Access-managed robot system

Abstract

The invention relates to an access-managed robot system (1) comprising at least one robot (2) directly connected to a controller unit (3) controlling the robot (2). Furthermore, the robot system (1) includes at least one access control unit (4) for managing and / or controlling at least one access authorization to the robot (2), the access control unit (4) being directly connected to the controller unit (3).

Description

[0001] The invention relates to an access-managed robot system comprising at least one robot which is directly connected to a controller unit controlling the robot and the robot system further comprising at least one access control unit for managing and / or controlling at least one access authorization to the robot.

[0002] In modern industrial environments, the integration of access systems, programmable logic controllers (PLCs) and industrial robots is crucial for ensuring efficiency, safety and flexibility.

[0003] Access control systems, and in particular electronic key systems, offer a secure method for authenticating and authorizing employees. These key systems ensure that only authorized individuals have access to machines such as industrial robots and their control functions, allowing, for example, different operating modes of such an industrial robot to be set depending on the authorization level.

[0004] As is widely known, programmable logic controllers (PLCs) are the heart of industrial automation. Safety-oriented controllers, also known as fail-safe CPUs or F-CPUs, are specifically designed for safety-critical applications and meet high safety standards such as SIL (Safety Integrity Level) and PL (Performance Level). These controllers continuously monitor safety-relevant parameters and ensure that safe states are reached in the event of a fault.

[0005] The central programmable logic controller (PLC) acts as a key unit connected to both the electronic key system and the industrial robot, specifically to the robot's control unit. To grant access to an industrial robot to an employee with specific permissions, the employee authenticates themselves to the access control system using their electronic key. This is typically done by placing the electronic key in or near a reader of the access control system. The access control system then verifies the authorization and sends a signal to the PLC.

[0006] The programmable logic controller (PLC) receives the signal from the access control system and checks the user's authorization. Upon successful authentication, the PLC grants access to the industrial robot, enabling the control or modification of processes.

[0007] The authorized user can now control the industrial robot via the programmable logic controller or a separate control panel.

[0008] Such an integration of access systems, programmable logic controllers and industrial robots is known, for example, from the publications of FAUDE Automatisierungstechnik GmbH, Assembly instruction C-GUIDE at https: / / www.universal-robots.com / media / 1800352 / c-guide_ur3_assembly-instruction.pdf and Euchner, Keeping everything under control at https: / / www.euchner.de / en-us / about-euchner / news / news-details / keeping-everything-undercontrol---8461 / .

[0009] However, disadvantages of such integration include the significant space required, particularly due to the control cabinet necessary for components like the programmable logic controller (PLC). This results in correspondingly high installation effort and increased costs.

[0010] Against this background, the invention is based on the objective of designing an access-managed robot system of the type mentioned above in such a way that its space requirements, assembly effort and costs are minimized.

[0011] This problem is solved with an access-managed robot system according to the features of claim 1. The dependent claims relate to particularly advantageous further developments of the invention.

[0012] According to the invention, an access-controlled robot system is provided, comprising at least one robot, in particular an industrial robot. This robot is connected, preferably via at least one data line, directly to, and in particular exclusively to, a controller unit that controls the robot, e.g., monitoring, controlling, and / or regulating it. Furthermore, the robot system includes at least one access control unit for managing and / or controlling at least one access authorization to the robot. The access control unit is directly connected to the controller unit, in particular via at least one data line. Thanks to the direct connection between the controller unit and the access control unit, installation space, assembly effort, and costs can be significantly reduced.A higher-level programmable logic controller (PLC) that would act as an intermediary, as well as additional equipment such as a control cabinet, are not required.

[0013] In an advantageous embodiment of the invention, the controller unit also includes at least one integrated module through which the controller unit and the access control unit are interoperable and / or capable of interaction. In this case, the controller unit can receive data from the access control unit. The controller unit's ability to receive data from the access control unit ensures that only authorized access to the robot is possible. However, bilateral data transmission between the controller unit and the access control unit is also conceivable. Bilateral data transmission between the controller unit and the access control unit enables dynamic communication. This means that the controller unit can not only receive access commands but also send feedback or status information to the access control unit.The interoperability and / or interaction capability provided by the module between the units, i.e. the controller unit and the access control unit, advantageously ensures seamless integration and coordination between the control, i.e., in particular the monitoring, control and / or regulation of the robot, and the access control to the robot.

[0014] In principle, it can be provided that the module is designed as a separate piece of hardware implemented in the controller unit, whereby the interoperability and / or interaction capability is realized on a purely hardware basis or module software is set up on the hardware for this purpose.

[0015] In a preferred embodiment of the invention, however, it is advantageous that the module is a software module of control software, e.g., monitoring, control, and / or regulation software of the controller unit. A software module advantageously enables easy adaptation and expansion of the controller unit's functions. It can be updated or modified as needed to meet new requirements or changes in the robot system without, for example, requiring physical hardware modifications. Furthermore, a software module can be seamlessly integrated into existing control software of the controller unit. It offers a scalable solution that makes it possible to add further functions or access control units without having to change the basic structure of the robot system. Moreover, designing the module as a software module reduces the need for additional hardware components.This in turn reduces the space required, the assembly effort, and the costs for implementing and maintaining the robot system, since software is easier to distribute and update than physical hardware.

[0016] In one embodiment of the invention, it is further envisaged that the controller unit can provide at least one mode, i.e., in particular at least one function and / or at least one operating mode of the robot. Preferably, at least two, and particularly preferably exclusively two, modes, in particular functions and / or operating modes, are provided and / or can be provided. By providing different modes, the robot can advantageously be adapted to different applications and / or working conditions. The controller unit makes it possible to activate specific functions or operating modes as needed, which makes the robot more versatile. All relevant modes of the robot can be centrally managed by the controller unit.This simplifies the operation and management of the robot, as all settings and adjustments can be made via a single interface. In each mode, a set of robot functions may be available that are enabled for that mode, and / or the robot may perform at least one predetermined task.

[0017] In principle, it is conceivable that, for example, by providing safety-critical operating modes such as an emergency stop or maintenance mode, the controller unit can significantly increase the safety of the system and the environment.

[0018] In a further embodiment of the invention, it is intended that a first mode is an automatic operating mode and a second mode is a setup mode for the robot. The automatic operating mode enables the robot to perform tasks completely autonomously and continuously without requiring constant intervention by personnel. This increases efficiency and productivity, particularly for repetitive or lengthy tasks. The setup mode provides a controlled environment in which the robot can be manually set up or adjusted, for example, according to a machinery directive. This is especially important during commissioning or when retooling for new tasks. While the setup mode is ideal for testing and adjusting parameters and / or in which functions for positioning and / or teach-in the robot are available, the automatic mode can be used for regular production operation.This flexibility facilitates the transition between different work phases.

[0019] In a further advantageous embodiment of the invention, a robot mode can be defined, particularly solely as a result of authentication and / or authorization for that mode via the access control unit. The requirement for authentication and authorization ensures that only authorized personnel can activate specific robot modes. This reduces the risk of operator error, unauthorized access, or sabotage, which is of paramount importance, especially in safety-critical applications. Furthermore, authentication prior to mode selection enables complete logging of which personnel activated which mode and when. This traceability is crucial for incident analysis, quality assurance, and compliance with safety and regulatory requirements.

[0020] A further advantageous embodiment of the invention is characterized by the fact that the robot system has at least one operating device, particularly an operating panel connected to the controller unit, via which a mode can be set following authentication and / or authorization. The operating device, preferably in the form of an operating panel, enables intuitive and direct interaction with the controller unit, the access control unit, and / or the robot system. The ability to set the modes directly via the operating device simplifies operation and minimizes training requirements for personnel. Furthermore, the operating device allows the modes of the robot system to be quickly and flexibly adapted to changing production conditions or specific tasks. This increases the responsiveness of the robot system and optimizes productivity.

[0021] In an advantageous embodiment of the invention, authentication and / or authorization for a mode can also be achieved by pairing an electronic key with the access control unit, in particular an electronic key system. The use of an electronic key for authentication ensures that only authorized users have access to specific operating modes of the robot system. During authentication, the access control unit reads the information on the key and verifies the authorizations. Upon successful authentication, authorization is granted, and access to specific modes is provided and / or certain functions are activated. Electronic key systems offer a high level of security because they are more difficult to forge or manipulate than conventional mechanical keys or simple password systems.Electronic key systems can also be individually programmed, allowing for the advantageous definition of different access rights for various user groups. This enables targeted control over who is authorized to use which robot modes and increases flexibility in managing user rights. Every use of an electronic key can also be logged, enabling detailed tracking. This is particularly valuable for analyzing security incidents, monitoring system usage, and meeting compliance requirements. Because electronic keys are personalized and uniquely assigned, the risk of misuse is significantly reduced. In the event of a lost or stolen key, it can be quickly deactivated to prevent unauthorized access. Electronic keys are also easier to manage than complex passwords or access codes.Personnel don't need to memorize long codes and can be authenticated quickly and securely, which increases the system's ease of use. Many electronic key systems offer additional security features, such as time-limited access rights or multi-stage authentication processes. These mechanisms contribute to further increasing the security level of the entire robot system. Furthermore, electronic key systems are easily scalable and can be seamlessly integrated into existing access and control systems.

[0022] An advantageous embodiment of the invention is further characterized by the fact that an electronic key is stored on a movable, physical, corresponding electronic key unit. This enables quick and straightforward authentication by pairing an electronic key with the access control unit. Personnel can gain access simply by approaching or inserting the key unit, making the process intuitive and time-saving. An electronic key bound to a physical key unit provides an additional layer of security, as access is only possible when the key unit is physically present. This reduces the risk of remote access or unauthorized entry using purely digital methods, such as passwords. The physical key unit is preferably designed to be easy to handle and user-friendly.Simple mechanisms, such as inserting or bringing the key unit close to the access control unit, allow personnel to be authenticated quickly and easily, facilitating access to certain modes of the robot system.

[0023] In a further embodiment of the invention, the robot is a human-robot collaboration (HRC) robot, with at least one manual workstation located in its immediate vicinity. The close proximity of the manual workstation to the HRC robot allows for seamless collaboration between personnel and the robot. This leads to a more efficient division of labor, where the robot takes over repetitive or ergonomically demanding tasks, while the human performs complex or delicate activities. Since the robot handles physically strenuous or dangerous tasks, personnel can concentrate their skills on less demanding and safer activities. The manual workstation can be ergonomically designed to further reduce the physical strain on personnel. Because human and robot-assisted work take place in close proximity, processes can be accelerated.The seamless transition from a robotic task to manual intervention, and vice versa, reduces waiting times and increases efficiency. Furthermore, the close proximity between the robot and the manual workstation allows for a well-designed workspace. This can lead to an optimal arrangement of the tools and materials required for both work methods, which in turn improves efficiency and ergonomics.

[0024] The invention allows for numerous embodiments. To further illustrate its basic principle, one of these is shown in the drawing and described below.

[0025] This shows in Fig. Figure 1 shows a schematic representation of the access-managed robot system 1, which includes the robot 2, here an industrial robot, which is directly connected via data line 10 to the controller unit 3 that controls, in particular monitors, controls and / or regulates the robot 2. Specifically, the robot 2 is a human-robot collaboration robot, in whose spatial proximity at least one manual workstation is set up.

[0026] The controller unit 3 also provides, or rather, makes available, modes of the robot 2, with each mode offering a set of functions of the robot 2 and / or performing at least one predetermined task. In this embodiment of the invention, a first mode is an automatic operating mode in which the robot 2 performs a task, e.g., screwing two components together. The second mode is a setup mode for the robot 2, in which functions for positioning and / or teach-in of the robot 2 are available.

[0027] To prevent, for example, incorrect operation by untrained personnel, the robot system 1 has the access control unit 4, which is an electronic key system for managing and / or controlling at least one access authorization to the robot 2, whereby a respective mode of the robot 2 can only be determined as a result of authentication and / or authorization for this mode, for example the setup operating mode of the robot 2, via the access control unit 4, e.g. switchable from the automatic operating mode.

[0028] Authentication and / or authorization for a mode is carried out by pairing an electronic key 8 with the access control unit 4, wherein each electronic key 8 is stored on one of the movable, physical key units 9. In the Fig. In the embodiment shown in Figure 1, the pairing of the electronic key 8 is carried out by inserting the key unit 9 into the access control unit 4 and subsequently wirelessly reading the electronic key 8 stored on the key unit 9.

[0029] The access control unit 4 is connected directly to the controller unit 3 via the data line 10 (indicated by an arrow), without an intermediate programmable logic controller (PLC). This direct connection significantly reduces installation space, assembly effort, and costs, as it eliminates the need for a programmable logic controller and potentially additional equipment such as a control cabinet.

[0030] To enable the controller unit 3 and the access control unit 4 to interoperate and / or interact with each other even without an interposed programmable logic controller (PLC), the controller unit 3 incorporates module 5, which is integrated into the controller unit 3 (indicated by an arrow) and, in this embodiment, is a software module 6 of the controller unit 3's control software. The access control unit 4 can be read by the controller unit 3 via module 5.

[0031] To enable the robot system 1 to be set via the access control unit 4 following authentication and / or authorization, particularly by a person, this mode is also equipped with the operating device 7, in this case an operating panel. The operating device 7 can be configured as shown in the Fig.1 shown, connected to the controller unit 3 by means of the data line 10 indicated by an arrow and / or directly integrated into it. Reference symbol list 1 robot system 2 robots 3 Controller unit 4 Access control unit Module 5 6 Software module 7 Control unit 8 electronic keys 9 key unit 10 data lines QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited non-patent literature

[0000] FAUDE Automatisierungstechnik GmbH, Assembly instruction C-GUIDE at https: / / www.universal-robots.com / media / 1800352 / c-guide_ur3_assembly-instruction.pdf

[0008] Euchner, Keeping everything under control at https: / / www.euchner.de / en-us / about-euchner / news / news-details / keeping-everything-undercontrol---8461

[0008]

Claims

[1] Access-managed robot system (1) comprising at least one robot (2) which is directly connected to a controller unit (3) controlling the robot (2) and the robot system (1) further comprising at least one access control unit (4) for managing and / or controlling at least one access authorization to the robot (2), characterized by , that the access control unit (4) is directly connected to the controller unit (3). [2] Robot system (1) according to claim 1, characterized by that the controller unit (3) has at least one integrated module (5) through which the controller unit (3) and the access control unit (4) are interoperable and / or able to interact with each other. [3] Robot system (1) according to claim 1 or 2, characterized by , that the module (5) is a software module (6) of a control software of the controller unit (3). [4] Robot system (1) according to at least one of the preceding claims, characterized by , that at least one mode of the robot (2) can be provided and / or is provided by the controller unit (3). [5] Robot system (1) according to at least one of the preceding claims, characterized by , that a first mode is an automatic operating mode and a second mode is a setup operating mode of the robot (2). [6] Robot system (1) according to at least one of the preceding claims, characterized by , that a mode of the robot (2) can be set as a result of authentication and / or authorization for this mode via the access control unit (4). [7] Robot system (1) according to at least one of the preceding claims, characterized by , that the robot system (1) has at least one operating device (7) via which, as a result of authentication and / or authorization for a mode, this mode can be set. [8] Robot system (1) according to at least one of the preceding claims, characterized by, that authentication and / or authorization for a mode can be carried out by pairing an electronic key (8) with the access control unit (4). [9] Robot system (1) according to at least one of the preceding claims, characterized by , that an electronic key (8) is stored on a movable, physically formed key unit (9). [10] Robot system (1) according to at least one of the preceding claims, characterized by , that the robot (2) is a robot (2) for human-robot collaboration, in whose spatial proximity at least one manual workstation is set up.

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