Modular safety device

Abstract

Modular safety device, characterized in that it comprises a mounting module (11) to which a mounting flange (91) of a manipulator (9) is attached from above and a control module (12) with at least one control element (4) and at least one optical signaling unit (2) is attached from below, wherein a mounting reduction (71) with at least one gripper (7) in which a manipulated object (8) is gripped is attached to the underside of the control module (12), and to which a carrier body (171) of a cover module (17) is attached, to which at least one cover segment (172) is attached in which at least one gripper (7) with a gripped manipulated object (8) is arranged.

Description

area of ​​technology

[0001] The technical solution concerns a modular safety device and the wiring of the control system of the modular safety device, which is primarily intended for the safe handling of the object. Current state of the art

[0002] To date, various technical solutions with safety devices for object manipulation are known. This represents the most common collaborative robot application in which potential human contact with a dangerous object may occur. These technical solutions are usually based on the idea of ​​covering the dangerous object during manipulation. The disadvantage of these devices is that they do not adequately protect the device operator in the event of potential contact with the safety device and / or the object being manipulated.

[0003] A known technical solution is disclosed in US Pat. No. 873,877, wherein the protective airbag is deactivated upon grasping the manipulation object. After grasping the manipulation object, the airbag is activated, enveloping the end effector and the manipulation object. The manipulation of the object then occurs. Before the object is placed at the target location, the airbag is deactivated, and the manipulation object is placed at the target location and released by the gripper. The disadvantage of this technical solution is that the system protects the operator from dangerous impact only at the end effector, but not at the other dynamic parts of the manipulator.

[0004] Another known technical solution is disclosed in SK9464, entitled "Manipulator Safety System." In this system, the proximity sensors are connected to the control unit, while the safety actuators are also connected to the control unit. Their activation opens the airbags in the event of a possible contact with the person. The disadvantage of this technical solution is that while the system protects the person in case of contact with dynamic parts of the manipulator, such as joints, the airbag does not protect the person from sharp, pointed, shearing, or cutting edges.

[0005] Another known solution is disclosed in EP 337,757 entitled Feeding device for robots, automation means and the like, wherein a frame comprising a support bed for feeding specific parts is coupled to a vision means for detecting the feeding of specific parts, and the support bed is coupled to a rotatable means comprising pulse generating means coupled to the frame and applied to the support bed. The pulses generated by the pulse generating means are perpendicular to the plane of the assembly for gripping the specific parts, so that parts close to contact with the support bed are skipped, thereby changing their spatial orientation. The disadvantage of this solution is that it does not protect the operator from possible contact with the intended parts.

[0006] Another known solution is disclosed in EP 2 991 922 entitled Manipulator for lifting and positioning parts, and comprises, between the first and the second position, a support structure with a support element, a movable gripping arm for gripping parts, a guide wall with a support element having a curved guide groove for slidingly gripping the driven pin which can move along the guide groove, wherein an input shaft of the oscillating rotary mechanism, which defines an axis of rotation, is pivotally attached to the support element and to the guide wall, further wherein the oscillating arm is attached perpendicular to the input shaft of the mechanism and is pulled by the input shaft of the oscillating rotary mechanism, wherein the movable gripping arm is arranged at the front or rear of the guide wall.The disadvantage of this solution is that it does not adequately protect the operator from possible contact with the object.

[0007] Another known solution is disclosed in EP 750,839 entitled "Balanced Pneumatic Manipulator," comprising a support device with an assembly pivotable about a vertical axis, an articulated parallelogram mechanism with a pivot arm pivotally connected to the assembly for rotation about a horizontal axis, a pneumatic linear actuator arranged between the pivot assembly and the articulated parallelogram mechanism, wherein the sliding element coupled to the actuator is slidably mounted on the pivot assembly via the first linear guide, and the second linear guide engages the sliding element, and the engagement element attached to the pivot arm engages the second guide. The disadvantage of this solution is that it does not protect the operator from possible contact with the object.

[0008] Another known solution is disclosed in EP2 419 245 entitled Manipulator, which is formed by technical means for fastening and transferring objects, the actuators of the functional structure nodes of which are connected to the operating and control unit and comprise an interconnected height unit formed by a row of columns and an extension column, a rotary unit whose axis of rotation is parallel to the extension direction of the extension column, and a pivoting unit whose axis of rotation is perpendicular to the axis of rotation of the rotary unit, wherein the free end of the extendable column can accommodate a horizontal arm of the rotary unit, to which a pivoting unit for mounting an adapter is attached, which comprises a support arm and an auxiliary arm forming a parallelogram, wherein in a first,A drive shaft is located inside the column row, and a third drive of the swivel unit is located inside the horizontal arm. The swivel shaft is connected to a support arm with a pivoting adapter, which is attached to the flange via the auxiliary arm. The disadvantage of this solution is that it does not protect the operator from possible contact with the object being processed.

[0009] Another known solution is disclosed in EP3 348,383 entitled "Method and device for applying a component to a structural part by means of a manipulator." A first vacuum is used to apply the applied component and move the manipulator with the component to the structural part in a first space between the support element and the component. A second negative pressure is generated in the second space between the support element and the component. The manipulator continuously maintains the first negative pressure until the component is partially attached to the component. The disadvantage of this technical solution is that it does not protect the operator from possible contact with the object. The essence of the technical solution

[0010] The aforementioned deficiencies are largely eliminated by the modular safety device according to the technical solution, the essence of which is that it is formed by a fastening module to which the fastening flange of the manipulator is attached from above and a control module with at least one operating element and at least one optical signaling unit is attached from below, wherein a mounting reducer with at least one gripper with gripped manipulation object is attached to the underside of the control module, and to which a cover module carrier body is further attached, to which at least one cover segment with at least one gripper with gripped manipulation object is attached.

[0011] Advantageously, a kinematic unit is attached to the carrier body of the cover module, which in turn is attached to the assembly reduction.

[0012] The aforementioned deficiencies are further largely eliminated by connecting the modular safety device according to a technical solution, the essence of which is that it is formed by an external control communication unit or an internal control communication unit of the control module, to which, from one side, either an intermediate control communication unit is connected via a communication channel, which is connected to the manipulator control via a communication channel, or is connected to the manipulator control via a communication channel, wherein at least one segment cover module positioning actuator and at least one segment cover module encoder are connected to the internal control communication unit from the other side via communication channels, and are further connected to at least one safety sensor via a transmission channel,are further connected via a transmission channel to at least one optical signaling unit, are further connected via a transmission channel to at least one control element, and are further connected via a transmission channel to at least one gripper.

[0013] Preferably, the internal pneumatic control unit is connected to the internal control communication unit via a communication channel and / or the at least one modular touch sensor is connected and / or the at least one adjustment drive unit is connected and / or the at least one positioning capsule sensor is connected and / or the at least one lighting unit is connected and / or the at least one acoustic signal unit is connected and / or the at least one spatial safety sensor is connected.

[0014] Preferably, at least one external optical signaling unit and / or at least one external acoustic signaling unit and / or at least one external control element and / or at least one external safety sensor and / or at least one external pneumatic unit is connected to the interface-forming control communication unit via the communication channel.

[0015] Advantageously, the external control communication unit is connected via the communication channel on the one hand to the manipulator control unit and on the other hand to the at least one segment positioning actuator of the cover module and the at least one segment sensor of the cover module via the communication channel, further connected via the transmission channel to the at least one safety sensor, further connected via the transmission channel to the at least one optical signaling unit, further connected via the transmission channel to the at least one control element and further connected via the transmission channel to the at least one gripping element.

[0016] It is expedient for an internal pneumatic control unit of the control module to be connected to the external control communication unit via the communication channel (6) and / or for at least one module touch sensor to be connected and / or for at least one adjustment drive unit to be connected and / or for at least one position cover sensor to be connected and / or for at least one lighting unit to be connected and / or for at least one lighting unit to be connected, at least one external optical signalling unit and / or for at least one acoustic signalling unit and / or for at least one external acoustic signalling unit and / or for at least one external control unit and / or for at least one spatial safety sensor and / or for at least one external safety sensor and / or for at least one external safety sensor and / or for at least one external pneumatic unit to be connected. Overview of the images on the drawing

[0017] The technical solution is explained in more detail using drawings, where Fig. 1 is a schematic representation of the front view of the closed modular safety device of manipulators without a manipulated object, Fig. 2 is a schematic representation of the side view of the closed modular safety device of manipulators without a manipulated object, Fig. 3 is a schematic representation of the front view of the closed modular safety device of manipulators with manipulated object, Fig. 4 is a schematic representation of the front view of the closed modular safety device of manipulators with a manipulated object. is a schematic representation of a side view of a closed modular safety device of manipulators with a manipulated object, in Fig. Figure 5 is a schematic representation of a front view of a closed modular safety device of manipulators with a manipulated object, in Fig. Figure 6 is a schematic representation of a side view of a closed modular safety device of manipulators with a manipulated object, in Fig. 6 is a schematic representation of a side view of a side view of a closed modular safety device of manipulators with a manipulated object, in Fig. 6 is a schematic representation of a side view of a side view of a closed modular safety device of manipulators with a manipulated object, in Fig. 6 is a schematic representation of a side view of a side view of a side view of a closed modular safety device of manipulators with a manipulated object, in Fig. Figure 7 is a schematic representation of a front view of an open modular safety device of manipulators without a manipulated object, in Fig. Figure 8 is a schematic representation of a side view of an open modular safety device of manipulators without a manipulated object, in Fig. Figure 9 is a schematic representation of a front view of an open modular safety device of manipulators with a manipulated object, in Fig. 10 is a schematic representation of a side view of an open modular safety device of manipulators with a manipulated object, in Fig. 11 is a schematic representation of a side view of an open modular safety device of manipulators without a manipulated object, in Fig. 11 in a partial section a schematic representation of a front view of an open modular safety device of manipulators with a manipulated object, in a partial section a schematic representation of a side view of an open modular safety device of manipulators with a manipulated object, in a partial section a schematic representation of a side view of an open modular safety device of manipulators with a manipulated object, in a partial section a schematic representation of a block diagram of a complete wiring of a control system of a modular safety device without internal and external pneumatic control communication unit, in Fig. 13 a block diagram of a complete wiring of a control system of a modular safety device without internal and external pneumatic communication unit, in Fig. 14 a schematic representation of a control system of a modular safety device with manipulator with manipulated object, in Fig. 14 Fig. 15 shows a block diagram of the modular safety device control without the external pneumatic control unit and the interface control communication unit, Fig. 15 shows a block diagram of the modular safety device control with the interface control communication unit and the external pneumatic control unit, Fig. 16 shows a block diagram of the modular safety device control with the interface control communication unit and the external pneumatic control unit, Fig. 16 shows a block diagram of the modular safety device control with the interface control communication unit, a block diagram of the modular safety device control without the adjustment drive and the position sensor, Fig. 17 a block diagram of the modular safety device control with internal pneumatic control unit and adjacent control communication unit, Fig. 18 a block diagram of the modular safety device control with internal pneumatic control unit and adjacent control communication unit, Fig. 18 Fig. shows a block diagram of the modular control system for safety equipment without internal pneumatic control unit and interface control communication unit Fig. 20 shows a block diagram of the modular safety device control without acoustic signaling unit and with adjustable actuator and position enclosure sensor, Fig. 20 shows a block diagram of the modular safety device control with modular touch sensor and with adjustable actuator and position enclosure sensor, Fig. 21 shows a block diagram of the modular safety device control with modular touch sensor and with adjustable actuator and position enclosure sensor, Fig. 21 a block diagram of the modular safety device control without modular touch sensor and without adjustment drive and position capsule sensor is shown in Fig. shown shows a block diagram of the modular safety device control system with an external control communication unit and without the modular touch sensor and without the adjustment drive unit and the positioning housing, and Fig. Figure 23 shows a block diagram of the complete modular safety device control system with an external control communication unit. Examples of implementationExample No. 1

[0018] The modular safety device according to Fig. 1 consists of a fastening module 11, which is a fastening flange. On the fastening module 11 according to Fig. 2, a mounting flange 91 of a manipulator 9, which is an industrial robot designed for collaborative applications, is attached from above. On the mounting module 11 according to Fig. 3, a control module 12 with a control element 4 is attached from below. On the control module 12, according to Fig. 4 four optical signal transmitters 2 are attached. A reducer 71 is attached to the underside of the control module 12 (see Fig. ). At the lower part of the mounting reduction 71, a gripper 7 is attached, which is an end effector for gripping and holding a manipulated object 8. The manipulated object 8 is gripped by the gripper 7. A kinematic unit 14, which is a flexibly movable mechanism, is attached to the mounting reduction 71. A support body 171 of the cover module 17 is attached to the kinematic unit 14. Two cover segments 172 are attached to the support body 171, which are in a closed state. In the inner part of the two cover segments 172, according to Fig. 6 a gripper 7 is provided with a gripped manipulation object 8 which is a sufficiently rigid, solid, graspable and durable object. Example No. 2

[0019] The modular safety device according to Fig. 7 consists of a fastening module 11, which is a fastening flange. On the fastening module 11 according to Fig. 8, a mounting flange 91 of the manipulator 9, an industrial robot for collaborative applications, is attached from above. On the mounting module 11 according to Fig. 9, a control module 12 with a single control element 4 is mounted from below. On the control module 12 according to Fig. Four optical signal transmitters 2 are mounted on the control module 10. A reducer 71 is attached to the underside of the control module 12 (see Fig. ). At the lower part of the mounting reduction 71, a gripper 7 is attached, which is an end effector for gripping and holding a manipulated object 8. The gripper 7 picks up the manipulated object 8. A kinematic unit 14, which is a flexibly movable mechanism, is attached to the mounting reduction 71. A support body 171 of the cover module 17 is attached to the kinematic unit 14. Two cover segments 172 are attached to the support body 171, which are in the open state. In the inner part of the two cover segments 172, according to Fig. 12 a gripper 7 with a gripped manipulation object 8 is provided, which is a sufficiently rigid, solid, graspable and durable object. Example No. 3

[0020] The modular safety device control according to Fig. 13 is formed by an internal control communication unit 121 of the control module 12 of the modular safety device manipulator 1. The internal control communication unit 121 is connected, on the one hand, to the connection control communication unit 125 via the transmission channel 6. The internal control communication unit 121 is connected, on the other hand, to the segment positioning drive 174 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is further connected, via the transmission channel 6, to the segment encoder 175 of the cover module 17. The internal control communication unit 121 is further connected, via the transmission channel 6, to the two module touch sensors 13, which are the touch-sensitive cladding elements. The internal control communication unit 121 is further connected, via the transmission channel 6, to an adjustment drive unit 15.The internal control communication unit 121 is further connected to a position cover sensor 16 via the transmission channel 6. The internal control communication unit 121 is further connected to a safety sensor 18 via the transmission channel 6. The internal control communication unit 121 is further connected to an illumination unit 19, which is a light source, via the transmission channel 6. The internal control communication unit 121 is further connected to an optical signaling unit 2 via the transmission channel 6. The internal control communication unit 121 is further connected to an acoustic signaling unit 3, which is a sound source, via the transmission channel 6. The internal control communication unit 121 is further connected to an operating element 4 via the transmission channel 6. The internal control communication unit 121 is further connected to a spatial safety sensor 5 via the transmission channel 6.The internal control communication unit 121 is further connected to a gripper 7 via the transmission channel 6. The intermediate control communication unit 125 is further connected to an external optical signaling unit 21 via the transmission channel 6. The intermediate control communication unit 125 is connected to an external acoustic signaling unit 31 via the transmission channel 6. The intermediate control communication unit 125 is connected to an external control unit 41 via the transmission channel 6. The intermediate control communication unit 125 is connected to an external safety sensor 51 via the transmission channel 6. The intermediate control communication unit 125 is connected to the manipulator control unit 92 of the manipulator 9 via the transmission channel 6. Example No. 4

[0021] The wiring of the modular safety device according to Fig. 14 is formed by an internal control communication unit 121 of the control module 12 of the modular safety device of the manipulator 1. The internal control communication unit 121 is connected, on the one hand, to the control unit 92 of the manipulator 9 via a transmission channel 6. The internal control communication unit 121 is, on the other hand, connected, via a transmission channel 6, to the internal pneumatic control unit 122 of the control module 12. The internal control communication unit 121 is further connected, via the transmission channel 6, to the segment positioning drive 174 of the cover module 17. The internal control communication unit 121 is further connected, via the transmission channel 6, to the segment encoder 175 of the cover module 17. The internal control communication unit 121 is further connected, via the transmission channel 6, to the individual module touch sensor 13, which is the touch-sensitive cover element.The internal control communication unit 121 is also connected to the adjustment drive unit 15 via the transmission channel 6. The internal control communication unit 121 is also connected to the position cover sensor 16 via the transmission channel 6. The internal control communication unit 121 is also connected to the two safety sensors 18 via the transmission channel 6. The internal control communication unit 121 is also connected to the lighting unit 19 via the transmission channel 6. The internal control communication unit 121 is also connected to the optical signaling unit 2, which is a light source, via the transmission channel 6. The internal control communication unit 121 is also connected to the operating element 4, which is a push button, via the transmission channel 6. The internal control communication unit 121 is also connected to the gripper 7 via the transmission channel 6. Example No. 5

[0022] The modular safety device control according to Fig. 15 is formed by an internal control communication unit 121 of the control module 12 of the modular safety device manipulator 1. The internal control communication unit 121 is connected, on the one hand, to the expansion control communication unit 125 via the transmission channel 6. The internal control communication unit 121 is also connected, on the other hand, to the segment positioning drive 174 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is also connected, via the transmission channel 6, to the segment encoder 175 of the cover module 17. The internal control communication unit 121 is also connected, via the transmission channel 6, to the module touch sensor 13. The internal control communication unit 121 is also connected, via the transmission channel 6, to the safety sensor 18. The internal control communication unit 121 is also connected, via the transmission channel 6, to the optical signaling unit 2.The internal control communication unit 121 is further connected via the transmission channel 6 to the acoustic signaling unit 3, which is a sound source. The internal control communication unit 121 is further connected via the transmission channel 6 to the operating element 4, which is a switch. The internal control communication unit 121 is further connected via the transmission channel 6 to the gripper 7. The intermediate control communication unit 125 is further connected via the transmission channel 6 from a second side to an external pneumatic control unit 124. The intermediate control communication unit 125 is further connected via the transmission channel 6 from a third side to two external optical signal generators 21. The intermediate control communication unit 125 is further connected via the transmission channel 6 to an external control element 41.The intermediate control communication unit 125 is connected to the manipulator control unit 92 of the manipulator 9 via the transmission channel 6. Example No. 6

[0023] The connection of the modular safety device control according to Fig. 16 is formed by an internal control communication unit 121 of the control module 12 of the modular safety device manipulator 1. The internal control communication unit 121 is connected, on the one hand, to the connection control communication unit 125 via the transmission channel 6. The internal control communication unit 121 is connected, on the other hand, to the segment positioning drive 174 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is further connected, via the transmission channel 6, to the segment encoder 175 of the cover module 17. The internal control communication unit 121 is further connected, via the transmission channel 6, to the safety sensor 18. The internal control communication unit 121 is further connected, via the transmission channel 6, to the optical signaling unit 2. The internal control communication unit 121 is further connected, via the transmission channel 6, to the operating element 4.The internal control communication unit 121 is also connected to the two spatial safety sensors 5 via the transmission channel 6. The internal control communication unit 121 is also connected to the gripper 7 via the transmission channel 6. The intermediate control communication unit 125 is also connected to the two external acoustic signal generators 31 via the transmission channel 6. The intermediate control communication unit 125 is also connected to the two external control elements 41 via the transmission channel 6. The intermediate control communication unit 125 is also connected to the manipulator control unit 92 of the manipulator 9 via the transmission channel 6. Example No. 7

[0024] The modular safety device control according to Fig. 17 is formed by an internal control communication unit 121 of the control module 12 of the modular safety device manipulator 1. The internal control communication unit 121 is connected on one side to an intermediate control communication unit 125 via a transmission channel 6. The internal control communication unit 121 is connected on the other side to an internal pneumatic control unit 122 of the control module 12 via a transmission channel 6. The internal control communication unit 121 is further connected to the segment positioning drive 174 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is further connected to the segment encoder 175 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is further connected to the two positioning actuators 15 via the transmission channel 6.The internal control communication unit 121 is also connected to the two positioning cover sensors 16 via the transmission channel 6. The internal control communication unit 121 is also connected to the two safety sensors 18 via the transmission channel 6. The internal control communication unit 121 is also connected to the optical display unit 2, which is a display, via the transmission channel 6. The internal control communication unit 121 is also connected to an operating element 4, which is a touch-sensitive display, via the transmission channel 6. The internal control communication unit 121 is also connected to the gripper 7 via the transmission channel 6. The connecting control communication unit 125 is also connected to the two external safety sensors 51 via the transmission channel 6.The intermediate control communication unit 125 is connected to the manipulator control unit 92 of the manipulator 9 via the transmission channel 6. Example No. 8

[0025] The wiring of the modular safety device according to Fig. 18 is formed by an internal control communication unit 121 of the control module 12 of the modular safety device of the manipulator 1. The internal control communication unit 121 is connected, on the one hand, to the control unit 92 of the manipulator 9 via a transmission channel 6. The internal control communication unit 121 is, on the other hand, connected to the segment positioning drive 174 of the cover module 17 via a transmission channel 6. The internal control communication unit 121 is further connected to the segment encoder 175 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is further connected to the three module touch sensors 13 via the transmission channel 6. The internal control communication unit 121 is further connected to the two safety sensors 18 via the transmission channel 6.The internal control communication unit 121 is further connected to the optical signaling unit 2 via the transmission channel 6. The internal control communication unit 121 is further connected to an acoustic signaling unit 3 via the transmission channel 6. The internal control communication unit 121 is further connected to an operating element 4 via the transmission channel 6. The internal control communication unit 121 is further connected to a gripper 7 via the transmission channel 6. Example No. 9

[0026] The wiring of the modular safety device according to Fig. 19 is formed by an internal control communication unit 121 of the control module 12 of the modular safety device of the manipulator 1. The internal control communication unit 121 is connected, on the one hand, to the control unit 92 of the manipulator 9 via a transmission channel 6. The internal control communication unit 121 is, on the other hand, connected to the segment positioning drive 174 of the cover module 17 via a transmission channel 6. The internal control communication unit 121 is further connected to the segment encoder 175 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is further connected to the adjustment drive unit 15 via the transmission channel 6. The internal control communication unit 121 is further connected to the position sensor 16 of the cover module via the transmission channel 6. The internal control communication unit 121 is further connected to the safety sensor 18 via the transmission channel 6.The internal control communication unit 121 is further connected to two lighting units 19 via the transmission channel 6. The internal control communication unit 121 is further connected to a visual display unit 2, which is a display, via the transmission channel 6. The internal control communication unit 121 is further connected to the control element 4, which is a button, via the transmission channel 6. Example No. 10

[0027] The wiring of the modular safety device according to Fig. 20 is formed by an internal control communication unit 121 of the control module 12 of the modular safety device of the manipulator 1. The internal control communication unit 121 is connected, on the one hand, to the control unit 92 of the manipulator 9 via a transmission channel 6. The internal control communication unit 121 is, on the other hand, connected to the internal pneumatic control unit 122 of the control module 12 via a transmission channel 6. The internal control communication unit 121 is further connected to the segment positioning drive 174 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is further connected to the segment encoder 175 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is further connected to the module touch sensor 13 via the transmission channel 6.The internal control communication unit 121 is also connected to the adjustment drive unit 15 via the transmission channel 6. The internal control communication unit 121 is also connected to the lid position sensor 16 via the transmission channel 6. The internal control communication unit 121 is also connected to the safety sensor 18 via the transmission channel 6. The internal control communication unit 121 is also connected to the optical signaling unit 2 via the transmission channel 6. The internal control communication unit 121 is also connected to the operating element 4 via the transmission channel 6. The internal control communication unit 121 is also connected to the gripper 7 via the transmission channel 6. Example No. 11

[0028] The wiring of the modular safety device according to Fig. 21 is formed by an internal control communication unit 121 of the control module 12 of the modular safety device of the manipulator 1. The internal control communication unit 121 is connected, on the one hand, to the control unit 92 of the manipulator 9 via a transmission channel 6. The internal control communication unit 121 is, on the other hand, connected to the internal pneumatic control unit 122 of the control module 12 via a transmission channel 6. The internal control communication unit 121 is further connected to the segment positioning drive 174 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is further connected to the segment encoder 175 of the cover module 17 via the transmission channel 6. The internal control communication unit 121 is further connected to the safety sensor 18 via the transmission channel 6.The internal control communication unit 121 is also connected to the optical signaling unit 2 via the transmission channel 6. The internal control communication unit 121 is also connected to the control element 4 via the transmission channel 6. The internal control communication unit 121 is also connected to the gripper 7 via the transmission channel 6. Example No. 12

[0029] Wiring of the control of the modular safety device according to Fig. 22. The external control communication unit 123 of the modular safety device of the manipulator 1 is formed. The external control communication unit 123 is connected, on the one hand, to the control unit 92 of the manipulator 9 via the transmission channel 6. The external control communication unit 123 is also connected, on the other hand, to the internal pneumatic control unit 122 of the control module 12 via the transmission channel 6. The external control communication unit 123 is also connected, via the transmission channel 6, to the segment positioning drive 174 of the cover module 17. The external control communication unit 123 is also connected, via the transmission channel 6, to the segment encoder 175 of the cover module 17. The external control communication unit 123 is also connected, via the transmission channel 6, to the single safety encoder 18. The external control communication unit 123 is further connected to two optical signal transmitters 2 via the transmission channel 6.The external control communication unit 123 is also connected to two operating elements 4 via the transmission channel 6. The external control communication unit 123 is also connected to two grippers 7 via the transmission channel 6. The external control communication unit 123 is also connected to two external optical signal generators 21 via the transmission channel 6. The external control communication unit 123 is also connected to two external acoustic signal generators 31 via the transmission channel 6. The external control communication unit 123 is also connected to two external operating elements 41 via the transmission channel 6. The external control communication unit 123 is also connected to two external safety sensors 51 via the transmission channel 6. Example No. 13

[0030] Wiring of the control of the modular safety device according to Fig.23. The external control communication unit 123 of the modular safety device of the manipulator 1 is formed by the external control communication unit 123 being connected, on the one hand, to the control unit 92 of the manipulator 9 via the transmission channel 6. The external control communication unit 123 is, on the other hand, connected to the internal pneumatic control unit 122 of the control module 12 via the transmission channel 6. The external control communication unit 123 is further connected to the external pneumatic unit 124 via the transmission channel 6. The external control communication unit 123 is further connected to the segment positioning drive 174 of the cover module 17 via the transmission channel 6. The external control communication unit 123 is further connected to the segment encoder 175 of the cover module 17 via the transmission channel 6. The external control communication unit 123 is further connected to the safety sensor 18 via the transmission channel 6.The external control communication unit 123 is also connected to the two module touch sensors 13 via the transmission channel 6. The external control communication unit 123 is also connected to the individual adjustment drive unit 15 via the transmission channel 6. The external control communication unit 123 is also connected to a position sensor 16 via the transmission channel 6. The external control communication unit 123 is also connected to a lighting unit 19 via the transmission channel 6. The external control communication unit 123 is also connected to an optical signaling unit 2 via the transmission channel 6. The external control communication unit 123 is also connected to an acoustic signaling unit 3 via the transmission channel 6. The external control communication unit 123 is also connected to an operating element 4 via the transmission channel 6.The external control communication unit 123 is further connected to a spatial safety sensor 5 via the transmission channel 6. The external control communication unit 123 is further connected to a gripper 7 via the transmission channel 6. The external control communication unit 123 is further connected to an external optical signaling unit 21 via the transmission channel 6. The external control communication unit 123 is further connected to the external acoustic signaling unit 31 via the transmission channel 6. The external control communication unit 123 is further connected to the external control element 41 via the transmission channel 6. The external control communication unit 123 is further connected to the external safety sensor 51 via the transmission channel 6. Industrial applicability

[0031] A modular manipulator safety device designed to protect persons from injuries caused by a collision between a person and a manipulator effector (in particular, a gripper) and / or an object grasped by the manipulator effector can be used for a wide variety of machines, particularly for robotic manipulation in a collaborative workspace. The modularity of the technical solution allows adaptation to different types of industrial manipulators, robots, grippers, and the shapes and sizes of the manipulated objects.The technical solution, based on the combination of the cover module with other modules, elements, and components, allows for the creation of several variants of the technical solution with the appropriate functional and safety characteristics, allowing compliance with the limits for quasi-static and transient contacts specified in ISO / TS 15066:2016, even in cases where the gripper or the gripped object (workpiece) has sharp edges and / or points. The technical solution simplifies and shortens the design process of collaborative robotic systems (especially safety measures), simplifies the procedure for setting the parameters of safety functions and the movement of manipulators (collaborative robots), and also enables (in some variants) eccentric gripping of objects.The technical solution can also be used to protect against damage to equipment and objects in the manipulator's work area in non-collaborative applications. In the event that the cover segments, when closed, do not completely cover the gripper and the object to be manipulated, thus creating a gap or leaving one side uncovered, a spatial safety sensor can be used to detect approach in the uncovered direction. The external optical signal unit, the external acoustic signal unit, the external control element, and the external safety sensor are primarily intended as safety elements at the pick-up and drop-off points of the manipulated objects. For variants without an internal control communication unit and internal pneumatic control unit, the control module can be omitted during assembly of the technical solution.The internal control communication unit and the external control communication unit can be replaced by a manipulator control unit, and the interface control communication unit can provide the possibility of connecting unspecified devices (expanding inputs / outputs). The position of the optical signaling unit and the control unit can vary; they are not necessarily part of the control module. List of reference symbols 1 modular safety device 11 Assembly module 12 Control module 121 Internal Control Communication Unit 122 internal pneumatic control unit 123 Communication unit for external control 124 external pneumatic control unit 125 Intermediate control communication unit 13 modular touch sensor 14 kinematic unit 15 adjustable drive unit 16 Position Housing Sensor 17 Cover module 171 supporting body 172 coverage segment 174 Actuator for segments 175 segment sensor 18 Safety sensor 19 Lighting unit 2 optical signal generators 21 external optical signal generator 3 acoustic signal generators 31 external acoustic signal generator 4 Control 41 external control 5 spatial security sensor 51 external safety sensor 6 transmission channels 7 grippers 71 Reduction of assembly 8 manipulated object 9 Manipulator 91 Mounting flange 92 Control unit QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] US 873 877

[0003] EP 337,757

[0005] EP 2 991 922

[0006] EP 750,839

[0007] EP 2 419.245

[0008] EP 3 348,383

[0009]

Claims

[1] Modular safety device, characterized by in that it comprises a fastening module (11) to which a fastening flange (91) of a manipulator (9) is attached from above and a control module (12) with at least one control element (4) and at least one optical signaling unit (2) is attached from below, wherein a mounting reducer (71) with at least one gripper (7) is attached to the underside of the control module (12), in which gripper a manipulated object (8) is gripped, and to which a carrier body (171) of a cover module (17) is further attached, to which at least one cover segment (172) is attached, in which at least one gripper (7) with a gripped manipulated object (8) is arranged. [2] Modular safety device according to claim 1, characterized by that a kinematic unit (14) is fastened to the support body (171) of the cover module, which in turn is fastened to the fastening reducer (71). [3] Modular safety device control according to one of claims 1 and 2, characterized bythat it comprises an external control communication unit (123) or an internal control communication unit (121) of the control module (12), to which on one side either an intermediate control communication unit (125) is connected via a communication channel (6), which is connected via the communication channel (6) to the control unit (92) of the manipulator (9), or which is connected via the communication channel (6) to the control unit (92) of the manipulator (9), wherein at least one segment actuator (174) of the cover module (17) and at least one segment sensor (175) of the cover module (17) are connected from the other side via the communication channels (6) to the internal control communication unit (121), and are further connected via the transmission channel (6) to at least one safety sensor (18),are further connected to at least one optical signalling unit (2) via the transmission channel (6), are further connected to at least one operating element (4) via the transmission channel (6) and at least one gripper (7) is connected., [4] Modular safety device control according to claim 3, characterized by , wherein the internal control communication unit (121) is connected via a communication channel (6) to the internal pneumatic control unit (122) and / or to at least one modular touch sensor (13) and / or to at least one adjustment drive unit (15) and / or to at least one position cover sensor (16) and / or to at least one lighting unit (19) and / or to at least one acoustic signaling unit (3) and / or to at least one spatial safety sensor (5). [5] Modular safety device control according to claim 3 to 4, characterized bythat at least one external optical signaling unit (21) and / or at least one external acoustic signaling unit (31) and / or at least one external control element (41) and / or at least one external safety sensor (51) and / or at least one external pneumatic unit (124) is connected to the communication unit (125) of the interface controller via a communication channel (6). [6] Modular safety device control according to claim 3, characterized bythat the external control communication unit (123) is connected on the one hand via the transmission channel (6) to the manipulator control unit (92) of the manipulator (9) and on the other hand via the transmission channel (6) to at least one segment actuator (174) of the cover module (17) and at least one segment encoder (175) of the cover module (17), furthermore at least one safety sensor (18) is connected via the transmission channel (6), furthermore at least one optical signaling unit (2) is connected via the transmission channel (6), furthermore at least one operating element (4) and at least one gripper (7) are connected via the transmission channel (6). [7] Modular safety device control according to claim 6, characterized bythat, furthermore, an internal pneumatic control unit (122) of the control module (12), which is connected to the external control communication unit (123) via the communication channel (6), and / or at least one connected module touch sensor (13) and / or at least one connected adjustment drive unit (15) and / or at least one connected position cover sensor (16) and / or at least one connected lighting unit (19) and / or at least one external optical signaling unit (21) and / or at least one acoustic signaling unit (3) and / or at least one external acoustic signaling unit (31) and / or at least one external actuator (41) and / or at least one spatial safety sensor (5) and / or at least one external safety sensor (51) and / or at least one external pneumatic unit (124) is connected.

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