Anti-pinch robot hatch system and device

Abstract

The present invention discloses an anti-hand pinching robot hatch device, comprising a cabin body, the cabin body comprising a cabin door, a rotating part, and a trigger part, a front end of the cabin body being provided with an object taking opening along its peripheral wall, a rotating part being provided at the top of the cabin body, a placement cavity for embedding the rotating part being provided at the top of the cabin body, and a top of the rotating part being connected to the hatch; an encoding motor is reversed under the action of a main controller and an encoding motor controller, so that a stuck object / human hand can be taken out normally from the object taking opening, thereby ensuring the safety of the human hand and preventing damage to the object due to squeezing.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a hand-pinch-proof robot hatch system and a device thereof. Background Art

[0002] As labor costs account for a larger proportion of hotel operating expenses, the intelligentization of hotels and the use of delivery robots to complete repetitive tasks are inevitable trends in the development of the industry.

[0003] At present, hotel delivery robots all have cabins and corresponding cabin mechanisms for storing objects. When users reach out to store or take objects in the cabin, there is a risk of their hands being pinched by the cabin door, and when the robot's cabin door closes, the hands may be pinched. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the object of the present invention is to provide an anti-pinch robot hatch system to solve the above problems.

[0005] To achieve the above object, the present invention provides the following technical solutions: a hand-pinch prevention robot hatch system, comprising a cabin body, the cabin body comprising a power module, a main control module, an encoding motor controller module, a drive module, and a trigger module; wherein

[0006] The power module is used to provide power to the main control module, encoder motor controller module, drive module, and trigger module;

[0007] The main control module is used to receive the signal of opening / closing the hatch and transmit the signal of opening / closing the hatch to the encoding motor controller module;

[0008] At the same time, the main control module is also used to receive the current of the drive module fed back by the encoder motor controller module.

[0009] The change and the electrical signal generated by the trigger module control the drive module to open the hatch;

[0010] The encoder motor controller module is used to receive the signal of opening / closing the hatch transmitted by the main control module.

[0011] The signal is sent to the drive module to open / close the door.

[0012] At the same time, the encoder motor controller module is also used to detect the current change of the drive module and identify the drive module.

[0013] The current change of the driving module is transmitted to the main control module;

[0014] The driving module is used to receive the signal for opening / closing the hatch transmitted by the encoding motor controller module, and drive the hatch to move to open / close the cabin;

[0015] The trigger module is used to detect the pressure of the hatch on the object / human hand, generate an electrical signal to open the hatch, and feed the electrical signal to the main control module.

[0016] Preferably, the method steps are as follows:

[0017] Step 10: The main control module transmits the signal for opening the hatch to the encoder motor controller module;

[0018] Step 20: The encoder motor controller module recognizes the hatch opening signal transmitted by the main control module and sends a hatch opening instruction to the drive module;

[0019] Step 30: The driving module receives the instruction to open the cabin door from the encoding motor controller module, and drives the cabin door to open the cabin body until the access port of the cabin body is completely opened;

[0020] Step 40: Take out the objects placed in the cabin;

[0021] Step 50: The main control module transmits a signal for closing the hatch to the encoder motor controller module;

[0022] Step 60: The encoder motor controller module recognizes the hatch door closing signal transmitted by the main control module and issues a hatch door closing instruction to the drive module;

[0023] Step 70: The driving module receives the instruction to close the hatch from the encoder motor controller module, drives the hatch to close the cabin, and simultaneously triggers the module to detect whether the hatch is closed.

[0024] Step 80: If the trigger module detects that the hatch door is squeezing the object / human hand, the normally open trigger module generates compression due to squeezing the object / human hand and generates an electrical signal to open the hatch door. The electrical signal to open the hatch door is then fed back to the main control module. Simultaneously, the hatch door driven by the driver module changes the current passing through the driver module due to the squeezing of the object / human hand. The encoder motor controller module detects the current change of the driver module and transmits the current change of the driver module to the main control module. The main control module controls the driver module to open the hatch door, releasing the squeezing of the object / human hand until the object / human hand is removed from the hatch.

[0025] Step 90: If the trigger module detects that the cabin door does not squeeze the object / human hand, the cabin door is driven to completely close the cabin body, completing the removal of the object from the cabin body.

[0026] Preferably, the driving module includes a rotating member, and the triggering module includes a triggering member.

[0027] Based on the above system, the present invention provides an anti-pinch robot cabin device, including a cabin body, the cabin body including a cabin door, a rotating part, and a trigger part. The front end of the cabin body is provided with a picking port along its own peripheral wall, the rotating part is provided at the top of the cabin body, and the top of the cabin body is provided with a placement cavity for the rotating part to be embedded, and the top of the rotating part is connected to the cabin door.

[0028] Preferably, the rotating part includes an encoding motor, a conversion box, a rotating shaft, a mounting block, and a rotating block. The encoding motor and the conversion box are both arranged at the bottom of the mounting block, and the encoding motor is arranged along the width direction of the cabin body. One end of the conversion box is connected to the encoding motor. The rotating shaft is arranged at the top of the conversion box along the height direction of the cabin body. The rotating shaft passes through the mounting block and extends to the outside of the top of the mounting block. The rotating block is arranged at the top of the mounting block, and the rotating block is connected to the rotating shaft. The outer peripheral wall of the mounting block is fixedly connected to the top of the cabin door.

[0029] Preferably, a plurality of connecting rods are provided between the top of the conversion box and the bottom of the mounting block.

[0030] Preferably, the number of connecting rods is at least 4.

[0031] Preferably, a rotation auxiliary piece is further provided on the top of the mounting block, and the arc distance between the rotation auxiliary pieces is equal to the moving distance of the hatch when opening and closing.

[0032] Preferably, the trigger member includes a safety touch edge, which is arranged at the opening of the access port. The safety touch edge is used to provide a trigger signal to the controller when the hatch closes the access port and an object / human hand is between the safety touch edge and the hatch.

[0033] Preferably, the safety touch edge is made of elastic material.

[0034] The beneficial technical effect of the present invention is that the encoding motor is reversed under the action of the main controller and the encoding motor controller, so that the stuck object / hand can be taken out from the taking port normally, ensuring the safety of the hand and preventing the object from being damaged by squeezing. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is the overall structure flow chart of the present invention;

[0036] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0037] Figure 3 This is a schematic diagram of the cabin structure of the present invention;

[0038] Figure 4 It is a schematic diagram of the structure of the rotating member of the present invention;

[0039] Figure 5 This is a front view of the rotating member structure of the present invention;

[0040] Figure 6 It is a structural schematic diagram of the ultraviolet disinfection device of the present invention.

[0041] Figure numerals: 1. Cabin body; 11. Storage cavity; 12. Removal port; 13. Placement cavity; 14. Cabin door; 15. Ultraviolet disinfection device; 16. Liquid disinfection device; 17. Placement table; 2. Power module; 3. Main control module; 4. Encoding motor controller module; 5. Drive module; 51. Rotating part; 511. Encoding motor; 512. Conversion box; 5121. Connecting rod; 513. Rotating shaft; 514. Mounting block; 5141. Rotation auxiliary part; 515. Rotating block; 6. Trigger module; 61. Trigger part; 6111. Safety touch edge. DETAILED DESCRIPTION

[0042] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom," "top," "inner," and "outer" refer to directions toward or away from the geometric center of a particular component, respectively.

[0043] In this embodiment:

[0044] Reference Figure 1-6 As shown, a hand-pinch prevention robot hatch device includes a cabin body 1, which includes a power module 2, a main control module 3, an encoding motor 511 controller module 4, a drive module 5, and a trigger module 6;

[0045] The power supply module 2 is used to provide power to the main control module 3, the encoder motor 511 controller module 4, the drive module 5, and the trigger module 6;

[0046] The main control module 3 is used to receive the signal of opening / closing the hatch 14 and transmit the signal of opening / closing the hatch 14 to the encoder motor 511 controller module 4;

[0047] At the same time, the main control module 3 is also used to receive the current change of the drive module 5 fed back by the encoder motor 511 controller module 4 and the electrical signal generated by the trigger module 6, and control the drive module 5 to open the hatch 14;

[0048] The encoder motor 511 controller module 4 is used to receive the signal of opening / closing the hatch 14 transmitted by the main control module 3 and send the command of opening / closing the hatch 14 to the drive module 5;

[0049] At the same time, the encoder motor 511 controller module 4 is also used to detect the current change of the drive module 5, identify the current change of the drive module 5, and transmit the current change of the drive module 5 to the main control module 3;

[0050] The driving module 5 is used to receive the signal for opening / closing the cabin door 14 transmitted by the encoding motor 511 controller module 4, and drive the cabin door 14 to move to open / close the cabin body 1;

[0051] The trigger module 6 is used to detect the compression of the door 14 on the object / human hand, generate an electrical signal to open the door 14, and feed back the electrical signal to open the door 14 to the main control module 3.

[0052] The cabin body 1 includes a cabin door 14, a rotating part 51, a trigger part 61, an auxiliary connecting part, an ultraviolet disinfection device 15, and a liquid disinfection device 16. A storage cavity 11 for storing objects is formed inside the cabin body 1. An arc section is provided at the front end of the cabin body 1, and an access port 12 is opened on the arc section. There is a disinfection cavity in the storage cavity 11 for disinfecting and delivering objects.

[0053] The rotating member 51 includes an encoding motor 511, a conversion box 512, a rotating shaft 513, a mounting block 514, and a rotating block 515. The encoding motor 511 is a servo motor. The conversion box 512 is a rectangular shell, and a gear set is provided in the conversion box 512. The gear set is used to convert the rotation direction of the encoding motor 511, thereby driving the rotating shaft 513 to rotate. The encoding motor 511 and the conversion box 512 are both arranged at the bottom of the mounting block 514, and the encoding motor 511 is arranged along the width direction of the cabin 1. One end of the conversion box 512 is connected to the encoding motor 511. The rotating shaft 513 is arranged at the top of the conversion box 512 along the height direction of the cabin 1. 3 penetrates the mounting block 514 and extends to the outside of the top of the mounting block 514. The mounting block 514 is rectangular. Several connecting rods 5121 are provided between the top of the conversion box 512 and the bottom of the mounting block 514. The connecting rods 5121 are provided at the four corners of the top of the conversion box 512, and the upper and lower ends of the connecting rods 5121 are respectively welded to the conversion box 512 and the mounting block 514. A through hole for the rotation shaft 513 to pass through is provided in the middle of the mounting block 514. The rotating block 515 is cylindrical and provided at the top of the mounting block 514. The rotating block 515 is connected to the rotation shaft 513. The outer peripheral wall of the mounting block 514 is fixedly connected to the rotating connector.

[0054] A rotation auxiliary part 5141 is also provided on the top of the mounting block 514. The rotation auxiliary part 5141 includes an auxiliary connecting block, an auxiliary wheel, and an auxiliary connecting frame for installing the auxiliary wheel and the auxiliary connecting block. The auxiliary wheel extends outside the mounting block 514. The arc distance between the rotation auxiliary parts 5141 is equal to the moving distance of the opening and closing of the hatch 14. The rotation auxiliary part 5141 is used to assist the cabin door 14 in rotating when the cabin door 14 rotates, to prevent the cabin door 14 from rubbing against the mounting block 514 during rotation, causing damage to the cabin door 14 mounting block 514.

[0055] The trigger member 61 includes a safety touch edge 6111, which is rectangular and made of elastic material. The safety touch edge 6111 is arranged at the opening of the hatch 14. The safety touch edge 6111 is used to provide a trigger signal to the controller when the hatch 14 is closed and there is a foreign object between the safety touch edge 6111 and the hatch 14.

[0056] The rotating connecting member includes a first rotating connecting block, a second rotating connecting block, and a third rotating connecting block. The first rotating connecting block and the second rotating connecting block are both fan-shaped, and the arc length of the first rotating connecting block is smaller than the arc length of the second rotating connecting block. The third rotating connecting block is arc-shaped, and the arc lengths of the upper and lower ends of the third rotating connecting block are respectively adapted to the first rotating connecting block and the second rotating connecting block. The first rotating connecting block is arranged at the top of the rotating block 515, the second rotating connecting block is arranged at the top of the cabin door 14, and the third rotating connecting block is arranged between the first rotating connecting block and the second rotating connecting block. The third rotating connecting block is used to install one end of the outer peripheral wall of the first rotating connecting block with the end of the second rotating connecting block away from the cabin door 14.

[0057] The UV disinfection device 15 includes a U-shaped UVC LED mounted on top of the capsule 1. The UV lamp is electrically connected to a control unit. The UV lamp is mounted on top of the capsule 1, and reflectors can be installed around the bottom of the capsule 1 to reflect the UV light toward the bottom of the delivery object, achieving a comprehensive disinfection effect.

[0058] The liquid disinfection device 16 comprises a nozzle, a liquid pump, and a liquid reservoir. The nozzle is an atomizing nozzle located at the top of the disinfection chamber, with its nozzle facing the mounting platform 17. The liquid reservoir is a rectangular box with an opening at the top for replenishing the disinfectant liquid. It is fixedly connected to the chamber 1 and connected to the nozzle via the liquid pump. The liquid reservoir contains a disinfectant liquid containing alcohol.

[0059] The platform 17 includes eight rolling rods and motors for driving them. The eight rolling rods are arranged perpendicular to the entrance and exit at the bottom of the cavity and are rotatably connected to the cavity bottom. One end of the leftmost and rightmost rolling rods is connected to the motor via a belt, which drives the leftmost and rightmost rolling rods. The eight rolling rods are also covered with a perforated screen, with protrusions on the leftmost and rightmost rolling rods that mate with the perforated screen. The perforated screen has a certain liquid absorption capacity, allowing the lower surface of the delivered items to be disinfected with alcohol.

[0060] The power module 2 uses a high-capacity rechargeable lithium battery to provide energy for the entire device.

[0061] Follow the steps below to use:

[0062] Step 10: Open the door 14 on the cabin 1;

[0063] Step 20: Place the object in the storage cavity 11 and the disinfection cavity of the cabin 1;

[0064] Step 30: Close the hatch 14; send a command to the encoder motor 511 controller through the main controller, the encoder motor 511 controller controls the encoder motor 511 to operate, and drives the encoder motor 511 to rotate through the action of the gear set of the rotating box, so that the rotating block 515 is driven to rotate, until the hatch 14 opens / closes the hatch 14. When an object / human hand is clamped by the hatch 14, the hatch 14 squeezes the object / human hand. When the object / human hand is squeezed by the hatch 14, the safety touch edge 6111 is squeezed, causing the safety touch edge 6111 to deform, so that the safety touch edge 6111 in the normally open state generates a normally open / closed electrical signal due to the squeezing of the object / human hand. At the same time, the hatch 14 is closed due to the object / The human hand causes a blockage and the hatch 14 cannot be closed, resulting in a decrease in the rotation speed of the encoding motor 511 due to the blockage and an increase in the current. The encoding motor 511 controller detects the signal of the increased current of the encoding motor 511 and transmits the signal and the electrical signal to the main controller, thereby sending an instruction to change the direction of the encoding motor 511 to the controller of the encoding motor 511, stopping the rotation of the closing direction of the hatch 14 and rotating it in the opposite direction by a certain angle, so that the stuck object / human hand can be taken out of the hatch 14 normally, ensuring the safety of the human hand and preventing the object from being damaged by squeezing. At the same time, by setting the rotation auxiliary part 5141, the hatch 14 is prevented from rubbing against the mounting block 514 during rotation, causing damage to the hatch 14 / mounting block 514.

[0065] Step 50: Activate the UV disinfection device 15 and the liquid disinfection device 16 to disinfect the items. The UV disinfection device performs disinfection for at least 15 minutes. The UV disinfection duration is preferably between 15 and 20 minutes. A duration too short may result in incomplete disinfection, while a duration too long may cause the interior of the cabin 1 to heat up, affecting the cold items being delivered. The liquid disinfection device 16 performs disinfection for less than 10 minutes. The liquid disinfection device 16 operates within 10 minutes to complement the 15- to 20-minute UV disinfection process. If both devices are activated simultaneously, there will be 5 to 10 minutes for the disinfectant droplets on the surface of the delivered items to evaporate. This ensures that no visible disinfectant liquid remains on the delivered items when they are removed. The placement platform 17 operates while the liquid disinfection device 16 sprays disinfectant liquid. Rotating the roller on the placement platform 17 allows the disinfectant liquid to reach the bottom of the items. The roller rotates, moving the bottom portion of the delivered item that was in contact with the roller to a position free from contact, exposing it to the air within the cabin 1 containing the small droplets of disinfectant liquid.

[0066] Step 60: After the disinfection is completed, the ultraviolet disinfection device 15 and the liquid disinfection device 16 are turned off;

[0067] Step 70: Open the door 14 on the cabin 1;

[0068] Step 80: Take out the sterilized objects in the storage cavity 11 and the sterilization cavity;

[0069] Step 90: Close the hatch 14. The main controller sends a command to the encoder motor 511 controller, which controls the encoder motor 511 to operate and drives the encoder motor 511 to rotate through the gear set of the rotating box, thereby driving the rotating block 515 to rotate until the hatch 14 opens / closes the hatch 14. When an object / human hand is clamped by the hatch 14, the hatch 14 squeezes the object / human hand. When the object / human hand is squeezed by the hatch 14, the safety touch edge 6111 is squeezed, causing the safety touch edge 6111 to deform, so that the safety touch edge 6111 in the normally open state generates a normally open / close electrical signal due to the squeezing of the object / human hand. At the same time, the hatch 14 is blocked by the object / human hand. The plug cannot close the hatch 14, causing the speed of the encoding motor 511 to decrease due to the blockage and the current to increase. The encoding motor 511 controller detects the signal of the increased current of the encoding motor 511 and transmits the signal and the electrical signal to the main controller, thereby issuing an instruction to change the direction of the encoding motor 511 to the controller of the encoding motor 511, stopping the rotation of the closing direction of the hatch 14, and rotating it in the opposite direction by a certain angle, so that the stuck objects / human hands can be taken out of the hatch 14 normally, ensuring the safety of the human hands and preventing the objects from being damaged by squeezing. At the same time, by setting the rotation auxiliary part 5141, the hatch 14 is prevented from rubbing against the mounting block 514 during rotation, causing damage to the hatch 14 / mounting block 514.

[0070] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that improvements and modifications that do not depart from the principles of the present invention are within the scope of protection of the present invention.

Claims

1. A finger-pinch prevention robot hatch system, characterized by: The invention comprises a cabin (1), wherein the cabin (1) comprises a power supply module (2), a main control module (3), an encoding motor (511) controller module (4), a drive module (5), and a trigger module (6); wherein the power supply module (2) is used to provide power to the main control module (3), the encoding motor (511) controller module (4), the drive module (5), and the trigger module (6); The main control module (3) is used to receive a signal for opening or closing the hatch (14), and transmit the signal for opening or closing the hatch (14) to the encoder motor (511) controller module (4); At the same time, the main control module (3) is also used to receive the current variation of the drive module (5) fed back by the encoder motor (511) controller module (4) and the electrical signal generated by the trigger module (6), and control the drive module (5) to open the hatch (14); The encoder motor (511) controller module (4) is used to receive a signal for opening or closing the hatch (14) transmitted by the main control module (3) and transmit an instruction for opening or closing the hatch (14) to the drive module (5); At the same time, the encoder motor (511) controller module (4) is also used to detect the current variation of the drive module (5), identify the current variation of the drive module (5), and transmit the current variation of the drive module (5) to the main control module (3); The driving module (5) is used to receive a signal for opening or closing the cabin door (14) transmitted by the encoding motor (511) controller module (4), and drive the cabin door (14) to move to open or close the cabin body (1); The trigger module is used to detect the pressure of the hatch on the human hand, generate an electrical signal to open the hatch, and feed the electrical signal to the main control module; The cabin body (1) comprises a cabin door (14), a rotating member (51), and a trigger member (61); a front end of the cabin body (1) is provided with a take-out opening (12) along its peripheral wall; the rotating member (51) is provided at the top of the cabin body (1); a placement cavity (13) for the rotating member (51) to be embedded is provided at the top of the cabin body (1); and the top of the rotating member (51) is connected to the cabin door (14); The rotating member (51) includes an encoding motor (511), a conversion box (512), a rotating shaft (513), a mounting block (514), and a rotating block (515). The encoding motor (511) and the conversion box (512) are both arranged at the bottom of the mounting block (514), and the encoding motor (511) is arranged along the width direction of the cabin body (1). One end of the conversion box (512) is connected to the encoding motor (511). The rotating shaft (513) is arranged at the top of the conversion box (512) along the height direction of the cabin body (1). The rotating shaft (513) passes through the mounting block (514) and extends to the outside of the top of the mounting block (514). The rotating block (515) is arranged at the top of the mounting block (514), and the rotating block (515) is connected to the rotating shaft (513). The outer peripheral wall of the mounting block (514) is fixedly connected to the top of the cabin door (14). Two rotation auxiliary members (5141) are also provided on the top of the mounting block (514), and the arc distance between the rotation auxiliary members (5141) is equal to the moving distance of opening and closing the hatch (14). The rotation auxiliary member (5141) includes an auxiliary connecting block, an auxiliary wheel, and an auxiliary connecting frame for installing the auxiliary wheel and the auxiliary connecting block, and the auxiliary wheel extends outside the mounting block (514).

2. The anti-pinch robot hatch system according to claim 1, characterized in that: The method steps are as follows: Step 10: The main control module (3) transmits a signal for opening the hatch (14) to the encoding motor (511) controller module (4); Step 20: The encoding motor (511) controller module (4) identifies the signal for opening the hatch (14) transmitted by the main control module (3) and issues an instruction to open the hatch (14) to the driving module (5); Step 30: The driving module (5) receives the instruction to open the cabin door (14) from the encoding motor (511) controller module (4), and drives the cabin door (14) to open the cabin body (1) until the access port (12) of the cabin body (1) is completely opened; Step 40: Take out the objects placed in the cabin (1); Step 50: The main control module (3) transmits the signal of closing the hatch (14) to the encoder motor (511) controller module (4); Step 60: The encoder motor (511) controller module (4) identifies the signal for closing the hatch (14) transmitted by the main control module (3), and issues an instruction for closing the hatch (14) to the drive module (5); Step 70: The driving module (5) receives the instruction to close the hatch (14) from the encoder motor (511) controller module (4). The cabin door (14) is driven to close the cabin body (1), and the trigger module (6) detects the closing of the cabin door (14); Step 80: If the trigger module (6) detects that the hatch (14) is squeezing the human hand, the trigger module (6) in the normally open state is compressed due to squeezing the human hand, and generates an electrical signal for opening the hatch (14) in the normally open state, and then feeds the electrical signal for opening the hatch (14) back to the main control module (3). At the same time, the hatch (14) driven by the drive module (5) changes the amount of current passing through the drive module (5) due to squeezing of the human hand. The encoder motor (511) controller module (4) detects the amount of current change of the drive module (5) and transmits the amount of current change of the drive module (5) to the main control module (3). The main control module (3) controls the drive module (5) to open the hatch (14), releases the squeezing of the human hand, and until the human hand is taken out of the cabin (1); Step 90: If the trigger module (6) detects that the cabin door (14) does not squeeze the human hand, the cabin door (14) is driven to completely close the cabin body (1), thereby completing the removal of the object from the cabin body (1).

3. The anti-pinch robot hatch system according to claim 1, characterized in that: The driving module (5) includes a rotating member (51), and the triggering module (6) includes a triggering member (61).

4. A robot hatch device for preventing finger pinching, characterized in that: The hatch system comprises the one of claims 1 to 3, wherein a plurality of connecting rods (5121) are provided between the top of the conversion box (512) and the bottom of the mounting block (514).

5. The anti-pinch robot hatch device according to claim 4, characterized in that: The number of the connecting rods (5121) is at least 4.

6. The anti-pinch robot hatch device according to claim 4, characterized in that: The trigger member (61) includes a safety touch edge (6111), which is arranged at the opening of the access port (12). The safety touch edge (6111) is used to provide a trigger signal to the main control module (3) when the hatch (14) closes the access port (12) and a human hand is between the safety touch edge (6111) and the hatch (14).

7. The anti-pinch robot hatch device according to claim 6, characterized in that: The safety touch edge (6111) is made of elastic material.

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