Modular safety device and modular safety device control system wiring

Abstract

The present invention disclosed is a modular safety device and a modular safety device control system wiring comprising a mounting module (11) to which a mounting flange (91) of a manipulator (9) is fixed from the top and to which a control module (12) having a control element (4) and a visual signaling unit (2) is fixed from the bottom, wherein a mounting reducer (71) having at least one gripper (7), in which an object being manipulated (8) is gripped, is fixed to the bottom of the control module (12) and to which a kinematic unit (14), to which a supporting body (171) of a cover module (17), is further fixed, the cover module (17) having at least one cover segment (172) connected to it, in which at least one gripper (7) with a gripped object being manipulated (8) is placed.

Description

[0001] Modular safety device and modular safety device control system wiring

[0002] Field of the Invention

[0003] The technical solution concerns a modular safety device and the modular safety device control system wiring mainly intended for manipulating the object in a safe manner.

[0004] Background of the Invention

[0005] To date, various technical solutions using safety devices for manipulating objects are known as the most common collaborative robotic application in which potential human contact with a dangerous object may occur. These technical solutions are mostly based on the idea of covering the dangerous object being manipulated during the manipulation operation. The disadvantage of these devices is that they do not adequately protect the device operator from possible contact with the safety device and / or the object being manipulated.

[0006] A known technical solution is disclosed in U.S. Design Patent No. US D 873 877 S entitled Robot Airbag, wherein the protective airbag is deactivated when gripping the object being manipulated, and after gripping the object being manipulated, the airbag is activated and encloses the end effector and the object being manipulated, and subsequently manipulation of the object takes place, wherein prior to placing the object at the target location, the airbag is deactivated and the object being manipulated is placed at the target location and released from the gripper. The disadvantage of this technical solution is that the system protects people from dangerous collision only at the end effector and not at other dynamic parts of the manipulator.

[0007] Another well-known technical solution is provided in registered Slovak Utility Model No.9464 called Safety system of the manipulator, wherein the proximity sensors are connected to the control unit, while the safety actuators are also connected to the control unit, the activation of which opens the airbags in case of a potential human contact. The disadvantage of this technical solution is that although the system protects an individual when in contact with dynamic parts of the manipulator such as joints, the airbag does not protect an individual from sharp pointed, shearing or cutting edges.

[0008] Another known solution is disclosed in European Patent File No. EP 2 337 757 entitled Feeder for robots, automation means and the like, wherein a frame consisting of a supporting bed for the parts to be fed and vision means for recognizing said parts to be fed and the supporting bed is connected to means for rotation comprising impulse generation means which are connected to the frame and operate on the supporting bed, wherein the pulses generated by the impulse generation means are perpendicular to the plane of arrangement of the objects to be gripped, so as to make the parts that lie proximate to the point of contact with the supporting bed jump, changing the spatial orientation thereof. The disadvantage of this solution is that it does not protect the operator from possible contact with the parts to be fed.

[0009] Another known solution is disclosed in European Patent File No. EP 2 991 922 entitled Manipulator for picking up and positioning pieces, namely between a first position and a second position, comprising a load bearing structure provided with a support element, a mobile gripping arm for gripping the pieces, a guide wall with the support element, wherein the guide wall comprises a curved guide groove configured to slidingly engage a driven pin, which can follow the guide groove, wherein an input shaft of the oscillating rotary mechanism defining an axis of rotation is rotatably connected to the support element and to the guide wall, further comprising an oscillating arm fixed perpendicularly to the input shaft of the mechanism and drawn by the input shaft of the oscillating rotary mechanism, wherein the mobile gripping arm is positioned on the front side of the rear face of the guide wall. The disadvantage of this solution is that it does not sufficiently protect the operator from possible contact with the obj ect.

[0010] Another known solution is disclosed in European Patent File No. 2 750 839 entitled a balanced pneumatic manipulator, consisting of a supporting device having an assembly rotatable about a vertical axis, an articulated parallelogram mechanism including a swing arm pivoted on the rotatable assembly about a horizontal axis of oscillation, a pneumatic linear actuator arranged between the rotatable assembly and the articulated parallelogram mechanism, wherein a slide connected to the actuator is slidably mounted on the rotatable assembly by means of a first vertical guide, and a second linear guide with a slide as well as an engagement element mounted on the swing arm are in engagement with a second guiding means. The disadvantage of this solution is that it does not protect the operator from possible contact with the object.

[0011] Another known solution is disclosed in European Patent File No. 2 419 245 entitled Manipulator, which is fitted with technical means to enable clamping and transfer of items whose drives of functional construction nodes are connected with the operating and control unit and comprise an interconnected height unit formed by a pole line and an sliding pole, a rotation unit, whose axis of rotation is parallel to the direction of sliding of the sliding pole, and a swinging unit whose axis of rotation is perpendicular to the axis of rotation of the rotation unit, wherein the open end of the sliding pole is adjusted for clamping of the horizontal arm of the rotary unit to which the swinging unit for adapter clamping is fixed consisting of a supporting arm and auxiliary arm making up a parallelogram, wherein a driving shaft is arranged in a first drive mounted in the inner space of the pole line and a third drive of the swinging unit is embedded in the inner hollow of the horizontal arm, wherein a supporting strut is fixed to the swinging shaft and there is an adapter mounted by swinging to the supporting strut, coupled with the flange by an auxiliary arm. The disadvantage of this solution is that it does not protect the operator from possible contact with the object being manipulated.

[0012] Another known solution is disclosed in European Patent File No. 3 348 383 entitled Method and device for applying an element to a component part by use of a manipulator, wherein the component to be applied is received and the manipulator with the component is moved towards the construction part by means of a first vacuum pressure in a first interstice between the supporting member and the component, further, the manipulator is used to dispose the component at the surface of the structural part, wherein a second vacuum pressure is generated in a second interstice between the supporting member and the construction part, wherein the manipulator continuously maintains the first vacuum pressure until completion of partial attachment of the component at the construction part. The disadvantage of this technical solution is that it does not protect the operator from possible contact with the object.

[0013] Summary of the Invention

[0014] The above shortcomings are largely eliminated by the modular safety device of the invention, the essence of which is that it comprises a mounting module to which a mounting flange of a manipulator is fixed from the top and to which a control module having at least one control element and at least one visual signaling unit is fixed from the bottom, wherein a mounting reducer having at least one gripper in which an object being manipulated is gripped is fixed to the bottom of the control module, to which a supporting body of a cover module is further fixed, the cover module having at least one cover segment connected to it, in which at least one gripper with a gripped object being manipulated is placed.

[0015] It is preferred that a kinematic unit is fixed to the supporting body of the cover module, which is further connected to the mounting reducer.

[0016] The above shortcomings are further largely eliminated by the modular safety device wiring of the invention, the essence of which is that it comprises an external communication control unit or an internal communication control unit of the control module, to which either an interconnecting communication control unit connected via the communication channel to the control unit of the manipulator or connected via the communication channel to the control unit of the manipulator is connected via the communication channel on one side, wherein at least one segment positioning drive of the cover module and at least one segment sensor of the cover module are connected to the internal communication control unit via the communication channels from the other side, and there is at least one safety sensor further connected via the communication channel, at least one visual signaling unit further connected via the transmission channel, at least one control element further connected via the transmission channel and at least one gripper connected.

[0017] It is preferred that an internal pneumatic control unit and / or at least one modular touch sensor and / or at least one adjustment drive unit and / or at least one position cover sensor and / or at least one lighting unit and / or at least one acoustic signaling unit and / or at least one three- dimensional safety sensor is connected to the internal communication control unit via a communication channel.

[0018] It is preferred that at least one external visual 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 the external pneumatic unit is connected to the interconnecting communication control unit via the communication channel.

[0019] It is preferred that the control unit of the manipulator is connected to the external communication control unit via the communication channel on one side and at least one segment positioning drive of the cover module and at least one segment sensor of the cover module are connected via the communication channel on the other side, and there is at least one safety sensor further connected via the communication channel, at least one visual signaling unit further connected via the transmission channel, at least one control element further connected via the communication channel and at least one gripper connected.

[0020] It is further preferred, that the internal pneumatic control unit of the control module and / or at least one modular touch sensor and / or at least one adjustment drive unit and / or at least one position cover sensor and / or at least one lighting unit and / or at least one at least one external visual signaling unit and / or at least one acoustic signaling unit and / or at least one external acoustic signaling unit and / or at least one external control element and / or at least one three-dimensional safety sensor and / or at least one external safety sensor and / or the external pneumatic unit is / are connected to the external communication control unit via the communication channel (6). Brief Description of Figures

[0021] The invention will be explained in more detail by drawings, where Fig. l is a schematic representation of a front view of a closed modular safety device of manipulators without an object being manipulated, Fig. 2 is a schematic representation of a side view of a closed modular safety device of manipulators without an object being manipulated, Fig. 3 is a schematic representation of a front view of a closed modular safety device of manipulators with an object being manipulated, Fig. 4 is a schematic representation of a side view of a closed modular safety device of manipulators with an object being manipulated, Fig. 5 is a schematic representation of a partial front cross-sectional view of a closed modular safety device of manipulators with an object being manipulated, Fig. 6 is a schematic representation of a partial side cross-sectional view of a closed modular safety device of manipulators with an object being manipulated, Fig. 7 is a schematic representation of a front view of an open modular safety device of manipulators without an object being manipulated, Fig. 8 is a schematic representation of a side view of an open modular safety device of manipulators without an object being manipulated, Fig. 9 is a schematic representation of a front view of an open modular safety device of manipulators with an object being manipulated, Fig. 10 is a schematic representation of a side view of an open modular safety device of manipulators with an object being manipulated, Fig. 11 is a schematic representation of a partial front cross-sectional view of an open modular safety device of manipulators with an object being manipulated, Fig. 12 is a schematic representation of a partial side cross-sectional view of an open modular safety device of manipulators with an object being manipulated, Fig. 13 shows a block diagram of a complete modular safety device control system wiring without internal and external pneumatic control unit, Fig. 14 shows a schematic representation a modular safety device control system wiring without and an external pneumatic control unit and an interconnecting communication control unit, Fig. 15 shows a block diagram of a modular safety device control system wiring with an interconnecting communication control unit and an external pneumatic control unit, Fig. 16 shows a block diagram of a modular safety device control system wiring without an adjustment drive unit and a position cover sensor, Fig. 17 shows a block diagram of a modular safety device control system wiring with an internal pneumatic control unit and an interconnecting communication control unit, Fig. 18 shows a block diagram of a modular safety device control system wiring without an internal pneumatic control unit and an interconnecting communication control unit, Fig. 19 shows a block diagram of a modular safety device control system wiring without an acoustic signaling and with an adjustment drive unit and position cover sensor, Fig. 20 shows a block diagram of a modular safety device control system wiring with a modular touch sensor and with an adjustment drive unit and position cover sensor, Fig. 21 shows a block diagram of a modular safety device control system wiring without a modular touch sensor and without an adjustment drive unit and position cover sensor, Fig. 22 shows a block diagram of a modular safety device control system wiring with an external communication control unit and without a modular touch sensor and without an adjustment drive unit and position cover sensor and Fig. 23 shows a block diagram of a complete modular safety device control system wiring with an external communication control unit. Fig. 24 is meant to accompany the abstract.

[0022] Exemplary embodiments

[0023] Example 1

[0024] The modular safety device, as in Fig. 1, comprises a mounting module 11 which is formed by a mounting flange. The mounting flange 91 of the manipulator 9, which is an industrial robot designed for collaborative applications, is fixed to the mounting module 11, as in Fig. 2, from the top. a control module 12 with a single control element 4 is fixed to the mounting module 11, as in Fig. 3, from the bottom. Four visual signaling units 2 are fixed to the control module 12, as in Fig. 4. a mounting reducer 71 is attached to the bottom of the control module 12, as in Fig. 5. a gripper 7 is fixed to the bottom of the mounting reducer 71, which is an end effector designed to grip and hold the object being manipulated 8. The object being manipulated 8 is gripped by the gripper 7. a kinematic unit 14, which is a flexibly movable mechanism, is fixed to the mounting reducer 71. The supporting body 171 of the cover module 17 is fixed to the kinematic unit 14. Two cover segments 172 are fixed to the supporting body 171, which are in the closed state. In the inner part of the two cover segments 172, as in Fig. 6, the gripper 7 is provided with a gripped object being manipulated 8, which is a sufficiently rigid, solid, grippable and holdable object.

[0025] Example 2

[0026] The modular safety device, as in Fig. 7, comprises a mounting module 11, which is a mounting flange. The mounting flange 91 of the manipulator 9, which is an industrial robot designed for collaborative applications, is fixed to the mounting module 11, as in Fig. 8, from the top. a control module 12 having one control element 4 is fixed to the mounting module 11, as in Fig. 9, from the bottom. Four visual signaling units 2 are fixed to the control module 12, as in Fig. 10. a mounting reducer 71 is fixed to the bottom of the control module 12, as in Fig. 11. a gripper 7 is fixed to the bottom of the mounting reducer 71, which is an end effector designed to grip and hold the object being manipulated 8. An object being manipulated 8 is gripped by the gripper 7. a kinematic unit 14, which is a flexibly movable mechanism, is fixed to the mounting reducer 71. The supporting body 171 of the cover module 17 is fixed to the kinematic unit 14. Two cover segments 172 are fixed to the supporting body 171, which are in the open state. In the inner part of the two cover segments 172, as in Fig. 12, the gripper 7 is provided with a gripped object being manipulated 8, which is a sufficiently rigid, solid, grippable and holdable object.

[0027] Example 3

[0028] The modular safety device control system wiring, as in Fig. 13, comprises an internal communication control unit 121 of a control module 12 of the modular safety device of manipulators 1. The internal communication control unit 121 is connected to an interconnecting communication control unit 125 via a communication channel 6 on one side. The internal communication control unit 121 is connected to a segment positioning drive 174 of a cover module 17 via the communication channel 6 on the other side. The internal communication control unit 121 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to two modular touch sensors 13, which are soft touch-sensitive lining elements. The internal communication control unit 121 is further connected via the communication channel 6 to one adjustment drive unit 15. The internal communication control unit 121 is further connected via the communication channel 6 to one position cover sensor 16. The internal communication control unit 121 is further connected via the communication channel 6 to a safety sensor 18. The internal communication control unit 121 is further connected via the communication channel 6 to one lighting unit 19, which is a light source. The internal communication control unit 121 is further connected via the communication channel 6 to a visual signaling unit 2. The internal communication control unit 121 is further connected via the communication channel 6 to an acoustic signaling unit 3, which is an acoustic source. The internal communication control unit 121 is further connected via the communication channel 6 to a control element 4. The internal communication control unit 121 is further connected via the communication channel 6 to one three-dimensional safety sensor 5. The internal communication control unit 121 is further connected via the communication channel 6 to a gripper 7. The interconnecting communication control unit 125 is further connected via the communication channel 6 to one external visual signaling unit 21. The interconnecting communication control unit 125 is further connected via the communication channel 6 to one external acoustic signaling unit 31. The interconnecting communication control unit 125 is further connected via the communication channel 6 to one external control element 41. The interconnecting communication control unit 125 is further connected via the communication channel 6 to one external safety sensor 51. The interconnecting communication control unit 125 is further connected via the communication channel 6 to a control unit 92 of a manipulator 9.

[0029] Example 4

[0030] The modular safety device control system wiring, as in Fig. 14, comprises an internal communication control unit 121 of a control module 12 of the modular safety device of manipulators 1. The internal communication control unit 121 is connected to a control unit 92 of a manipulator 9 via a communication channel 6 on one side. The internal communication control unit 121 is to an internal pneumatic control unit 122 of the control module 12 via the communication channel 6 on the other side. The internal communication control unit 121 is further connected via the communication channel 6 to a segment positioning drive 174 of a cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to one modular touch sensor 13, which is soft touch-sensitive lining elements. The internal communication control unit 121 is further connected via the communication channel 6 to an adjustment drive unit 15. The internal communication control unit 121 is further connected via the communication channel 6 to a position cover sensor 16. The internal communication control unit 121 is further connected via the communication channel 6 to two safety sensors 18. The internal communication control unit 121 is further connected via the communication channel 6 to a lighting unit 19. The internal communication control unit 121 is further connected via the communication channel 6 to a visual signaling unit 2, which is a light source. The internal communication control unit 121 is further connected via the communication channel 6 to a control element 4, which is a button. The internal communication control unit 121 is further connected via the communication channel 6 to a gripper 7. Example 5

[0031] The modular safety device control system wiring, as in Fig. 15, comprises an internal communication control unit 121 of a control module 12 of the modular safety device of manipulators 1. The internal communication control unit 121 is connected to an extension communication control unit 125 via a communication channel 6 on one side. The internal communication control unit 121 is connected to a segment positioning drive 174 of a cover module 17 via the communication channel 6 on the other side. The internal communication control unit 121 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to a modular touch sensor 13. The internal communication control unit 121 is further connected via the communication channel 6 to a safety sensor 18. The internal communication control unit 121 is further connected via the communication channel 6 to a visual signaling unit 2. The internal communication control unit 121 is further connected via the communication channel 6 to an acoustic signaling unit 3, which is an acoustic source. The internal communication control unit 121 is further connected via the communication channel 6 to a control element 4, which is a switch. The internal communication control unit 121 is further connected via the communication channel 6 to a gripper 7. The interconnecting communication control unit 125 is further connected from the other side via the communication channel 6 to an external pneumatic control unit 124. The interconnecting communication control unit 125 is connected from the third side via the communication channel 6 to two external visual signaling units 21. The interconnecting communication control unit 125 is further connected via the communication channel 6 to an external control element 41. The interconnecting communication control unit 125 is further connected via the communication channel 6 to a control unit 92 of a manipulator 9.

[0032] Example 6

[0033] The modular safety device control system wiring, as in Fig. 16, comprises an internal communication control unit 121 of a control module 12 of the modular safety device of manipulators 1. The internal communication control unit 121 is connected to an interconnecting communication control unit 125 via a communication channel 6 on one side. The internal communication control unit 121 is connected to a segment positioning drive 174 of a cover module 17 via the communication channel 6 on the other side. The internal communication control unit 121 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to a safety sensor 18. The internal communication control unit 121 is further connected via the communication channel 6 to a visual signaling unit 2. The internal communication control unit 121 is further connected via the communication channel 6 to a control element 4. The internal communication control unit 121 is further connected via the communication channel 6 to two three-dimensional safety sensors 5. The internal communication control unit 121 is further connected via the communication channel 6 to a gripper 7. The interconnecting communication control unit 125 is further connected via the communication channel 6 to two external acoustic signaling units 31. The interconnecting communication control unit 125 is further connected via the communication channel 6 to two external control elements 41. The interconnecting communication control unit 125 is further connected via the communication channel 6 to a control unit 92 of a manipulator 9.

[0034] Example 7

[0035] The modular safety device control system wiring, as in Fig. 17, comprises an internal communication control unit 121 of a control module 12 of the modular safety device of manipulators 1. The internal communication control unit 121 is connected to an interconnecting communication control unit 125 via a communication channel 6 on one side. The internal communication control unit 121 is connected to an internal pneumatic control unit 122 of the control module 12 via the communication channel 6 on the other side. The internal communication control unit 121 is further connected via the communication channel 6 to a segment positioning drive 174 of a cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to two adjustment drive units 15. The internal communication control unit 121 is further connected via the communication channel 6 to two position cover sensors 16. The internal communication control unit 121 is further connected via the communication channel 6 to two safety sensors 18. The internal communication control unit 121 is further connected via the communication channel 6 to a visual signaling unit 2, which is a display. The internal communication control unit 121 is further connected via the communication channel 6 to a control element 4, which is a touch screen. The internal communication control unit 121 is further connected via the communication channel 6 to a gripper 7. The interconnecting communication control unit 125 is further connected via the communication channel 6 to two external safety sensors 51. The interconnecting communication control unit 125 is further connected via the communication channel 6 to a control unit 92 of a manipulator 9.

[0036] Example 8

[0037] The modular safety device control system wiring, as in Fig. 18, comprises an internal communication control unit 121 of a control module 12 of the modular safety device of manipulators 1. The internal communication control unit 121 is connected to a control unit 92 of a manipulator 9 via a communication channel 6 on one side. The internal communication control unit 121 is connected to a segment positioning drive 174 of a cover module 17 via the communication channel 6 on the other side. The internal communication control unit 121 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to three modular touch sensors 13. The internal communication control unit 121 is further connected via the communication channel 6 to two safety sensors 18. The internal communication control unit 121 is further connected via the communication channel 6 to a visual signaling unit 2. The internal communication control unit 121 is further connected via the communication channel 6 to an acoustic signaling unit 3. The internal communication control unit 121 is further connected via the communication channel 6 to a control element 4. The internal communication control unit 121 is further connected via the communication channel 6 to a gripper 7.

[0038] Example 9

[0039] The modular safety device control system wiring, as in Fig. 19, comprises an internal communication control unit 121 of a control module 12 of the modular safety device of manipulators 1. The internal communication control unit 121 is connected to a control unit 92 of a manipulator 9 via a communication channel 6 on one side. The internal communication control unit 121 is connected to a segment positioning drive 174 of a cover module 17 via the communication channel 6 on the other side. The internal communication control unit 121 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to an adjustment drive unit 15. The internal communication control unit 121 is further connected via the communication channel 6 to a position cover sensor 16. The internal communication control unit 121 is further connected via the communication channel 6 to a safety sensor 18. The internal communication control unit 121 is further connected via the communication channel 6 to two lighting units 19. The internal communication control unit 121 is further connected via the communication channel 6 to a visual signaling unit 2, which is a display. The internal communication control unit 121 is further connected via the communication channel 6 to a control element 4, which is a button. The internal communication control unit 121 is further connected via the communication channel 6 to a gripper 7.

[0040] Example 10

[0041] The modular safety device control system wiring, as in Fig. 20, comprises an internal communication control unit 121 of a control module 12 of the modular safety device of manipulators 1. The internal communication control unit 121 is connected to a control unit 92 of a manipulator 9 via a communication channel 6 on one side. The internal communication control unit 121 is to an internal pneumatic control unit 122 of the control module 12 via the communication channel 6 on the other side. The internal communication control unit 121 is further connected via the communication channel 6 to a segment positioning drive 174 of a cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to a modular touch sensor 13. The internal communication control unit 121 is further connected via the communication channel 6 to an adjustment drive unit 15. The internal communication control unit 121 is further connected via the communication channel 6 to a position cover sensor 16. The internal communication control unit 121 is further connected via the communication channel 6 to a safety sensor 18. The internal communication control unit 121 is further connected via the communication channel 6 to a visual signaling unit 2. The internal communication control unit 121 is further connected via the communication channel 6 to a control element 4. The internal communication control unit 121 is further connected via the communication channel 6 to a gripper 7.

[0042] Example 11 The modular safety device control system wiring, as in Fig. 21, comprises an internal communication control unit 121 of a control module 12 of the modular safety device of manipulators 1. The internal communication control unit 121 is connected to a control unit 92 of a manipulator 9 via a communication channel 6 on one side. The internal communication control unit 121 is to an internal pneumatic control unit 122 of the control module 12 via the communication channel 6 on the other side. The internal communication control unit 121 is further connected via the communication channel 6 to a segment positioning drive 174 of a cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The internal communication control unit 121 is further connected via the communication channel 6 to a safety sensor 18. The internal communication control unit 121 is further connected via the communication channel 6 to a visual signaling unit 2. The internal communication control unit 121 is further connected via the communication channel 6 to a control element 4. The internal communication control unit 121 is further connected via the communication channel 6 to a gripper 7.

[0043] Example 12

[0044] The modular safety device control system wiring, as in Fig. 22, comprises an external communication control unit 123 of the modular safety device of manipulators 1. The external communication control unit 123 is connected to a control unit 92 of a manipulator 9 via a communication channel6. The external communication control unit 123is connected to an internal pneumatic control unit 122 of the control module 12 via the communication channel 6. The external communication control unit 123 is further connected via the communication channel 6 to a segment positioning drive 174 of a cover module 17. The external communication control unit 123 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The external communication control unit 123 is further connected via the communication channel 6 to one safety sensor 18. The external communication control unit 123 is further connected via the communication channel 6 to two visual signaling units 2. The external communication control unit 123 is further connected via the communication channel 6 to two control elements 4. The external communication control unit 123 is further connected via the communication channel 6 to two grippers 7. The external communication control unit 123 is further connected via the communication channel 6 to two external visual signaling units 21. The external communication control unit 123 is further connected via the communication channel 6 to two external acoustic signaling units 31. The external communication control unit 123 is further connected via the communication channel 6 to two external control elements 41. The external communication control unit 123 is further connected via the communication channel 6 to two external safety sensors 51.

[0045] Example 13

[0046] The modular safety device control system wiring, as in Fig. 23, comprises an external communication control unit 123 of the modular safety device of manipulators 1. The external communication control unit 123 is connected to a control unit 92 of a manipulator 9 via a communication channel6. The external communication control unit 123is connected to an internal pneumatic control unit 122 of the control module 12 via the communication channel 6. The external communication control unit 123 is further connected via the communication channel 6 to an external pneumatic unit 124. The external communication control unit 123 is further connected via the communication channel 6 to a segment positioning drive 174 of a cover module 17. The external communication control unit 123 is further connected via the communication channel 6 to a segment sensor 175 of the cover module 17. The external communication control unit 123 is further connected via the communication channel 6 to a safety sensor 18. The external communication control unit 123 is further connected via the communication channel 6 to two modular touch sensors 13. The external communication control unit 123 is further connected via the communication channel 6 to one adjustment drive unit 15. The external communication control unit 123 is further connected via the communication channel 6 to one position cover sensor 16. The external communication control unit 123 is further connected via the communication channel 6 to one lighting unit 19. The external communication control unit 123 is further connected via the communication channel 6 to a visual signaling unit 2. The external communication control unit 123 is further connected via the communication channel 6 to an acoustic signaling unit 3. The external communication control unit 123 is further connected via the communication channel 6 to a control element 4. The external communication control unit 123 is further connected via the communication channel 6 to one three-dimensional safety sensor 5. The external communication control unit 123 is further connected via the communication channel 6 to a gripper 7. The external communication control unit 123 is further connected via the communication channel 6 to an external visual signaling unit 21. The external communication control unit 123 is further connected via the communication channel 6 to an external acoustic signaling unit 31. The external communication control unit 123 is further connected via the communication channel

[0047] 6 to an external control element 41. The external communication control unit 123 is further connected via the communication channel 6 to an external safety sensor 51.

[0048] Industrial Applicability

[0049] The modular safety device of manipulators, which is designed to protect persons from injury caused by a collision between a person and a manipulator effector (especially a gripper) and / or an object gripped by the manipulator effector, can be used for a variety of machinery, mostly for robotic manipulation in a collaborative workspace. The modularity of the invention may be adapted to different types of industrial manipulators, robots, grippers, shapes and sizes of the objects being manipulated. The presented invention, which is based on the combination of a cover module with other modules, elements and components, allows for arranging several embodiments of the invention with the corresponding functionality and safety characteristics, allowing to meet the limits for quasi-static and transient contact, as specified in ISO / TS 15066:2016, even in cases where the gripper or the gripped object (workpiece) have sharp edges and / or points. The invention simplifies and reduces the design process of collaborative robotic systems (especially safety measures) and ensures a simpler procedure for setting the parameters of safety functions and the movement of manipulators (collaborative robots) and further enables (in some embodiments) eccentric gripping of objects. The invention can also be used as protection against damage to equipment and objects in the manipulator work area in non-collaborative applications. If the cover segments in the closed position do not completely cover the gripper and the object being manipulated, thus creating a gap, or if any side is not covered at all, the three-dimensional safety sensor can be used to detect an approaching in the uncovered direction. The external visual signaling unit, the external acoustic signaling unit, the external control element and the external safety sensor of the invention are intended primarily as safety elements at the points of removal and storage of objects being manipulated. In embodiments without an internal communication control unit and an internal pneumatic control unit, the control module can be omitted from the arrangement of the technical invention. The internal communication control unit and the external communication control unit can be replaced by the control unit of the manipulator, and the interconnecting communication control unit can provide the possibility of connecting unspecified devices (input / output expansion). The position of the visual signaling unit and the control element can be changed, they need not necessarily be part of the control module. Legend to the attached drawings - Figures no. 1 to 24:

[0050] 1 - modular safety device

[0051] 11 - mounting module

[0052] 12 - control module

[0053] 121 - internal communication control unit

[0054] 122 - internal pneumatic control unit

[0055] 123 - external communication control unit

[0056] 124 - external pneumatic control unit

[0057] 125 - interconnecting communication control unit

[0058] 13 - modular touch sensor

[0059] 14 - kinematic unit

[0060] 15 - adjustment drive unit

[0061] 16 - position cover sensor

[0062] 17 - cover module

[0063] 171 - supporting body

[0064] 172 - cover segment

[0065] 174 - segment positioning drive

[0066] 175 - segment sensor

[0067] 18 - safety sensor

[0068] 19 - lighting unit

[0069] 2 - visual signaling unit

[0070] 21 - external visual signaling unit

[0071] 3 - acoustic signaling unit

[0072] 31 - external acoustic signaling unit

[0073] 4 - control element

[0074] 41 - external control element

[0075] 5 - three-dimensional safety sensor

[0076] 51 - external safety sensor

[0077] 6 - communication channel

[0078] 7 - gripper

[0079] 71 - mounting reducer - obj ect being manipulated - manipulator - mounting flange - control unit

Claims

CLAIMS1. A 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 the top and to which a control module (12) having at least one control element (4) and at least one visual signaling unit (2) is fixed from the bottom, wherein a mounting reducer (71) having at least one gripper (7) in which an object being manipulated (8) is gripped is fixed to the bottom of the control module (12), to which a supporting body (171) of a cover module (17) is further fixed, the cover module having at least one cover segment (172) connected to it, in which at least one gripper (7) with a gripped object being manipulated (8) is placed.

2. The modular safety device according to claim 1, characterized in that to the supporting body (171) of the cover module is fixed a kinematic unit (14), which is further fixed to the mounting reducer (71).

3. A wiring of the modular safety device control system according to any one of claims 1 and 2, characterized in that it comprises an external communication control unit (123) or an internal communication control unit (121) of the control module (12), to which either an interconnecting communication control unit (125) connected via the communication channel (6) to the control unit (92) of the manipulator (9) or connected via the communication channel (6) to the control unit (92) of the manipulator (9) is connected via the communication channel (6) on one side, wherein at least one segment positioning drive (174) of the cover module (17) and at least one segment sensor (175) of the cover module (17) are connected to the internal communication control unit (121) via the communication channels (6) from the other side, and there is at least one safety sensor (18) further connected via the communication channel (6), at least one visual signaling unit (2) further connected via the transmission channel (6), at least one control element (4) further connected via the transmission channel (6) and at least one gripper (7) connected.

4. The modular safety device control system wiring according to claim 3, characterized in that an internal pneumatic control unit (122) and / or at least one modular touch sensor (13) and / or at least one adjustment drive unit (15) and / or at least one position cover sensor (16) and / or at least one lighting unit (19) and / or at least one acoustic signaling unit (3) and / or at least one three-dimensional safety sensor (5) is / areconnected to the internal communication control unit (121) via a communication channel (6).

5. The modular safety device control system wiring according to claims 3 and 4, characterized in that at least one external visual 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 an external pneumatic unit (124) is / are connected to the interconnecting communication control unit (125) via the communication channel (6).

6. The modular safety device control system wiring according to claim 3, characterized in that the control unit (92) of the manipulator (9) is connected to the external communication control unit (123) via the communication channel (6) on one side and at least one segment positioning drive (174) of the cover module (17) and at least one segment sensor (175) of the cover module (17) are connected via the communication channel (6) on the other side, and there is at least one safety sensor (18) further connected via the communication channel (6), at least one visual signaling unit (2) further connected via the transmission channel (6), at least one control element (4) further connected via the communication channel (6) and at least one gripper (7) connected.

7. The modular safety device control system wiring according to claim 6, characterized in that the internal pneumatic control unit (122) of the control module (12) and / or at least one modular touch sensor (13) and / or at least one adjustment drive unit (15) and / or at least one position cover sensor (16) and / or at least one lighting unit (19) and / or at least one at least one external visual 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 control element (41) and / or at least one three-dimensional safety sensor (5) and / or at least one external safety sensor (51) and / or the external pneumatic unit (124) is / are connected to the external communication control unit (123) via the communication channel (6).

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