 20, wherein a plurality of arms 20 arranged in parallel (not in series; does not mean geometrically parallel to each other) make up an end effector for manipulation.

[0038] As mentioned above, each arm 20 or each of its constitutive elongated members 21 is pivotally connected, at an end thereof, to a corresponding joint such as a ball-and-socket joint 40. This may be the case at both the upper end and the lower end. A plurality of such ball-and-socket joints 40may be provided, for example if there is one of them for each upper end and lower end of each elongated arm post 21 of the two, three or four arms 20.

[0039] An unfortunate issue may occur in this situation: if the articulated robot 10 is used to sort materials on a moving conveyor 30, it is possible for the arm 20 or arm posts 21 to dislocate accidentally from the ball-and-socket joint 40 to which it is pivotally connected, for example when colliding with materials on the conveyor 30, since the materials are moving along with the conveyor and the arms 20 are also being displaced at high velocity and high accelerations which make such collisions more likely. In particular, when the articulated robot 10 collides with moving material on the conveyor, there may be unexpected vibrations and forces transmitted to the robot arms, which may cause the arms to become disconnected from the ball joints. If this happens, the articulated robot 10 must be stopped and the arms repositioned before the robot can be used again. To minimize this risk, it is important to properly design the ball joints and arm attachment mechanisms, and to optimize the delta robot parameters according to the properties of the materials to be sorted.

[0040] At present, there is no way of detecting arm loss. If this happens, the arm or arm post falls off and, in the example of a residual material sorting facility, follow the path of the material through the sorting center, while the robot continues to operate, causing the loss and / or breakage of the arms and, in extreme cases, breakage of the robot itself. Fig. 2 illustrates this problem.

[0041] Articulated robots such as delta robots use arms typically made of carbon fiber, or other material, selected for their lightness and rigidity, enabling them to reach high speeds and deliver high precision. However, if the articulated robot is used to sort materials on a moving conveyor 30, it is possible for the arms to dislocate from the ball-and-socket joints when colliding with materials on the conveyor. When the articulated robot 10 picks up moving material on the conveyor 30, there may be unexpected vibrations and forces transmitted to the robot’s arms, which may cause the arms or constitutive arm posts to become disconnected fromthe ball joints. If this happens, the delta robot must be stopped and the arms repositioned before the robot can be used again. To minimize this risk, it is important to properly design the ball joints and arm attachment mechanisms, and to optimize the delta robot parameters according to the properties of the materials to be sorted.

[0042] Now referring to advantageous embodiments of the present disclosure, there is now disclosed a system 50 to detect loss (disconnection) of an arm 20 from an articulated robot 20, such as a delta robot. If an arm 20 comprises more than one (such as two) constitutive elongated members, typically, all the elongated arm posts 21 of that arm 20 will disconnect simultaneously at the same end (upper end or lower end) of each elongated arm post 21 of a specific arm 20, thus disconnecting the arm 20 from the corresponding ball-and-socket joint 40 (upper or lower joint). If the arm 20 is disconnected from that one end, it is not articulated or properly actuated anymore and therefore, it is not able to operate or perform its task appropriately. This situation needs to be detected very fast to avoid the articulated robot 20 to malfunction. Under acceleration, the arm 20 and its constitutive elongated arm posts 21 may further dislocate at their other end from that other ball-and-socket joint 40, thus leading to arm loss.

[0043] Fig. 2 illustrates an exemplary embodiment comprising four arms 20 which at their distal end form an end effector. Each arm is made of two elongated arm posts 21 , one of the arms 20 being disconnected at a bottom, distal end thereof.

[0044] According to an embodiment of the disclosure, the arm loss detection system 50 comprises a closed pneumatic circuit. In reference with Fig. 3, the pneumatic circuit operates in such a way that air is pressurized throughout the circuit, normally comprising a continuous tubing 52, with a manifold 55 feeding the tubing 52. If an arm 20 becomes disconnected from the robot, the pneumatic circuit opens (i.e., a leak is created), creating a pressure drop and triggering an alarm (from the detection of the pressure sensor 59) that orders the robot and itsconveyor to stop. This enables operators to quickly detect arm disconnection, without human intervention, and carry out the necessary repairs (reconnecting the arms and rearming the pneumatic system). The pneumatic circuit can be used in different ways (at the point where disconnection is to be detected), but the general idea is that the loss of arms creates an opening in the circuit (leak) which can be immediately detected by a pressure sensor 59 detecting a significant pressure drop due to the leak which is a consequence of the arm (post) disconnection. By using a closed pressurized pneumatic circuit to detect arm disconnections immediately, operators can prevent breakage and permanent loss of the articulated robot's arms, for example during material sorting or during any other type of operation. At present, there is no way of detecting these arm losses apart from seeing the robot behave weirdly or seeing that the arm is missing. If this happens, the arms fall off and follow the path of the material through the sorting center, while the robot continues to operate, causing the loss and / or breakage of the arms and, in extreme cases, breakage of the robot itself.

[0045] Now referring to Fig. 4, the pressurized pneumatic system (closed- type circuit) comprises tubing 52 operatively coupled to a compressed air supply 51 (shown in the schematic circuit of Fig. 3), the tubing 52 comprising individual tubes 53 being routed along each arm 20 or more specifically individually routed along each elongated arm post 21 . These individual tubes 53, at least one for each post 21 , are fitted with a pneumatic connection 54 at each arm connection, that is in close proximity to the connection of the corresponding end of the elongated arm post 21 with the corresponding ball-and-socket joint 40, where there is a need to detect potential disconnection. The circuit is closed in that the compressed air supply 51 is operatively connected to tubing 52 which extends to a closed loop connector 57 (well shown in Fig. 4 and 8G) at the distal end of each one of the individual tubes 53, such that there is normally no flow despite the pressurization. Only if the circuit is opened due to a disconnection will there suddenly be an air leak and therefore a pressure drop and a corresponding air flow, as a result of thearm disconnection which will cause a corresponding disconnection in the pneumatic tubing 52. The upper end of the tubes 53 connects (connector 54) to a splitter 56, shown in Fig. 5, which is analogous to the closed loop connector 57 but not close as it connects the main pneumatic circuit from the tubing 52 to two different individual tubes 53.

[0046] Alternatively, instead of being pressurized (positive pressure difference), a negative pressure difference (i.e., a vacuum) may be generated to arrive at a similar result. Therefore, pressurization may be intended to encompass any detectable pressure differences being generated, positive (compressed air) or negative (vacuum), as they both generate a flow or pressure change upon disconnection of a mobile component such as an arm or arm post at the articulated joint thereof.

[0047] Indeed, in the event of an accidental arm disconnection (red arrow in Fig. 4), this will result in a disconnection of the corresponding individual tube 53 from the pneumatic tubing 52 (green arrow in Figs. 4-5) at the faulty (disconnected) ball and socket joint 40. Specifically, the pneumatic disconnection occurs at the pneumatic connection 54 of that individual tube 53, disconnecting it from the pneumatic circuit and immediately causing a significant leak. This causes a drop in pressure, beyond a threshold in the change of pressure, which is detected by a pressure sensor 59 which, according to an embodiment of the disclosure, may send a signal to stop the robot 10 and the conveyor 30, for example, to attend to an immediate reparation / reconnection of the arm without any further damage and to prevent irremediable arm loss.

[0048] Connections (that is, the pneumatic connection 54) for the closed pneumatic circuit are fixed to the robot plate or base 12 (a bottom of the body of the articulated robot 10, as shown in Fig. 6 where the tubing 52 is replaced by dotted lines to see the flow) to detect disconnections in the lower part of the arms 20, and to the ball joint 40 at the top (shown in Fig. 5) to detect disconnections in the upper part of the robot's primary arms (fitted with servomotors).

[0049] As well shown in Figs. 4 and 5, the individual tube 53 which belongs to the tubing 52 and which extends on a specific elongated arm post 21 or arm 20 may be wound around said specific elongated arm post 21 , for example spirally wound, such that it may naturally hold onto the arm 20 or elongated arm post 21 on which it is installed. A few clamps 58 can be installed onto the arm post or arm 20 to further secure the tube 53 thereon, as shown in Figs. 4-5 and 8F. Upon dislocation of the joint 40 (red arrow showing the ball being ejected from the socket) of a given arm 20, the corresponding tube 53 disconnects at the respective pneumatic connection 54 from the rest of the tubing 52 (green arrow showing tubing disconnection), which opens the otherwise closed pneumatic circuit of the tubing 52 and generates a pressure loss and corresponding air flow, any one of which can be detected with appropriate sensors.

[0050] Still referring to Figs. 5 and 6, in the event of disconnection and after such a detection, the operator will have to reconnect the arm and associated pneumatic tubing 52 (i.e., reconnect the pneumatic connection 54) in order to restore pressure to the pneumatic system and enable the robot (and conveyor / system) to restart.

[0051] According to a preferred embodiment of the disclosure, and without limitation, the closed pneumatic circuit is supplied with low-pressure, low-flow compressed air to eliminate the risk of injury and minimize the compressed air consumption caused by opening the circuit. Each robot arm (3 or 4 arms depending on the robot) and all of its constitutive arm posts 21 , or only one of such arm posts 21 for each arm, is supplied with compressed air through the closed pneumatic system.

[0052] Advantages of the robot arm disconnection detection system, without limitation, are as follows:

[0053] 1 . Eliminates risk of arm loss in the system (sorting center);

[0054] 2. Reduces the risk of arm breakage;

[0055] 3. Ensures real-time monitoring of arm connection maintenance;

[0056] 4. Allows the robot (and system) to be re-started more quickly in the event of arm disconnection;

[0057] 5. Reduces spare parts costs (expensive arms);

[0058] 6. Pneumatic components ensure a longer service life (millions of cycles) and therefore reliability adapted to the context;

[0059] 7. Low system cost;

[0060] 8. The weight of the system is low, with virtually no constraint on robot movements;

[0061] 9. The system is flexible and easy to adapt, and can be added to an existing robot.

[0062] Now regarding exemplary system specifics, the system should be able to meet the following requirements:

[0063] 1 ) Use of ultra-flexible Duro hose for the pneumatic tubing 52 with a small bending radius, and a material capable of withstanding millions of cycles of operation.

[0064] 2) To be able to easily install this system on an existing robot of the type described above.

[0065] 3) The system must be as light as possible so as not to interfere with robot speed, and withstand accelerations (300% or equivalent to 8g maximum) as measured with an accelerometer (as shown in the graph of Fig. 7, which exemplifies the accelerations to be withstood both by the arms 20 and also by the tubing 52 and connections thereof on the arms).

[0066] 4) The system must stop the robot (and the line) quickly (about 1 second at the most), preferably within a single gripping cycle.

[0067] 5) The system must be resistant to its environment (dust, possible collisions, etc...)

[0068] 6) Temperature range of operation from -20°C to 40°C

[0069] 7) Use the compressed air source already available in the robot, without affecting air consumption (less than 0.3 SCFM or Standard Cubic Feet per Minute in the event of a leak).

[0070] 8) Low maintenance: 98% mechanical availability

[0071] 9) High durability: low cost of ownership

[0072] 10) Easy debugging and restarting.

[0073] 11 ) Use of low pneumatic pressure to eliminate the risk of injury from a disconnected hose.

[0074] System components may include, for example and without limitation:

[0075] a. 1 / 8" (3mm) diameter pressurized pneumatic circuit;

[0076] b. Flexible hose (3mm inside diameter, 5mm outside diameter) on arms with 55A Duro, maximum operating pressure 30 Psi;

[0077] c. Single- or multi-barrel pneumatic connections for quick connection and disconnection, requiring a force of less than 3 Lbs for disconnection;

[0078] d. Flow regulator;

[0079] e. Pressure regulator (0 -30psi);

[0080] f. Distributor block; or multi-output manifold;

[0081] g. Pneumatic pressure switch 1-1 Obar;

[0082] h. Various supports (custom-made in plastic) for routing pneumatic hoses on robot arms to tool plate.

[0083] Various parts are shown in Figs. 8A-8H, such as tubing connectors (8A-8B), the clamp 58 to maintain the tubes 53 wound around elongated arm posts (8F), the closed loop connector 57 to close the distal end of tubes 53 (8G), the other parts as shown being various holders.

[0084] The system described above may advantageously be implemented on any mobile component of an articulated robot (such as an arm or arms forming an end effector for gripping or handling, but could be other articulated implements, actuators, instruments or tools), as long as the mobile component has a joint from which it can be disconnected.

[0085] While preferred embodiments have been described above and illustrated in the accompanying drawings, it will be evident to those skilled in the art that modifications may be made without departing from this disclosure. Such modifications are considered as possible variants comprised in the scope of the disclosure.

Claims

CLAIMS:1 . An articulated robot comprising:- a plurality of mobile components, each of the mobile components articulated at a joint;- a pressurized circuit comprising tubing comprising tubes, the tubing comprising a corresponding tube along each the mobile components and which extends on the joint, the corresponding tube being disconnectable from the pressurized circuit by the joint along which it extends for opening the pressurized circuit upon disconnection of one of said mobile components.

2. The system of claim 1 , further comprising a pressure sensor or a flow sensor for detecting a change of pressure or change of flow, respectively, in the pressurized circuit upon disconnection of the mobile component of the articulated robot.

3. The articulated robot of claim 1 or 2, wherein the mobile components are arms.

4. The articulated robot of claim 1 or 2, wherein the mobile components are arm posts.

5. The articulated robot of claim 4, wherein the corresponding tube extends helicoidally around a corresponding one of the arm posts and clipped thereonto.

6. The articulated robot of claim 2 or 5, wherein the tubing comprises a connector by said joint to which the corresponding tube is normally connected and from which it is disconnectable for detecting the disconnection of one of said mobile components, upon detecting the change of pressure or the change of flow.

7. The articulated robot of claim 6, wherein the pressurized circuit for detecting the disconnection of one of said mobile components, upon detecting the change of pressure or the change of flow is the pressurized circuit powering an articulation or actuation of the mobile components.

8. The articulated robot of claim 7, wherein the articulated robot is a delta robot.

9. A system for detecting a disconnection of a mobile component from an articulated robot, the system comprising:- a pressurized circuit comprising tubing, at least a portion of the tubing extending along the mobile component, wherein the tubing extends over a joint of the mobile component, the tubing being disconnectable from the pressurized circuit, at at least one end thereof, by the joint over which it extends;-a pressure sensor or a flow sensor for detecting a change of pressure or change of flow, respectively, in the pressurized circuit upon disconnection of the mobile component of the articulated robot.

10. The system of claim 9, wherein the mobile component is an arm.11 . The system of claim 9, wherein the mobile component is an arm post.

12. The system of claim 11 , wherein the tubing extends helicoidally around the arm post and clipped thereonto.

13. The system of claim 8 or 12, wherein the pressurized circuit comprises a connector by said joint to which the tubing is normally connected and from which it is disconnectable for detecting the disconnection of the mobile component, upon detecting the change of pressure or the change of flow.

14. The system of claim 13, wherein the pressurized circuit for detecting the disconnection of the mobile component, upon detecting the change of pressure or the change of flow is the pressurized circuit powering an articulation or actuation of the mobile component.

15. The system of claim 14, wherein the articulated robot is a delta robot.

16. A method for detecting a disconnection of a mobile component from an articulated robot, the system comprising:- provided and pressurizing a pressurized circuit comprising tubing, at least a portion of the tubing extending along the mobile component, wherein the tubing extends over a joint of the mobile component, the tubing being disconnectable from the pressurized circuit, at at least one end thereof, by the joint over which it extends;- sensing a pressure or a flow for detecting a change of pressure or change of flow, respectively, in the pressurized circuit upon disconnection of the mobile component of the articulated robot.

17. The method of claim 16, wherein the mobile component is an arm post.

18. The method of claim 17, wherein the tubing extends helicoidally around the arm post and clipped thereonto.

19. The method of claim 18, wherein the pressurized circuit comprises a connector by said joint to which the tubing is normally connected and from which it is disconnectable for detecting the disconnection of the mobile component, upon detecting the change of pressure or the change of flow.

20. The method of claim 19, wherein providing and pressurizing the pressurized circuit for detecting the disconnection of the mobile component, upon detecting the change of pressure or the change of flow, comprises providing and pressurizing the pressurized circuit for an articulation or actuation of the mobile component.

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