Robot assembly for processing and / or handling a workpiece, protection element for a robot assembly, and protection assembly
Patent Information
- Application Number
- EP2022717363
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2022-03-18
- Publication Date
- 2025-01-22
AI Technical Summary
Existing robot assemblies face challenges in providing reliable collision protection, especially when the effector unit interacts with a workpiece, as distinguishing between desired interactions and unwanted collisions is difficult, particularly in human-robot cooperation scenarios where safety for humans and avoidance of collisions with non-human objects are critical.
A robot assembly with a securing element attached to the manipulator or effector unit, featuring an extension component along the flange surface central axis and positioned partially in the transverse direction next to the effector unit, includes a fastening interface for a sensor unit, allowing for detailed and reliable collision protection by monitoring the space around the effector unit with sensors.
The solution enables precise distinction between a workpiece and other objects or people, effectively preventing unwanted collisions and ensuring the safety of both the robot assembly and any workpiece it handles, even when interacting with humans or other objects.
Smart Images
Figure 1.1
Abstract
Description
[0001] Robot assembly for processing and / or handling a workpiece, safety element for a robot assembly and safety assembly
[0002] The invention relates to a robot assembly for processing and / or handling a workpiece. The robot assembly comprises a manipulator unit with a flange surface, wherein a flange surface center axis is perpendicular to the flange surface and a flange surface transverse direction runs parallel to the flange surface. Furthermore, the robot assembly has an effector unit mounted on the flange surface and has an extension component along the flange surface center axis and an extension component along the flange surface transverse direction.
[0003] Furthermore, the invention is directed to a safety element for such a robot assembly.
[0004] Furthermore, the invention relates to a protection assembly with such a protection element.
[0005] In this context, the flange surface centerline and the flange surface transverse direction are defined such that they intersect. The flange surface centerline and the flange surface transverse direction are therefore not skew. Furthermore, the flange surface transverse direction and the flange surface centerline are perpendicular to each other.
[0006] Numerous applications of robot assemblies require the robot assembly to share its workspace with humans. This occurs, for example, in the context of human-robot collaboration. In such cases, it must be ensured that the humans present within the robot assembly's workspace remain unharmed. Furthermore, collisions between the robot assembly and its components and other non-human objects in the workspace must be avoided. For this purpose, it is known to equip robot assemblies with appropriate sensor units designed to detect distances to humans and non-human objects. Based on this, a movement of the robot assembly can be slowed down, changed in direction, stopped, or prevented entirely.
[0007] Collisions must be avoided between the manipulator unit, the effector unit, and any workpiece coupled to the effector unit. In this context, the manipulator unit is understood to be a programmable device by means of which the flange surface can be positioned in space as desired. For example, the manipulator unit is designed as a robot arm. The effector unit is understood to be an assembly designed to interact with the workpiece to be machined and / or handled. For example, the effector unit can be designed as a gripper unit or a tool unit.
[0008] The above-mentioned collision protection of the robot assembly, i.e. the avoidance of collisions between the robot assembly and people or objects, is particularly challenging in operating situations in which the effector unit interacts with a workpiece or terminates an interaction with the workpiece, since it is necessary to reliably distinguish between desired interactions and undesired collisions.
[0009] It is therefore the object of the present invention to provide a robot assembly that offers reliable collision protection even in such situations.
[0010] The problem is solved by a robot assembly of the type mentioned above, which comprises a safety element that is attached to the manipulator unit and / or to the effector unit. The safety element has an extension component along the flange surface center axis and is positioned at least partially along the flange surface transverse direction next to the effector unit. Furthermore, a fastening interface for attaching a sensor unit for collision protection is provided on the safety element. Alternatively, the safety element for collision protection can be monitored by sensors. The safety element therefore extends at least partially with respect to the flange surface center axis radially outside at least a section of the effector unit. One can also say that the safety element projects over at least a portion of the effector unit with respect to the flange surface.A section of the safeguarding element is always spaced apart from the effector unit. This applies in particular to an end of the safeguarding element that is not attached to the manipulator unit and / or the effector unit. This results in an exposed position of the fastening interface for attaching a sensor unit. Alternatively, an exposed section of the safeguarding element results, which can be directly or indirectly detected by sensors. Consequently, the space around the effector unit can be monitored in particular detail and reliably by sensors for the purpose of collision protection. In particular, the arrangement of the safeguarding element means that a section of the effector unit's surroundings, which is arranged at an end of the effector unit opposite the flange surface, can be reliably monitored by sensors.Due to the arrangement of the protection element, this area of the environment is minimally obscured or even completely obscured by the effector unit. When interacting with a workpiece, a precise distinction can be made between the workpiece and other objects or a person. Furthermore, the protection element can also be used to reliably protect a workpiece picked up by the effector unit against collisions with a person or other objects. Overall, the robot assembly, together with any workpiece picked up, can be reliably protected against unwanted collisions.
[0011] It should be noted that in addition to a sensor unit, which can be attached to the mounting interface of the safety element, further sensor units can be provided, for example, mounted on the manipulator unit and / or the effector unit. These can also serve to provide collision protection.
[0012] All sensor units are signal-linked to a control unit of the robot assembly so that the robot assembly can be operated depending on the detection results determined by the sensor units.
[0013] Optionally, a sensor unit attached to the mounting interface or the sensor-monitored safety element can also be used for tasks that go beyond collision protection. For example, the sensor unit and / or the sensor-monitored safety element can also be used to teach certain points in space. These can be points at which interaction with a workpiece or the environment is to take place. Furthermore, an environment can be detected using a sensor unit attached to the mounting interface or using the sensor-monitored safety element, and this can be used to recalibrate the drive system and / or the position detection system of the robot assembly in order to compensate for load-dependent or aging-related influences.
[0014] In a preferred embodiment, an extension component of the securing element along the flange surface center axis is greater than an extension component of the securing element along the flange surface transverse direction. In such a configuration, the securing element thus extends comparatively far toward an end of the effector unit facing away from the flange surface. Thus, a sensor unit mounted on the fastening interface allows for particularly effective protection of the area surrounding the effector unit facing away from the flange surface. The same applies if the securing element is monitored by sensors.
[0015] At least one distance sensor unit can be attached to the fastening interface of the safeguarding element, the detection range of which extends to a side of the effector unit facing away from the flange surface. Such a distance sensor unit can therefore be used, in particular, to determine the distance between the effector unit and people or objects positioned on a side of the effector unit opposite the flange surface. Simply put, such a distance sensor unit can see past the effector unit. Thus, an area of the effector unit's surroundings located at an end of the effector unit facing away from the flange surface can be particularly well monitored.
[0016] The distance sensor unit can be a distance sensor unit of a safety device according to the international patent application PCT / EP2021 / 054849. The distance sensor unit can be signal-coupled to an evaluation unit of the safety device from the international patent application PCT / EP2021 / 054849. Thus, a method for determining a minimum distance according to the international patent application PCT / EP2021 / 054849 can be used to determine the distance using the distance sensor unit. In a first variant, in which the distance sensor unit is attached to the attachment interface of the safeguarding element, the method for determining a minimum distance can be implemented such that a minimum distance between the distance sensor unit and a workpiece, an object and / or a person in the vicinity of the robot assembly is or will be determined.In a second variant, in which the safety element for collision protection can be monitored by sensors, the distance sensor unit can be positioned on the manipulator unit or the effector unit and the method for determining a minimum distance can be carried out in such a way that a minimum distance between the distance sensor unit and the safety element is determined.
[0017] Regarding the method for determining a minimum distance and the safety device with a distance sensor unit and an evaluation unit, reference is made to international patent application PCT / EP2021 / 054849, the content of which is hereby incorporated in its entirety into this application. The method according to international patent application PCT / EP2021 / 054849 for determining a minimum distance of an object from a device surface, in particular for determining a minimum distance of an object from a device surface of a handling device, comprises the following steps:
[0018] - Detecting a primary distance of the object using a sensor on or in the
[0019] Device surface positioned first distance sensor unit, wherein the
[0020] Primary distance is the distance of the object from the distance sensor unit,
[0021] - Determine a critical point that is at the primary distance from the first
[0022] Distance sensor unit and within a detection range of the first
[0023] Distance sensor unit and, taking into account a spatial course of the device surface, comes closest to the device surface, and
[0024] - Determine the minimum distance of the critical point from the device surface.
[0025] Such a method can be implemented simply and reliably. In this context, it is taken into account that distance sensor units can usually determine a distance, but cannot specify where within the corresponding detection range the distance is measured. This problem is solved by determining the critical point and the corresponding minimum distance. This prevents the method from determining a minimum distance that is greater than the actual distance, for example, due to a spatial configuration of the device surface. Instead, in cases of doubt, a distance that is slightly too small is output. The method is therefore particularly reliable.
[0026] In this context, the robot assembly according to the invention has a device surface. More precisely, the device surface is designed as a surface of the securing element, which includes the mounting interface for the distance sensor unit. The robot assembly according to the invention can also be designed as a handling device within the meaning of international patent application PCT / EP2021 / 054849.
[0027] The following information must be known for the method: the profile of the device surface, at least in the relevant area, the position of the distance sensor unit on the device surface, and the detection range of the distance sensor unit. This information can easily be stored on a control unit configured to execute the method. It is also understood that the detection range of a distance sensor unit is always selected such that the device surface does not shield it. Otherwise, the distance sensor unit would not be operable with the desired reliability.
[0028] The safety device according to international patent application PCT / EP2021 / 054849 is suitable for a handling device having a device surface, in particular for a robot or robot assembly having a device surface. The safety device comprises a first distance sensor unit positionable on or in the device surface, i.e., on a surface of the safeguarding element, and an evaluation unit that is signal-coupled to the distance sensor unit and configured to carry out the method according to international patent application PCT / EP2021 / 054849 when the distance sensor unit is in the mounted state. Thus, the safety device allows for simple and reliable determination of minimum distances from device surfaces, i.e., from a surface of the safeguarding element.As a result, devices equipped with the safety device, for example the robot assembly according to the invention and in particular handling devices, can be operated reliably in work spaces in which objects potentially at risk of collision and in particular people are present.
[0029] In one variant, the protection element is rod-shaped and has a first end and a second end. The second end is opposite the first end. The protection element is attached to the manipulator unit and / or the effector unit via the first end. The attachment interface for attaching a sensor unit is provided in the region of the second end. This means that the attachment interface is closer to the second end than to the first end. This of course includes the special case in which the attachment interface is arranged directly at the second end. In other words, the protection element has the shape of a sensor or an antenna, wherein the attachment interface for attaching a sensor unit is positioned in the region of a sensor tip or antenna tip. Such protection elements can be referred to as protection sensors or protection antennas.This results in a particularly favorable detection range for a sensor unit mounted on the mounting interface. This detection range includes, in particular, those sections of the effector unit designed to interact with a workpiece, as well as the workpiece itself, if applicable. Collision protection is thus particularly reliable and precise.
[0030] It is understood that the robot assembly can always include multiple safety elements. In particular, two or more rod-shaped safety elements can be provided.
[0031] In another variant, the safety element is sleeve-shaped or has a sleeve section. The safety element runs completely or partially around the outer circumference of the effector unit. In other words, the safety element is formed as a completely or partially circumferential collar. It can therefore be referred to as a safety collar. The circumferential shape is understood to mean circumferential rotation relative to the flange surface center axis. This also results in a particularly favorable detection range for a sensor unit mounted on the fastening interface of the safety element. The same applies if the safety element is monitored by sensors.
[0032] The safety element may comprise a plastic material. If the safety element is sleeve-shaped or sleeve-section-shaped, it may comprise a supporting structure provided with a covering. The supporting structure may comprise a plastic material. The covering may also comprise a plastic material. It is also possible for the covering to comprise a textile material.
[0033] At least two mounting interfaces for attaching a sensor unit for collision protection can be provided on or adjacent to an edge of the protection element facing away from the flange surface. The protection element is thus designed to support at least two sensor units. Consequently, the effector unit and any workpiece interacting with it can be monitored by sensors with particular reliability and precision for collision protection.
[0034] In one embodiment, the securing element has at least one opening. For example, a central axis of the at least one opening runs essentially radially to the flange surface central axis. Preferably, the at least one opening is designed so that a person can see through it. Thus, the effector unit and any workpiece interacting with it can be observed as needed. Further preferably, the opening is limited in size or shaped in such a way that a person cannot reach through it. The securing element thus provides protection against injury.
[0035] It is also possible for the safety element to be transparent, at least in sections. This also allows a person to observe the effector unit and any workpiece interacting with it.
[0036] In an alternative, at least a section of the safeguarding element is movable along the flange surface center axis. This section can therefore assume different positions along the flange surface center axis. In other words, this section is displaceable along the flange surface center axis. The fastening interface for attaching a sensor unit for collision protection is preferably provided on the movable section. A sensor unit mounted thereon can thus detect different areas of an environment depending on the position of the section of the safeguarding element along the flange surface center axis. The detection area can thus be adjusted in particular depending on whether the effector unit is currently interacting with a workpiece, is intended to interact with it, is intended to stop interacting with it, or whether no workpiece interaction is intended.In all of these cases, particularly reliable collision protection can be implemented. If the safety element is rod-shaped, this rod can be extended and retracted. For example, the safety element is designed to be telescopic for this purpose. If the safety element is in the form of a sleeve or a sleeve section, the sleeve or sleeve section can be extended and retracted. In this case, the safety element can also be designed to be telescopic.
[0037] At least one section of the safety element can also be rotatable relative to the flange surface center axis around at least one section of the effector unit. The section of the safety element can thus be rotated completely or partially around an outer circumference of the effector unit. For this purpose, the section of the safety element can be mounted on an arcuate or ring-shaped rail. This mobility allows a particularly large area of the effector unit's surroundings to be protected against potential collisions using a single safety element and, if appropriate, a sensor unit attached to it.
[0038] The safety element can comprise at least one section made of elastically deformable material. Such a safety element can operate tactilely. This means that it is designed to come into contact with objects in the vicinity of the robot assembly, workpieces, and even people for collision protection. Due to the elastically deformable material, at least one section of the safety element deforms as soon as a force- or moment-loaded contact occurs between the safety element and another object, workpiece, or person. Due to this deformation, at least one section of the safety element changes its spatial position. This is monitored by sensors. It should be noted that the section of the safety element whose change in spatial position is monitored by sensors can, but does not have to, coincide with the section made of elastically deformable material.The section of the safety element whose spatial position is monitored by sensors can therefore also be rigid, unlike the section made of elastically deformable material. Monitoring the deformation can therefore prevent a collision with the effector unit. Such collision monitoring is simple and robust. In particular, it allows sensor units used for collision protection to be mounted in comparatively less exposed positions.
[0039] It is possible to position a deformation sensor unit on the manipulation unit or on the effector unit. This is designed to detect deformation of the section made of elastically deformable material. As already explained, reliable collision protection can also be implemented in this way.
[0040] In one design variant, the safety element, in its undeformed state, protrudes along the flange face centerline on a side facing away from the effector unit. This is particularly the case when viewed perpendicular to the flange face centerline. In such a configuration, the safety element always contacts an object, workpiece, or person first. Only after a certain deformation of the safety element can the effector unit contact the object, workpiece, or person. Unwanted collisions can thus be reliably avoided.
[0041] In addition, the effector unit can comprise a movement unit or be coupled to the manipulator unit via a movement unit, so that at least a section of the effector unit can be selectively moved out of the vicinity of the safeguarding element. The effector unit can therefore assume two states. In a first state, it is in the vicinity of the safeguarding element and is therefore protected against unwanted collisions by the safeguarding element. In a second state, the effector unit is outside the vicinity of the safeguarding element and is therefore at least no longer completely protected against unwanted collisions by the safeguarding element. The effector unit can therefore be selectively transferred to a less well-protected state. This can be used, for example, to pick up a workpiece.
[0042] Additionally, the object is achieved by a safety element for a robot assembly according to the invention. The safety element comprises a mounting section for fastening the safety element to a manipulator unit and / or to an effector unit of the robot assembly. Furthermore, the safety element has a cantilever section designed to extend laterally alongside at least a section of the effector unit. A fastening interface for fastening a sensor unit for collision protection is provided on the cantilever section. Alternatively, at least a section of the cantilever section can be monitored by sensors for collision protection. The cantilever section thus projects over at least part of the effector unit with respect to the flange surface. This allows a sensor unit to be mounted in a comparatively exposed location.Alternatively, a comparatively exposed section of the protection element can be detected by sensors, so that a comparatively simple but reliable collision protection for the effector unit can be realized using the protection element.
[0043] The cantilever section can be rod-shaped, sleeve-shaped, or sleeve-section-shaped. Using a cantilever section shaped in this way, an area surrounding an effector unit, located at an end of the effector unit facing away from the flange surface, can be reliably protected against unwanted collisions. Furthermore, a section of the protection element can be movable along the flange surface center axis. Thus, the length of the protection element is adjustable along the flange surface center axis. In this way, the detection range of a sensor unit mounted on the protection element can be easily and reliably adjusted. Alternatively, the detection range of a sensor-monitored protection element can be easily adapted. Both options enable reliable and flexible collision protection.
[0044] It is also possible for a section of the safeguarding element to be rotatable relative to the flange surface center axis around at least a portion of the effector unit. This allows a large area surrounding the effector unit to be safeguarded against potential collisions.
[0045] Alternatively or additionally, the safety element comprises at least one section made of elastically deformable material. Deformation of the section made of elastically deformable material can be monitored by sensors. Consequently, the section of the safety element deforms as soon as a force- or moment-loaded contact occurs between the safety element and another object, workpiece, or person. This represents a simple and robust collision monitoring system.
[0046] Furthermore, the effects and advantages already explained in connection with the robot assembly apply analogously to the safeguarding element.
[0047] Furthermore, the object is achieved by a safety assembly comprising a safety element according to the invention and a distance sensor unit. The distance sensor unit is attached to the fastening interface of the safety element. Consequently, the distance sensor unit can be used to determine distances with high reliability and precision, even in an area around an end of an effector unit facing away from a flange surface, and to prevent unwanted collisions. As already explained in connection with the robot assembly according to the invention, the distance sensor unit can be a distance sensor unit of a safety device according to international patent application PCT / EP2021 / 054849. This can be signal-coupled to an evaluation unit of the safety device from international patent application PCT / EP2021 / 054849.Thus, a method for determining a minimum distance according to international patent application PCT / EP2021 / 054849 can be used to determine the distance using the distance sensor unit. Therefore, in connection with the safety module, reference is also made to international patent application PCT / EP2021 / 054849, the content of which is hereby incorporated in its entirety into this application.
[0048] The invention is explained below using various embodiments shown in the accompanying drawings. They show:
[0049] Figure 1 schematically shows a robot assembly according to the invention with two safety assemblies according to the invention, each comprising a safety element according to the invention according to a first embodiment,
[0050] Figure 2 schematically shows a section of a further robot assembly according to the invention, with two safety assemblies according to the invention, each comprising a safety element according to the invention according to a second embodiment,
[0051] Figure 3 is a perspective view of a section III of the robot assembly of Figure 2,
[0052] Figure 4 schematically shows a section of another robot assembly according to the invention, with a safety assembly according to the invention, which comprises a safety element according to the invention according to a third embodiment,
[0053] Figure 5 shows the section of the robot assembly from Figure 4 in a different operating state,
[0054] Figure 6 a detail VI from Figure 5,
[0055] Figure 7 schematically shows a section of another robot assembly according to the invention, with a safety assembly according to the invention, which comprises a safety element according to the invention according to a fourth embodiment,
[0056] Figure 8 shows the section of the robot assembly from Figure 7 in a different operating state,
[0057] Figure 9 schematically shows a section of a further robot assembly according to the invention, with a safety assembly according to the invention, which comprises a safety element according to the invention according to a fifth embodiment,
[0058] Figure 10 schematically shows a section of a further robot assembly according to the invention, with a safety assembly according to the invention, which comprises a safety element according to the invention according to a sixth embodiment,
[0059] Figure 11 is a perspective view of a section XI of the robot assembly of Figure 10 viewed along a direction XIa in Figure 10,
[0060] Figure 12 schematically shows a section of a further robot assembly according to the invention, with a safety assembly according to the invention, which comprises a safety element according to the invention according to a seventh embodiment,
[0061] Figure 13 shows the section of the robot assembly from Figure 12 in a different operating state, and
[0062] Figure 14 schematically shows a section of a further robot assembly according to the invention, with a safety assembly according to the invention, which comprises a safety element according to the invention according to an eighth embodiment.
[0063] Figure 1 shows a robot assembly 10 configured to handle a workpiece 12. The workpiece 12 can thus be transferred from a first position to a second position by means of the robot assembly 10.
[0064] For this purpose, the robot assembly 10 comprises a manipulator unit 14, which in the illustrated embodiment is designed as a robot arm of an industrial robot.
[0065] In the example shown, a first end of the manipulator unit 14 is fixed to a base 16. A flange surface 18 is provided at a second end of the manipulator unit 14, which is opposite the first end.
[0066] A flange surface center axis 20 is perpendicular to the flange surface 18.
[0067] A flange surface transverse direction 22 runs parallel to the flange surface 18 and perpendicular to the flange surface center axis 20, which is represented by a double arrow.
[0068] An effector unit 24 is mounted on the flange surface 18, which in the illustrated example is designed as a gripper unit for gripping the workpiece 12. This comprises two schematically illustrated gripper arms 25a, 25b. The effector unit 24 has an extension component along the flange surface center axis 20 and an extension component along the flange surface transverse direction 22.
[0069] In addition, the robot assembly 10 comprises a safety assembly 26. More specifically, the robot assembly 10 of Figure 1 comprises two safety assemblies 26.
[0070] Each of the protection assemblies 26 comprises a protection element 28 which is rod-shaped.
[0071] The securing elements 28 also have an extension component along the flange surface center axis 20. In the illustrated embodiment, an extension component along the flange surface center axis 20 is greater than an extension component along the flange surface transverse direction 22.
[0072] Each of the securing elements 28 has a mounting section 30 at a first end 28a, via which it is fastened to the manipulator unit 14 in the illustrated embodiment.
[0073] In addition, each of the securing elements 28 has a cantilever section 32, which extends laterally adjacent to at least one section of the effector unit 24. In other words, the securing elements 28 are positioned at least partially along the flange surface transverse direction 22 adjacent to the effector unit 24.
[0074] In Figure 1, one of the cantilever sections 32 extends above the effector unit 24 and one of the cantilever sections 32 extends below the effector unit 24.
[0075] Thus, both cantilever sections 32 project beyond the effector unit 24. In the illustrated embodiment, the cantilever sections 32 also project beyond the workpiece 12.
[0076] Two fastening interfaces 34 are provided on each of the cantilever sections 32 for fastening an associated sensor unit 36 for collision protection.
[0077] In the illustrated embodiment, the sensor units 36 are designed as distance sensor units 38. Thus, a distance sensor unit 38 is attached to each of the mounting interfaces 34.
[0078] The corresponding detection areas 40 of the distance sensor units 38 are each indicated by two thin boundary lines 40a, 40b. It is understood that the detection areas 40 are actually conical.
[0079] It is directly evident from Figure 1 that the detection areas 40 of the distance sensor units 38 positioned at a second end 28b of the securing elements 28 extend to a side of the effector unit 24 facing away from the flange surface 18. The second end 28b is opposite the first end 28a. Thus, distances that lie in front of the effector unit 24 along the flange surface center axis 20 can also be detected.
[0080] In the embodiment according to Figure 1, a workpiece 12 is received by the effector unit 24. The detection areas 40 also extend to a side of the workpiece 12 facing away from the flange surface 18.
[0081] Several distance sensor units 42 are also mounted on the manipulator unit 14.
[0082] The distance sensor units 38 and the distance sensor units 42 are each signal-connected to a control unit not shown in detail.
[0083] The distance sensor units 38, 42 are designed to determine distances between components of the robot assembly 10 and people 44 as well as other objects 46 that are located in the working area of the robot assembly 10.
[0084] If these distances are known, a movement of the robot assembly 10 can be slowed down, adjusted in direction, stopped or completely prevented by means of the control unit so that no undesired collisions between components of the robot assembly 10 and the human 44 and / or the object 46 occur.
[0085] In other words, by means of the distance sensor units 38, 42 a
[0086] Collision protection of the robot assembly 10 can be implemented. As already mentioned, a method according to the international patent application PCT / EP2021 / 054849 can be used for this purpose.
[0087] Figures 2 and 3 show a section of another robot assembly 10.
[0088] In the following, only the differences from the embodiment shown in Figure 1 will be discussed. Identical or corresponding components are provided with the same reference numerals.
[0089] In contrast to the robot assembly 10 from Figure 1, a different effector unit 24 is now used.
[0090] The two protection assemblies 26 with the protection elements 28 and the distance sensor units 38 are now attached to the effector unit 24 via the respective mounting sections 30.
[0091] In addition, two further distance sensor units 42 are now also provided on the effector unit 24.
[0092] Another robot assembly 10 can be seen in Figures 4, 5 and 6.
[0093] This will again be described based on the previously explained embodiments. Identical or corresponding components are again provided with the same reference numerals.
[0094] In contrast to the previous embodiments, only a single fuse assembly 26 is now provided.
[0095] The associated securing element 28 extends essentially along the flange surface center axis 20. It therefore has essentially no extension component along the flange surface transverse direction 22. Otherwise, the effector unit 24 is essentially identical to the effector unit 24 shown in Figures 2 and 3. Only the distance sensor units 42 are positioned slightly differently.
[0096] In the embodiment according to Figures 4 to 6, the distance sensor units 38, 42 are used as usual for collision protection.
[0097] In addition, the distance sensor unit 38 is used to teach a predefined pick-up position for the workpiece 12 and to reliably move to it during operation. This is particularly advantageous when the position of the workpiece 12 is subject to fluctuation or is only roughly known.
[0098] For this purpose, a reference contour 48 is provided on a workpiece carrier 47 from which the workpiece 12 is to be removed, which can be scanned by the distance sensor unit 38. This ensures that the workpiece 12 is picked up at the designated location by the effector unit 24.
[0099] In this context, Figure 6 shows a variant in which a total of three distance sensor units 38 are arranged on the securing element 28, so that the effector unit 24 can be aligned with high precision relative to the workpiece 12. In addition to or as an alternative to one of the three distance sensor units 38, a force sensor unit can be provided.
[0100] Figures 7 and 8 show another robot assembly 10, for which only the differences from the previously explained embodiments are explained. As before, identical or corresponding components bear the same reference numerals.
[0101] In the embodiment according to Figures 7 and 8, the securing element 28, to which a distance sensor unit 38 is again attached, is displaceable along the flange surface center axis 20.
[0102] For this purpose, a displacement drive 50 is provided, which is connected to the
[0103] The securing element 28 is coupled to the flange surface. By means of the displacement drive 50, the securing element 28 can thus be moved back and forth along the flange surface center axis 20. For example, the securing element 28 can be retracted from the workpiece carrier 47 to pick up and place a workpiece 12 (see in particular Figure 8). This provides a sufficiently large free space for the effector unit 24 to interact with the workpiece 12.
[0104] The distance sensor unit 38 attached to the safety element 28 can also be selectively deactivated. Thus, the workpiece 12 is not detected as a potentially collision-prone object.
[0105] Figure 9 shows yet another robot assembly 10, for which only the differences from the previously discussed embodiments are explained. As before, identical or corresponding components bear the same reference numerals.
[0106] The robot assembly 10 of Figure 9 has a single safety assembly 26. The safety element 28 extends along the flange surface center axis 20 and along the flange surface transverse direction 22.
[0107] The securing element 28 is furthermore rod-shaped and has at its second end a fastening interface 34 to which a distance sensor unit 38 is mounted.
[0108] In the embodiment according to Figure 9, the safeguarding element 28 is now rotatable about the effector unit 24 with respect to the flange surface center axis 20. This is illustrated by the arrow 52 and an alternative position of the safeguarding element 28 and the distance sensor unit 38 shown in dashed lines. However, it is understood that the safeguarding element with the distance sensor unit 38 can be continuously rotated. In addition to the positions shown in Figure 9, intermediate positions can also be assumed. By rotating the safeguarding element 28 with the distance sensor 38 about the flange surface center axis 20, the area surrounding the effector unit 24, which is located at an end of the effector unit 24 facing away from the flange surface 18, can be scanned for possible obstacles.
[0109] Figures 10 and 11 show another robot assembly 10. As before, this will be explained based on the previous embodiments.
[0110] Identical or corresponding components are provided with the same reference symbols.
[0111] In contrast to the previous embodiments, the securing element 28 is now sleeve-shaped. In the illustrated embodiment, it extends completely around an outer circumference of the effector unit 24.
[0112] In other words, the safety element 28 is designed as a safety collar.
[0113] The safety element 28, ie the safety collar, has a first end 28a, via which it is attached to the effector unit 24.
[0114] A second end 28b is opposite the first end 28a. The second end 28b is thus formed by an edge of the securing element 28 facing away from the flange surface 18.
[0115] At the second end 28b, two mounting interfaces 34 are provided, each for attaching a sensor unit 36 for collision protection. As before, the sensor units 36 are designed as distance sensor units 38.
[0116] In the embodiment of Figures 10 and 11, the securing element 28 also has a plurality of openings 54. Through these openings 54, the effector unit 24 and a workpiece 12 that may interact with it can be observed during operation of the robot assembly 10.
[0117] Another robot assembly 10 is shown in Figures 12 and 13. In this variant, the securing element 28 is also sleeve-shaped and runs completely around an outer circumference of the effector unit 24.
[0118] The securing element 24 protrudes along the flange surface center axis 20 on a side facing away from the flange surface 18 relative to the effector unit 24.
[0119] Furthermore, in the variant of Figures 12 and 13, the securing element 28 is made of an elastically deformable material 56.
[0120] No sensor units are attached to the protection element 28 itself. Corresponding mounting interfaces are also missing.
[0121] However, the sensor units 42 positioned on the effector unit 24 are designed to monitor deformation of the protection element 28 using sensors. This means that deformation of the protection element 28 can be detected by the sensor units 42.
[0122] In the present example, the sensor units 42 are therefore deformation sensor units 58.
[0123] The deformation sensor units 58 are designed as distance sensor units.
[0124] Figure 13 shows how the safety element 28 deforms when it comes into contact with an object 60 and how this deformation is detected by the deformation sensor unit 58.
[0125] Another robot assembly 10 is shown in Figure 14.
[0126] The securing element 28 is now designed in the shape of a sleeve section. In the illustrated embodiment, the securing element 28 only partially extends around the outer circumference of the effector unit 24. The sleeve-section-shaped securing element 28 has the shape of a half-shell.
[0127] However, the effector unit 24 now comprises a movement unit 62, via which a section of the effector unit 24 can be selectively moved out of an environment of the securing element 28.
[0128] The section of the effector unit 24 can thus assume a first position in which it is partially enclosed by the securing element 28. In a second position, the section of the effector unit 24 is not enclosed by the securing element 28.
[0129] The second position can be used, for example, when the effector unit is to pick up or place a workpiece 12. The first position is used in all other cases.
[0130] In all embodiments, at least one distance sensor unit 38 is mounted in an exposed manner by means of the securing element 28 such that objects 46 and / or people 44 located in a surrounding area at an end of the effector unit 24 opposite the flange surface 18 can be detected with high precision and reliability. This applies regardless of whether a workpiece 12 is gripped by the effector unit 24 or not. In other words, the at least one distance sensor unit 38 is mounted such that it can see around the effector unit 24 and, if applicable, the workpiece 12.
[0131] Alternatively, at least a portion of the safety element 28 is sensor-monitored and mounted in such an exposed manner that objects 46 and / or people 44 located in a surrounding area at one end of the effector unit 24 opposite the flange surface 18 can be detected with high precision and reliability. This can also occur regardless of whether a workpiece is gripped by the effector unit 24 or not. Deformation of the safety element 28 is detected by sensors. List of reference symbols
[0132] Robot assembly
[0133] workpiece
[0134] Manipulator unit
[0135] Floor
[0136] Flange surface
[0137] Fl anschfl ächen-Mittel ach se
[0138] Flange surface transverse direction
[0139] Effector unit a gripper arm b gripper arm
[0140] Fuse assembly
[0141] Protection element a first end of the protection element b second end of the protection element
[0142] Assembly section
[0143] cantilever section
[0144] Mounting interface
[0145] Sensor unit
[0146] Distance sensor unit
[0147] Detection area a boundary line b boundary line
[0148] Distance sensor unit
[0149] Person
[0150] object
[0151] Workpiece carrier
[0152] Reference contour displacement drive arrow opening elastically deformable material deformation sensor unit object movement unit
Claims
Patent claims Robot assembly (10) for processing and / or handling a workpiece (12), comprising - a manipulator unit (14) with a flange surface (18), wherein a flange surface central axis (20) is perpendicular to the flange surface (18) and a flange surface transverse direction (22) runs parallel to the flange surface (18), - an effector unit (24) mounted on the flange surface (18) and having an extension component along the flange surface central axis (20) and an extension component along the flange surface transverse direction (22), and - a safety element (28) that is attached to the manipulator unit (14) and / or to the effector unit (24) and has an extension component along the flange surface central axis (20), wherein the safety element (28) is positioned at least sectionally along the flange surface transverse direction (22) next to the effector unit (24), and wherein a mounting interface (34) for attaching a sensor unit (36) for collision protection is provided on the safety element (28), or wherein the safety element (28) is sensorily monitorable for collision protection. Robot assembly (10) according to claim 1, wherein at least one distance sensor unit (38) is attached to the mounting interface (34) of the safety element (28), the detection range (40) of which extends to a side of the effector unit (24) facing away from the flange surface (18).Robot assembly (10) according to claim 1 or 2, wherein the safety element (28) is rod-shaped and has a first end (28a) and a second end (28b) which is opposite the first end (28a), wherein the safety element (28) is attached to the manipulator unit (14) and / or to the effector unit (24) via the first end (28a), and. wherein the mounting interface (34) for mounting a sensor unit (36) is provided in the region of the second end (28b). Robot assembly (10) according to claim 1 or 2, wherein the safety element (28) is sleeve-shaped or sleeve-section shaped and surrounds wholly or partially around an outer circumference of the effector unit (24). Robot assembly (10) according to claim 4, wherein at least two mounting interfaces (34) for mounting a sensor unit (36) for collision protection are provided on or adjacent to an edge of the safety element (28) facing away from the flange surface (18). Robot assembly (10) according to claim 4 or 5, wherein the safety element (28) has at least one opening (54). Robot assembly (10) according to any one of the preceding claims, wherein at least a section of the safety element (28) is movable along the central axis (20) of the flange surfaces.A robot assembly (10) according to any one of the preceding claims, wherein at least one section of the locking element (28) is rotatable about at least one section of the effector unit (24) with respect to the central axis (20) of the flange surface. A robot assembly (10) according to any one of the preceding claims, wherein the locking element (28) comprises at least one section made of elastically deformable material (56). A robot assembly (10) according to claim 9, wherein a deformation sensor unit (58) is positioned on the manipulation unit (14) or on the effector unit (24), the deformation sensor unit being configured to detect deformation of the section made of elastically deformable material (56). A robot assembly (10) according to claim 9 or 10, wherein the locking element (28), in its undeformed state, projects along the central axis (20) of the flange surface on a side facing away from the flange surface (18) opposite the effector unit (24). Robot assembly (10) according to one of the preceding claims, wherein the effector unit (24) comprises a motion unit (62) or is coupled to the manipulator unit (14) via a motion unit (62) such that at least one section of the effector unit (24) can be selectively moved out of a vicinity of the safety element (28).A safety element (28) for a robot assembly (10) according to one of the preceding claims, comprising a mounting section (30) for attaching the safety element (28) to a manipulator unit (14) and / or to an effector unit (24) of the robot assembly (10), and a cantilever section (32) configured to extend laterally alongside at least one section of the effector unit (24), wherein a mounting interface (34) for attaching a sensor unit (36) for collision protection is provided on the cantilever section (32), or wherein at least one section of the cantilever section (36) is sensorially monitorable for collision protection. A safety element (28) according to claim 13, wherein the cantilever section (32) is rod-shaped, sleeve-shaped, or sleeve-section-shaped.Safety assembly (26) comprising a safety element (28) according to claim 13 or 14 and a distance sensor unit (38), wherein the distance sensor unit (38) is attached to the mounting interface (34) of the safety element (28).