Robot system for processing and / or handling a workpiece, collision protection element, holding element and bearing element for a robot system, collision protection assembly, and method for operating a robot system
The robot system addresses collision protection for effector units and workpieces by using a detachable collision protection element that shields them from human contact, ensuring reliable operation and efficiency.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- ROUNDPEG TECH GMBH
- Filing Date
- 2025-01-17
- Publication Date
- 2026-07-23
AI Technical Summary
Existing robotic systems face challenges in protecting effector units and workpieces from collisions with humans while maintaining efficiency, particularly when these units have pointed or sharp-edged sections that pose a risk even at low speeds due to high surface pressures.
A robot system with a collision protection element that is detachably attached to the flange surface, mechanically shielding the effector unit and workpiece from collisions, using a collision protection element that can be easily attached or detached via the manipulator unit or control unit, ensuring reliable protection without significantly impacting efficiency.
The system provides simple and reliable collision protection for effector units and workpieces, allowing them to operate at higher speeds and interact with workpieces efficiently while minimizing risks to humans, even in environments where people are present.
Smart Images
Figure EP2025051213_23072026_PF_FP_ABST
Abstract
Description
[0001] ROUNDPEG TECHNOLOGIES GMBH Munich, January 17, 2025 Our Reference: RI 1249WO / TOP
[0002] Roundpeg Technologies GmbH
[0003] Max-Planck-Str. 4, 85609 Aschheim, Germany
[0004] Robot system for processing and / or handling a workpiece, collision protection element, holding element and bearing element for a robot system, collision protection assembly, and method for operating a robot system
[0005] The invention relates to a robot system for processing and / or handling a workpiece. The robot system comprises a manipulator unit with a flange surface, wherein a flange surface central axis is perpendicular to the flange surface. Furthermore, the robot system has an effector unit mounted on the flange surface, which has an extension component along the flange surface central axis.
[0006] Furthermore, the invention relates to a collision protection element for such a robot system and a retaining element for attaching a collision protection element to a flange surface of a manipulator unit of such a robot system, as well as to a collision protection assembly comprising such a collision protection element and such a retaining element. The invention also relates to a bearing element for such a robot system.
[0007] Furthermore, the invention relates to a method for operating a robot system.
[0008] Numerous applications of robotic systems involve the robot sharing its workspace with humans. This occurs, for example, in the context of human-robot collaboration. In such cases, it must be ensured that the people present within the robot's workspace remain unharmed. In other words, the robot must be protected against contact with or collision with a person. In this context, it is common practice to equip robotic systems with appropriate sensor units designed to detect top-to-top (TTO) distances to humans. Based on this, the robot's movement can be slowed down, its direction changed, stopped, or prevented entirely. Such sensor units are comparatively complex. This is particularly true because effector units are designed to interact with a workpiece.The challenge lies in designing the collision protection in such a way that interaction with a workpiece is possible, but a collision with a person is excluded.
[0009] The collision must be avoided, or at least mitigated, particularly for the effector unit and any workpiece coupled to it, so that the person involved remains unharmed. This is because the effector unit and any workpiece coupled to it typically move faster and farther than the manipulator unit. In this context, the manipulator unit is understood to be a programmable device that allows the flange surface to 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 processed and / or handled. For example, the effector unit can be designed as a gripper unit or a tool unit.Tool units include, among others, soldering units, adhesive application units, milling units, grinding units, measuring units, camera or sensor units, welding units and cutting tool units.
[0010] It is therefore the object of the present invention to provide a robot system which is further improved with regard to collision protection of the effector unit and of the workpiece optionally coupled to the effector unit.
[0011] The task is accomplished by a robot system for processing and / or handling a workpiece. The robot system comprises a manipulator unit with a flange surface, the flange surface having a central axis perpendicular to it. The robot system also includes an effector unit mounted on the flange surface, which has an extension component along the central axis of the flange surface. Furthermore, the robot system includes a collision protection element. The collision protection element can be attached to, or is already attached to, the flange surface. If attached to the flange surface, the collision protection element can be released by moving the manipulator unit and / or by controlling it.Furthermore, if the collision protection element is detachably attached to the flange surface, it mechanically shields the effector unit from collisions at one end opposite the flange surface. This shielding occurs along the central axis of the flange surface. The collision protection element also mechanically shields the effector unit from collisions at its circumference, provided it is detachably attached to the flange surface. The circumference of the effector unit is defined based on the central axis of the flange surface. Therefore, the circumference of the effector unit includes surfaces or other structural elements whose surface normals run perpendicular to the central axis of the flange surface. If the effector unit is considered to be a circular cylindrical unit, its circumference would be formed by the lateral surface of the cylinder.In the present robot system, a collision is mechanically shielded by means of the collision protection element. This means that the collision protection element is a physical component or a section of a physical component that is positioned between the effector unit to be protected and an object or person against whom a collision is to be prevented, such that the person or object does not come into contact with the effector unit, i.e., collide with it, but rather with the collision protection element. In this way, the effector unit can be protected against a collision with a person or object simply and reliably. The collision protection element can be a structurally relatively simple component or section of a component, so that such collision protection is also relatively simple from a structural perspective.The collision protection element can also be detachably attached to the flange surface, allowing it to be removed from the flange surface—that is, from the other components of the robot system—in situations where the effector unit is to interact with or terminate an interaction with a workpiece. This releases the effector unit. It has been found that in situations where the effector unit is to interact with or terminate an interaction with a workpiece, collision protection can be achieved relatively easily even without the collision protection element. Attaching or detaching the collision protection element is accomplished by moving the manipulator unit. This means that the manipulator unit essentially acts as an actuator for attaching or detaching the collision protection element.Alternatively or additionally, the collision protection element can be attached or detached by means of a control unit. In this variant, the manipulator unit, or more precisely, its control unit, activates an actuator that attaches or detaches (i.e., removes) the collision protection element. The actuator can be either electric or pneumatic. This results in a comparatively simple yet reliable collision protection system.
[0012] The present invention is based on the understanding that effector units often comprise pointed or sharp-edged sections or elements. Such sections or elements are particularly critical with regard to a collision with a person, since even at low relative speeds to the person, the pointed or sharp-edged sections or elements cause high surface pressures and are therefore very dangerous. Without collision protection, such pointed or sharp-edged sections or elements of effector units can therefore only be moved at very low speeds in a workspace where people may also be present. In other words, pointed or sharp-edged sections or elements of effector units limit the speed at which such effector units can be moved in a workspace where people may also be present.The invention solves this problem by mechanically shielding the effector unit, including its pointed or sharp-edged sections or elements, by means of the collision protection element. Ideally, the collision protection element has neither pointed nor sharp-edged elements or sections. At the very least, the collision protection element is less pointed and less sharp-edged than the effector unit to be shielded. It is noted that manipulator units used in a workspace where people may also be present typically have force sensors, so that, based on a detection result from the force sensors, the movement of the robot system can be slowed down, changed in direction, stopped, or completely prevented. In combination with the robot system according to the invention, which includes the collision protection element, this means that in the event of a collision with the collision protection element, i.e.,If a person touches the collision protection element, a reaction can be triggered based on a detection result from the force sensors as described.
[0013] The present invention implies that the collision protection element must be attached to the flange surface after a desired interaction of the effector unit with a workpiece in order to shield the effector unit, and that the collision protection element must be removed from the flange surface again if a subsequent, desired interaction of the effector unit with a workpiece is to take place. However, it has been found that the additional work steps of attaching and removing the collision protection element do not necessarily impair the work efficiency of the robot system.Rather, in this context, it is only relevant that the work steps of attaching and removing the collision protection element are compensated for or overcompensated by any increase in the movement speed of the effector unit that is possible due to the presence of the collision protection element, for example, in terms of time. From a purely temporal perspective, the time saved in moving the effector unit must therefore be equal to or greater than the time required to attach and remove the collision protection element. The effector unit of the robot system according to the invention can be a gripper unit or a tool unit. In a case where the effector unit is a tool unit, it can be configured as a soldering unit, adhesive application unit, milling unit, grinding unit, measuring unit, camera or sensor unit, welding unit, or cutting tool unit.Optionally, the effector unit is connected to the flange surface via a tool changing unit, making it easy to replace the effector unit.
[0014] According to one embodiment, the collision protection element has a receiving space for a workpiece coupled to the effector unit. If the workpiece is positioned in the receiving space and if the collision protection element is detachably attached to the flange surface, the collision protection element mechanically shields the workpiece from collisions at an end opposite the flange surface. This shielding occurs along the central axis of the flange surface. The collision protection element also mechanically shields the workpiece from collisions at its circumference, provided it is detachably attached to the flange surface. The circumference of the workpiece is defined based on the central axis of the flange surface. Thus, the circumference of the workpiece includes surfaces or other structural elements whose surface normals run perpendicular to the central axis of the flange surface.A collision with a workpiece is thus mechanically shielded by means of the collision protection element. This means that the collision protection element is positioned between the workpiece to be shielded and an object or person against whom a collision is to be prevented in such a way that the person or object does not come into contact with the workpiece, i.e., collide with it, but rather with the collision protection element. In this way, the workpiece can be protected against a collision with a person or object simply and reliably. As already mentioned, the collision protection element can be a structurally relatively simple component or section of a component, so that such collision protection is also relatively simple from a structural point of view.The collision protection element can also be detachably mounted to the flange surface, allowing it to be removed from the flange surface—that is, from the other components of the robot system—in situations where the effector unit is to interact with or terminate an interaction with the workpiece, thus releasing the workpiece. It has been found that in such situations, collision protection can be achieved relatively easily even without the collision protection element. In this case, the collision protection element is attached or detached by moving the manipulator unit. This means that the manipulator unit essentially acts as an actuator for attaching or detaching the collision protection element. Alternatively or additionally, the collision protection element can be attached or detached by being controlled by the manipulator unit.In this variant, an actuator is controlled by the manipulator unit, or more precisely, by a control unit of the manipulator unit. This actuator is used to attach or detach, i.e., remove, the collision protection element. The actuator can be either electric or pneumatic. Overall, this results in a relatively simple yet reliable collision protection system for the workpiece.
[0015] The foregoing embodiment is based on the understanding that workpieces often include pointed or sharp-edged sections or elements. Such sections or elements are particularly critical with regard to a collision with a person, as they generate high surface pressures even at low relative speeds and are therefore extremely dangerous. Without collision protection, such pointed or sharp-edged sections or elements of workpieces can only be moved at very low speeds in a workspace where people may be present. In other words, pointed or sharp-edged sections or elements of workpieces limit the speed at which such workpieces can be moved in a workspace where people may be present.This embodiment solves this problem by mechanically shielding the workpiece, including its pointed or sharp-edged sections or elements, by means of the collision protection element. Ideally, the collision protection element has neither pointed nor sharp-edged elements or sections. At the very least, the collision protection element is less pointed and less sharp-edged than the workpiece to be shielded. It should also be noted that manipulator units used in a workspace where people may be present are typically equipped with force sensors, so that, based on a detection result from the force sensors, the movement of the robot system can be slowed down, changed in direction, stopped, or completely prevented. In combination with the robot system according to the invention, which includes the collision protection element, this means that in the event of a collision with the collision protection element, i.e.,If a person touches the collision protection element, a reaction can be triggered based on a detection result from the force sensors as described.
[0016] It is also noted that in the robot system according to the invention, mechanical shielding of the effector unit and optionally the workpiece at an end opposite the flange surface, with the shielding occurring along the central axis of the flange surface, can be implemented particularly easily and reliably. This is especially true compared to sensor-based collision protection systems, which often cannot shield this area of the effector unit and optionally the workpiece, or cannot do so reliably, since the detection field of a sensor is frequently intensified in this area by the effector unit and / or the workpiece.
[0017] Preferably, the collision protection element has a bottom wall that mechanically shields the effector unit and, optionally, the workpiece at the end opposite the flange surface. Again, the shielding is provided along the central axis of the flange surface. Alternatively or additionally, the collision protection element has a circumferential wall that mechanically shields the effector unit and, optionally, the workpiece at its circumference from a collision. Such a bottom wall and / or a circumferential wall are relatively simple but reliable means of mechanically shielding the effector unit and, optionally, the workpiece from a collision. In a case where the workpiece is shielded, the bottom wall and / or the circumferential wall define the receiving space for the workpiece.
[0018] According to one variant, the collision protection element can be attached to the flange surface via a retaining element mounted on the flange surface. As already mentioned, this attachment can be released by moving the manipulator unit and / or by controlling it. The collision protection element is thus indirectly attached to the flange surface. In this context, a connection between the collision protection element and the retaining element can be selectively established or released by moving the manipulator unit and / or by controlling it. In contrast, the attachment of the retaining element to the flange surface is permanent or at least cannot be released by moving the manipulator unit and / or by controlling it.In a case where the collision protection element is removed from the flange surface, the retaining element remains mounted on the flange surface. In this context, the retaining element can also be referred to as an adapter element. The retaining element can serve to couple the collision protection element to different types of flange surfaces.
[0019] The collision protection element and the retaining element can be magnetically and / or mechanically coupled or connectable. In the case of mechanical coupling, the collision protection element and the retaining element can be coupled or connectable via a bayonet mechanism, a threaded mechanism, and / or a locking mechanism. Optionally, the mechanisms are pre-tensioned by one or more springs, with the spring force acting on the collision protection element in the direction of the locking position. This means that the collision protection element is attached or can be attached to the retaining element, and thus to the flange surface, via a bayonet mechanism, a threaded mechanism, and / or a locking mechanism. Such mechanisms ensure that the collision protection element is reliably attached to the flange surface, i.e.,It can be attached to the holding element and simultaneously easily and reliably removed from the flange surface, i.e., from the holding element, and attached to the flange surface, i.e., the holding element, by means of a movement of the manipulator unit and / or by means of a control signal from the manipulator unit. The same applies to magnetic coupling or magnetic coupling capability.
[0020] According to one embodiment, the retaining element and the collision protection element are designed such that attaching the collision protection element to the retaining element and detaching it from the retaining element each require two movements. For example, a translational movement and a rotational movement may be necessary. This ensures that the collision protection element is not unintentionally detached from the retaining element, for example, by a collision, but only when desired, i.e., when the manipulator unit performs the corresponding movement. In other words, this further increases the reliability of the collision protection element's attachment to the retaining element. Optionally, the retaining element and the collision protection element can be spring-loaded against each other.
[0021] The robot system can further include a stationary storage element, separate from the manipulator unit and the effector unit, on which the collision protection element can be stored when removed from the flange surface. The storage element is designed to hold the collision protection element in a defined position and orientation. Consequently, in situations where the collision protection element is not intended to shield the effector unit and, optionally, the workpiece, it can be stored on the storage element. In simpler terms, the storage element can serve as a parking space or stand for the collision protection element when not in use for shielding.Furthermore, the bearing element can be designed to absorb reaction forces and / or reaction moments that occur when the collision protection element is attached to or removed from the flange surface by a movement of the manipulator unit. In other words, the bearing element then acts as a force support and / or torque support. Overall, the bearing element ensures quick and reliable attachment to the flange surface as well as quick and reliable removal of the collision protection element from the flange surface.
[0022] For example, the collision protection element is at least partially transparent. A user of the robot system can therefore see inside the collision protection element to a certain extent. In this way, the user can visually assess the condition of the effector unit and / or the workpiece. At least partial transparency can be achieved by making the collision protection element, at least partially, from a transparent material. Alternatively, at least partial transparency can be achieved by providing openings in the collision protection element through which a user can see. It is understood that a compromise must be found regarding the dimensions and shape of such openings, allowing visibility while still reliably providing collision protection.Put simply, the openings must be sized and shaped so that one can see through them but not reach through them. Of course, it is also possible to combine the aforementioned options, i.e., to manufacture the collision protection element, at least in sections, from a transparent material and to additionally provide openings. The options with openings also have the advantage that liquids can drip through them. Such liquids include, for example, coolants, lubricants, or oil that adheres to the workpiece.
[0023] In one example, the openings that achieve local transparency of the collision protection element are designed as essentially circular holes or slots. In another design variant, the collision protection element can be cup-shaped. This means that the collision protection element has a tubular section that can provide circumferential shielding with respect to the flange surface's central axis, with the tubular section being closed at one axial end. The closed axial end can be referred to as the base of the cup-shaped collision protection element. The closed end serves as mechanical shielding against a collision along the flange surface's central axis. It is understood that the cross-section of this tubular section can be constant, but does not have to be. The tubular section can therefore taper or widen along its length.Furthermore, the cross-section of the tubular section can have any suitable shape and dimensions. However, cross-sectional shapes that are circular, at least in the area of an opening of the cup-shaped collision protection element, are preferred. Such cross-sections have the advantage of facilitating the attachment and removal of the collision protection element from the flange surface by means of a rotary motion.
[0024] Optionally, at least one sensor unit is arranged on the collision protection element and / or the retaining element. This sensor unit can be designed for environmental detection. This means that obstacles, which could be people or objects, can be detected by means of the sensor unit. In this way, the collision protection already provided by the collision protection element can be further improved.
[0025] In one variant, the collision protection element has a gripping surface designed for user grasp. This allows the user to teach the robot system or its components by grasping the collision protection element at the gripping surface and moving it according to the movement to be taught. In a case where the collision protection element is cup-shaped, an outer surface of the tubular section can serve as the gripping surface.
[0026] Furthermore, the problem is solved by a collision protection element for a robot system according to the invention. The collision protection element comprises a mounting interface for attachment to the flange surface of the manipulator unit. This attachment can be released by moving the manipulator unit and / or by controlling it. The collision protection element also includes a first shielding element for mechanically shielding one end of the effector unit opposite the flange surface from a collision. The shielding is provided along the central axis of the flange surface. In addition, the collision protection element includes a second shielding element for mechanically shielding one circumference of the effector unit from a collision. Thus, a collision can be mechanically shielded by means of such a collision protection element.This means that the collision protection element is a physical component or a section of a physical component positioned between an effector unit to be protected, and optionally a workpiece to be protected, and an object or person against whom collision protection is to be ensured, such that the person or object does not come into contact with the effector unit and optionally the workpiece, i.e., collide with it, but rather with the collision protection element. In this way, the effector unit and optionally the workpiece can be protected against collision with a person or object simply and reliably. The collision protection element can be a structurally relatively simple component or section of a component, so that such collision protection is also relatively simple from a structural perspective.The collision protection element can also be detachably attached to the flange surface, allowing it to be removed from the flange surface—that is, from the other components of the robot system—in situations where the effector unit is to interact with or terminate an interaction with a workpiece. This allows the effector unit to be released. It has been found that in situations where the effector unit is to interact with or terminate an interaction with a workpiece, collision protection can be achieved relatively easily even without the collision protection element. Attaching or detaching the collision protection element is accomplished by moving the manipulator unit. This means that the manipulator unit essentially acts as an actuator for attaching or detaching the collision protection element.Alternatively or additionally, the collision protection element can be attached or detached by means of a control unit. In this variant, the manipulator unit, or more precisely, its control unit, activates an actuator that attaches or detaches (i.e., removes) the collision protection element. The actuator can be either electric or pneumatic. This results in a comparatively simple yet reliable collision protection system.
[0027] The problem is also solved by a retaining element for attaching a collision protection element to a flange surface of a manipulator unit of a robot system according to the invention. The retaining element comprises a first mechanical mounting interface for attaching the retaining element to the flange surface and a second mechanical mounting interface for the detachable coupling of the retaining element and the collision protection element. This coupling can be released by moving the manipulator unit and / or by controlling it. Using such a retaining element, the detachable coupling of the collision protection element to a flange surface of a manipulator unit can be implemented simply and reliably. As already mentioned, the collision protection element can be used to easily and reliably protect an effector unit and, optionally, a workpiece from collisions with a person and / or object.
[0028] Furthermore, the problem is solved by a collision protection assembly comprising a collision protection element and a holding element according to the invention. Such a collision protection assembly allows for the simple and reliable protection of an effector unit and, optionally, a workpiece against collisions.
[0029] The problem is also solved by a bearing element for a robot system according to the invention. The bearing element is designed to hold the collision protection element in a defined position and orientation. In a situation where the collision protection element is not intended to shield the effector unit and, optionally, the workpiece, it can therefore be mounted on the bearing element. In simplified terms, the bearing element can serve as a parking space or storage unit for the collision protection element when it is not being used for shielding. Furthermore, the bearing element can be designed to absorb reaction forces and / or reaction moments that occur when the collision protection element is attached to or removed from the flange surface by means of a movement of the manipulator unit and / or by means of a control signal from the manipulator unit.In other words, the bearing element then serves as a force support and / or torque support. Overall, the bearing element ensures quick and reliable attachment to the flange surface as well as quick and reliable removal of the collision protection element from the flange surface.
[0030] Furthermore, the task is solved by a method for operating a robot system. The robot system is designed for processing and / or handling a workpiece and comprises a manipulator unit with a flange surface and an effector unit. The effector unit is mounted on the flange surface, with a flange surface central axis perpendicular to the flange surface and the effector unit having an extension component along the flange surface central axis. The method includes:
[0031] - Detachable attachment of a collision protection element to the flange surface, such that the effector unit is mechanically shielded against collision at one end opposite the flange surface along the central axis of the flange surface, and the effector unit is mechanically shielded against collision at one circumference, and / or
[0032] - Removing a collision protection element from the flange surface so that the effector unit is accessible at one end opposite the flange surface along the central axis of the flange surface, as well as at one circumference. According to the method according to the invention, the collision protection element is optionally attached to the flange surface, e.g., after a desired interaction of the effector unit with a workpiece, in order to shield the effector unit. Furthermore, the collision protection element is optionally removed from the flange surface, e.g., when a subsequent, desired interaction of the effector unit with a workpiece is to take place. In a situation in which the collision protection element is attached to the flange surface, the effector unit is thus mechanically shielded against collisions simply and reliably. Reference is made to the preceding explanations.Furthermore, it has been shown that the additional work steps of attaching and removing the collision protection element do not necessarily negatively impact the robot system's work efficiency. Rather, the crucial factor in this context is whether the work steps of attaching and removing the collision protection element are compensated for or more than compensated for by any increase in the effector unit's movement speed that may result from the presence of the collision protection element, for example, in terms of time. From a purely temporal perspective, the time saved in moving the effector unit must therefore be equal to or greater than the time required to attach and remove the collision protection element.
[0033] According to one method variant, the collision protection element is detachably attached to the flange surface, so that a workpiece coupled to the effector unit is mechanically shielded from collisions at one end opposite the flange surface along the flange surface's central axis, and the workpiece is also mechanically shielded from collisions at its circumference. Alternatively or additionally, the collision protection element is removed from the flange surface, so that a workpiece coupled to the effector unit is accessible at one end opposite the flange surface along the flange surface's central axis, and the workpiece is also accessible at its circumference. Consequently, in a situation where the collision protection element is attached to the flange surface, the workpiece can also be easily and reliably mechanically shielded from collisions. Reference is made to the preceding explanations.
[0034] The invention is explained below with reference to various embodiments shown in the accompanying drawings. These show:
[0035] Figure 1 shows a robot system according to the invention, comprising a collision protection element, a holding element and a bearing element according to the invention, and which can be operated by means of a method according to the invention, in a perspective view.
[0036] Figure 2 shows the robot system from Figure 1 in a different perspective view.
[0037] Figure 3 shows the robot system from Figures 1 and 2 in yet another perspective view, with the inventive bearing element omitted.
[0038] Figure 4 shows the robot system from Figure 3 in a longitudinal section.
[0039] Figure 5 shows the robot system from the previous figures, wherein the collision protection element has been removed from the other components of the robot system and wherein the bearing element according to the invention has been omitted.
[0040] Figure 6 shows detail VI of the robot system shown in Figure 5.
[0041] Figure 7 shows the inventive collision protection element in a separate,
[0042] perspective representation,
[0043] Figure 8 shows the collision protection element from Figure 7 in a longitudinal section; Figure 9 shows the collision protection element according to the invention in a side view in which it is mounted on the bearing element according to the invention.
[0044] Figure 10 shows the situation from Figure 9 in a longitudinal section, and
[0045] Figure 11 shows a robot system according to a further embodiment, comprising a collision protection element, a holding element and a bearing element, and operable by means of a method according to the invention, in a perspective view.
[0046] Figure 1 shows a robot system 10 for processing and / or handling a workpiece 12. The robot system 10 is operated in an environment where people may also be present.
[0047] The robot system 10 comprises a manipulator unit 14, which is shown only partially in the figures. In the illustrated embodiment, the manipulator unit 14 is designed as an articulated arm robot.
[0048] In this context, the manipulator unit 14 comprises a flange surface 16 with a flange surface central axis A. The flange surface central axis A is perpendicular to the flange surface 16.
[0049] Furthermore, the robot system 10 includes an effector unit 18.
[0050] In the illustrated embodiment, the effector unit 18 is a gripper, which is shown schematically in Figure 4. The effector unit 18 is mounted on the flange surface 16 and has an extension component along the central axis A of the flange surface.
[0051] Since the effector unit 18 is designed as a gripper, the robot system 10 is therefore only suitable for handling the workpiece 12 (see also Figure 4), but not for machining it. The robot system 10 also includes a collision protection element 20.
[0052] In the illustrations of Figures 1 to 4, this is detachably attached to the flange surface 16 via a retaining element 22, as will be explained in detail later.
[0053] The collision protection element 20 is cup-shaped in the illustrated embodiment.
[0054] This means that the collision protection element 20 has a tubular section 24 which, in the illustrated embodiment, has a constant, circular cross-section.
[0055] If the collision protection element 20 is attached to the flange surface 16, as shown in Figures 1 to 4, the tubular section 24 surrounds both the effector unit 18 and a workpiece 12 held by the effector unit 18 (see Figure 4) at its circumference. The circumference is defined with reference to the central axis A of the flange surface.
[0056] Thus, the tubular section 24 mechanically shields the effector unit 18 and the workpiece 12 at their circumference from collisions. This means that a person, if they collided at all, would collide with the collision protection element 20 and under no circumstances with the effector unit 18 or the workpiece 12. Such a collision would be detected by force sensors (not shown) in the manipulator unit 14. Based on this detection, the movement of the robot system 10 would be slowed down, changed in direction, stopped, or completely prevented.
[0057] The tubular section 24 of the collision protection element 20 also has a plurality of openings 26, which are designed as circular holes. For clarity, only some of the openings 26 are labeled in the figures. These openings 26 allow a user to see inside the collision protection element 20. In other words, the openings 26 make the collision protection element 20 at least partially transparent. Furthermore, the openings 26 allow coolant, lubricant, or oil that may be adhering to the workpiece 12 to drip off.
[0058] The cup-shaped collision protection element 20 further comprises a bottom section 28 that closes the tubular section 26 on one side. This side is shown below in Figures 1 to 4.
[0059] Provided the collision protection element 20 is attached to the flange surface 16, as shown in Figures 1 to 4, the base section 28 shields the workpiece 12 and the effector unit 18 at their ends opposite the flange surface 16. In other words, these ends of the effector unit 18 and the workpiece 12 are mechanically shielded from collisions along the central axis A of the flange surface. This means that a person would, if at all, collide with the collision protection element 20 and not with the effector unit 18 or the workpiece 12. Such a collision would be detected by means of force sensors (not shown) in the manipulator unit 14. Based on this detection, the movement of the robot system 10 would be slowed down, changed in direction, stopped, or completely prevented.
[0060] The interior of the cup-shaped collision protection element 20 thus forms a receiving space 21 for the effector unit 18 and the workpiece 12. This receiving space 21 is bounded by the bottom section 28, which can also be referred to as the bottom wall or first shielding element, and by the tubular section 24, which can also be referred to as the circumferential wall or second shielding element.
[0061] As already mentioned, the collision protection element 20 is attached to the flange surface 16 via the retaining element 22. This attachment is detachable, for which purpose a coupling between the collision protection element 20 and the retaining element 22 is designed to be detachable. The attachment of the retaining element 22 to the flange surface 16 is permanent, i.e., non-detachable, at least during the operation of the robot system 10. In other words, the retaining element 22 comprises a first mechanical fastening interface for mounting the retaining element 22 to the flange surface 16 and a second mechanical fastening interface for coupling the retaining element 22 and the collision protection element 20.
[0062] In the illustrated embodiment, the retaining element 22 is attached to the flange surface 16 by means of screws, whereas the retaining element 22 and the collision protection element 20 are coupled via a bayonet mechanism 30.
[0063] Since the retaining element 22 is arranged between the flange surface 16 and the effector unit 18, and in the illustrated example the effector unit 18 is an active effector unit 18, i.e. an effector unit 18 which has its own drive, the retaining element 22 also has a cable passage 27 through which the cables that serve to supply power to the effector unit 18 are routed.
[0064] The retaining element 22 and the collision protection element 20 can together also be referred to as the collision protection assembly 29.
[0065] The bayonet mechanism 30 is particularly visible in Figures 5 and 6, in which the collision protection element 20 has been detached from the retaining element 22. The effector unit 18 and the workpiece 12 are not shown for clarity. Similarly, the collision protection element 20 is shown relatively close to the retaining element 22 for the sake of simplicity. It is understood that the collision protection element 20, once detached from the retaining element 22, can be positioned at any distance from it.
[0066] In the illustrated embodiment, the bayonet mechanism comprises a total of two fastening lugs 32, which are arranged diametrically opposite each other on an inner circumference of the tubular section 24 of the collision protection element 20. The fastening lugs 32 are positioned at the end of the collision protection element 20 that is opposite the base section 28.
[0067] The retaining element 22 comprises two substantially L-shaped cams 34. Each cam 34 comprises a first section 34a, which runs substantially parallel to the central axis A of the flange surface, i.e., axially, and a second section 34b, which extends circumferentially with respect to the central axis A of the flange surface. Each cam 34 is positioned and dimensioned such that one of the fastening lugs 32 can engage in it.
[0068] At one end of each of the second sections 34b, facing away from the respective first section 34a, a recess 34c is also arranged, which is designed to receive the respective associated fastening lug 32 in the locked state of the bayonet mechanism 30.
[0069] To attach the collision protection element 20 to the retaining element 22, the fastening lugs 32 must first be inserted, essentially along or parallel to the flange surface's central axis A, into the respective first sections 34a of the respective corresponding recess 34. In doing so, the collision protection element 20 is moved along the flange surface's central axis A relative to the retaining element 22. The collision protection element 20 and the retaining element 22 must then be rotated relative to each other, with the flange surface's central axis A forming an axis of rotation. This causes the fastening lugs 32 to be moved within the respective second section 34b of the respective corresponding recess 34 towards one end of the second section 34b, i.e., into the respective corresponding indentation 34c, which is opposite to the respective first section.
[0070] Furthermore, a spring 35 is provided on the retaining element 22 (see Figure 4), by means of which, in the locked state of the bayonet mechanism 30, the fastening lugs are acted upon, i.e. pressed, in the direction of a base of the respective associated recess 34c. To remove the collision protection element 20 from the retaining element 22, the aforementioned relative movements must be carried out in reverse order.
[0071] More generally speaking, the fastening lugs 32 on the collision protection element 20 thus form a collision protection element-side fastening interface 36 and the cams 34 a retaining element-side fastening interface 38.
[0072] To enable external verification that the collision protection element 20 and the retaining element 22 are correctly attached to each other via the bayonet mechanism 30, a marking M1 is provided on the collision protection element 20, which in the illustrated example is designed as a line-shaped indentation. Two markings M2 and M3 are provided on the retaining element 22, which are also designed as line-shaped indentations. Marking M2 is positioned such that markings M1 and M2 are aligned, provided that the fastening lugs 32 of the collision protection element 20 are inserted only into the respective first sections 34a of the respective corresponding recesses 34, but are not twisted within the respective second sections 34b.Marking M3 is positioned such that markings M1 and M3 are aligned when the fastening lugs 32 of the collision protection element 20 are inserted into the respective first sections 34a of the respective cams 34 and are also rotated to an end opposite the first section 34a of the respective second sections 34b of the cams 34, i.e., located in the area of the indentations 34c. In the latter case, the collision protection element 20 and the retaining element 22 are correctly attached to each other via the bayonet mechanism 30. In other words, the bayonet mechanism is then locked.
[0073] In addition, there is a circumferential marking M4, which is designed as a circumferential notch above the cam 34, with which it is possible to see from the outside, when closing the bayonet mechanism 30, at what height the collision protection element 20 must be inserted relative to the retaining element 22 before the rotational movement described above moves the bayonet mechanism 30 to the detent position, i.e., rotates the collision protection element 20 and the retaining element 22 relative to each other.
[0074] The collision protection element 20 also has a bearing interface 40.
[0075] In the illustrated embodiment, the bearing interface 40 comprises a projection 42 with a hexagonal cross-section, which extends centrally from the bottom section 28 in a direction opposite to that of the tubular section 24, and an end plate 44, which covers the projection 42 at its free end.
[0076] The bearing interface 40 is designed to interact with a bearing element 46, which is also a component of the robot system 10 shown.
[0077] The bearing element 46 is positioned at a fixed location within the workspace of the robot system 10. The bearing element 46 is also separate from the manipulator unit 14 and the effector unit 18. In Figures 1 and 2, the bearing element 46 is shown relatively close to the collision protection element 20 for the sake of clarity. In reality, the bearing element 46 can be located further away from the collision protection element 20, as long as the collision protection element 20 can be mounted on the bearing element 46 by actuating the manipulator unit 14.
[0078] In the illustrated embodiment, the bearing element 46 is fork-shaped, with two fork tines 48 defining a receptacle 50 designed to receive the extension 42 of the collision protection element 20. For this purpose, the fork tines 48 extend on opposite sides of the extension 42. Simultaneously, the two fork tines 48 are each arranged between the end plate 44 and the base section 28.
[0079] The contour of the receptacle 50 is designed so that it can accommodate the extension 42 in a rotationally fixed manner.
[0080] The collision protection element 20 can therefore be mounted on the bearing element 46 in a rotationally fixed manner. In addition, the end plate 44 and the bottom section 28 form axial stops, so that the collision protection element 20 can be mounted on the bearing element 46 in a direction corresponding to the flange surface central axis A, which also corresponds to a central axis of the tubular section of the collision protection element 20.
[0081] This method of mounting the collision protection element 20 on the bearing element 46 allows the collision protection element 20 to be removed from the retaining element 22 and attached to the retaining element 22 by moving the manipulator unit 14. In other words, the relative movements between the retaining element 22 and the collision protection element 20, previously described in connection with the bayonet mechanism 30, can be effected by appropriate actuation of the manipulator unit 14, provided that the collision protection element 20 is mounted on the bearing element 46, i.e., that the resulting reaction forces and moments can be supported by the bearing element 46.
[0082] To ensure that the collision protection element 20 can be held in the bearing element 46 in any orientation, i.e., even in orientations where the bearing element 46 is not positioned vertically below the collision protection element 20, the bearing element 46 includes a pressure plate 49, which is pressurized by springs 51 in the direction of the receptacle 50. The pressure plate 49 thus presses the collision protection element 20, or more precisely the bearing interface 40, into its locking position, i.e., into the receptacle 50, of the bearing element 46.
[0083] The robot system 10 can be operated using a method for operating a robot system.
[0084] In the illustrated embodiment, the effector unit 18 is configured as a gripper. In the illustrated example, this method involves handling the workpiece 12, i.e., transporting the workpiece 12 from a starting position to a target position. The workpiece 12 must first be gripped at its starting position by the effector unit 18, which is configured as a gripper. For this to occur, the collision protection element 20 must be detached from the flange surface 16, i.e., from the holding unit 22. In this position, the collision protection element 20 is mounted on the bearing unit 46.
[0085] When picking up or gripping the workpiece 12, neither the effector unit 18 nor the workpiece 12 is protected against collision by the collision protection element 20. However, collision protection may be ensured by other means in this situation.
[0086] When the workpiece 12 is picked up by the effector unit 18, i.e., gripped, the collision protection element 20 is detachably attached to the flange surface 16, i.e., to the holding element 22. For this purpose, the manipulator unit 14 is actuated such that the workpiece 12 and the effector unit 18 are moved into the interior of the cup-shaped collision protection element 20, and the collision protection element 20 is attached to the holding element 22. The manipulator unit 14 thus performs the relative movement between the collision protection element 20 and the holding element 22 necessary to attach the collision protection element 20 to the holding element 22 by means of the bayonet mechanism 30.
[0087] The collision protection element 20 is then removed from the bearing element 46, and the workpiece 12 can be moved to its target position by means of the manipulator unit 14. During these movements, both the effector unit 18 and the workpiece 12 are protected against collision by the collision protection element 20. This applies both to a possible collision along the central axis A of the flange surfaces and to a collision at the circumference.
[0088] In the area of the target position, i.e., near the target position for workpiece 12, a further bearing element 46 is provided. The collision protection element 20 is subsequently mounted in this bearing element 46, and by appropriate actuation of the manipulator unit 14, the collision protection element 20 is released from the flange surface 16, i.e., from the retaining element 22. The effector unit 18 and the workpiece 12 can then be removed from inside the collision protection element 20 and moved to the target position. At this stage, neither the workpiece 12 nor the effector unit 18 is protected against collision by the collision protection element 20 while the workpiece 12 is moved to the target position by this bearing element 46. Collision protection can also be achieved in other ways.
[0089] Removing the collision protection element 20 therefore makes the effector unit 18 and the workpiece 12 accessible both at their respective circumferences and along the flange surface central axis A.
[0090] In short, the workpiece 12 is picked up at the starting position by the effector unit 18, protected against collisions by the collision protection element 20, and then moved to the target position. At the target position, the collision protection element 20 is removed, and the workpiece 12 is finally moved into the target position. Therefore, a bearing element 46 is provided both at the starting position and at the target position.
[0091] Figure 11 shows another embodiment of the rotor system 10. The following discussion will focus solely on the differences compared to the robot system 10 already described.
[0092] The difference compared to the embodiment already described is that two sensor units 52 are now provided on the holding element 22. These sensor units 52 and their associated detection areas are shown schematically in Figure 11.
[0093] These sensor units 52 are designed to detect the environment of the holding element 22, i.e., the environment of the robot system 10. In particular, the sensor units 52 can serve to protect the effector unit 18 and the workpiece 12 from collisions when the collision protection element 20 is not attached to the holding element 22, i.e., when this collision protection is not achieved by means of the collision protection element 20. (Reference numeral list)
[0094] 10 robot systems
[0095] 12 workpieces
[0096] 14 manipulator unit
[0097] 16 flange area
[0098] 18 effector units
[0099] 20 Collision protection element
[0100] 21 Recording Room
[0101] 22 retaining element
[0102] 24 tubular section of the collision protection element, perimeter wall, second shielding element
[0103] 26 Opening
[0104] 27 Cable feedthrough
[0105] 28 Floor section, floor wall, first shielding element
[0106] 29 Collision protection assembly
[0107] 30 bayonet mechanism
[0108] 32 Mounting nose
[0109] 34 Scenery
[0110] 34a first section of the backdrop
[0111] 34b second section of the backdrop
[0112] 34c indentation
[0113] 35 spring
[0114] 36 Collision protection element-side mounting interface
[0115] 38 Mounting interface on the retaining element side
[0116] 40 Bearing interface of the collision protection element
[0117] 42 Extension
[0118] 44 End plate
[0119] 46 Bearing element 48 Fork tines
[0120] 49 Printing plate
[0121] 50 recordings
[0122] 51 spring
[0123] 52 sensor units
[0124] A Flange surface center axis Ml marking
[0125] M2 marking
[0126] M3 marking
[0127] M4 marking
Claims
Patent claims 1. Robot system (10) for processing and / or handling a workpiece (12), comprising - a manipulator unit (14) with a flange surface (16), wherein a flange surface central axis (A) is perpendicular to the flange surface (16), - an effector unit (18) which is mounted on the flange surface (16) and has an extension component along the flange surface central axis (A), and - a collision protection element (20) which can be detachably attached or fastened to the flange surface (16) by means of a movement of the manipulator unit (14) and / or by means of a control by the manipulator unit (14), wherein the collision protection element (20), if the collision protection element (20) is detachably attached to the flange surface (16), mechanically shields the effector unit (18) at one end opposite the flange surface (16) along the flange surface central axis (A) with respect to a collision and mechanically shields the effector unit (18) at a circumference with respect to a collision.
2. Robot system (10) according to claim 1, wherein the collision protection element (20) has a receiving space (21) for a workpiece (12) coupled to the effector unit (18) and the collision protection element (20), if the workpiece (12) is arranged in the receiving space (21) and if the collision protection element (20) is detachably attached to the flange surface (16), mechanically shields the workpiece (12) at one end opposite the flange surface (16) along the central axis (A) of the flange surface with respect to a collision and also mechanically shields it at a circumference with respect to a collision. 3.Robot system (10) according to claim 1 or 2, wherein the collision protection element (20) has a bottom wall (28) which mechanically shields the effector unit (18) and optionally the workpiece (12) at the end opposite the flange surface (16) along the flange surface central axis (A) and / or wherein the collision protection element (20) has a circumferential wall (24) which mechanically shields the effector unit (18) and optionally the workpiece (12) at the circumference with respect to a collision.
4. Robot system (10) according to one of the preceding claims, wherein the collision protection element (20) can be detachably attached or fastened to the flange surface (16) by means of a movement of the manipulator unit (14) and / or by means of a control by the manipulator unit (14) via a retaining element (22) mounted on the flange surface (16).
5. Robot system (10) according to claim 4, wherein the collision protection element (20) and the holding element (22) are magnetically and / or mechanically coupled or couplingable.
6. Robot system (10) according to any one of the preceding claims, further comprising a stationary bearing element (46) which is separate from the manipulator unit (14) and the effector unit (18) and on which the collision protection element (20) can be mounted when the collision protection element (20) is removed from the flange surface (16).
7. Robot system (10) according to one of the preceding claims, wherein the collision protection element (20) is at least partially transparent.
8. Robot system (10) according to one of the preceding claims, wherein the collision protection element (20) is cup-shaped.
9. Robot system (10) according to one of the preceding claims, wherein at least one sensor unit (52) is arranged on the collision protection element (20).
10. Collision protection element (20) for a robot system (10) according to one of the preceding claims, comprising a fastening interface for detachable fastening to the flange surface (16) of the manipulator unit (14) by means of a movement of the manipulator unit (14) and / or by means of a control by the manipulator unit (14), a first shielding element (28) for mechanically shielding one end of the effector unit (18) opposite the flange surface (16) along the central axis (A) of the flange surface with respect to a collision, and a second shielding element (24) for mechanically shielding one circumference of the effector unit (18) with respect to a collision.
11. Holding element (22) for attaching a collision protection element (20) to a flange surface (16) of a manipulator unit (14) of a robot system (10) according to one of the preceding claims, comprising a first mechanical fastening interface for mounting the holding element (22) on the flange surface (16) and a second mechanical fastening interface for coupling the holding element (22) and the collision protection element (20) that can be released by means of a movement of the manipulator unit (14) and / or by means of control by the manipulator unit (14).
12. Collision protection assembly (29) comprising the collision protection element (20) according to claim 10 and the retaining element (22) according to claim 11.
13. Bearing element (46) for a robot system (10) according to claim 6.
14. Method for operating a robot system (10), wherein the robot system (10) is designed for processing and / or handling a workpiece (12) and comprises a manipulator unit (14) with a flange surface (16) and an effector unit (18) which is mounted on the flange surface (16), wherein a flange surface central axis (A) is perpendicular to the flange surface (16) and the effector unit (18) has an extension component along the flange surface central axis (A), comprising: - Detachable attachment of a collision protection element (20) to the flange surface (16) such that the effector unit (18) is mechanically shielded with respect to a collision at one end opposite the flange surface (16) along the flange surface central axis (A) and the effector unit (18) is mechanically shielded with respect to a collision at a circumference, and / or - Removal of a collision protection element (20) from the flange surface (16) such that the effector unit (18) is accessible at one end opposite the flange surface (16) along the flange surface central axis (A) and the effector unit (18) is accessible at a circumference.
15. Method according to claim 14, - wherein the collision protection element (20) is furthermore detachably attached to the flange surface (16) such that a workpiece (12) coupled to the effector unit (18) is mechanically shielded with respect to a collision at one end opposite the flange surface (16) along the central axis (A) of the flange surface, and the workpiece (12) is mechanically shielded with respect to a collision at a circumference, and / or - wherein the collision protection element (20) is further removed from the flange surface (16) so that a workpiece (12) coupled to the effector unit (18) is accessible at one end opposite the flange surface (16) along the flange surface central axis (A) and the workpiece (12) is accessible at a circumference.