Device and method for securing apparatuses with parts freely movable in space

• US 7,031,807 B2
• Filed: 12/17/2002
• Issued: 04/18/2006
• Est. Priority Date: 12/19/2001
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Heiligensetzer, Peter, Steininger, Fritz
• Primary Examiner(s): Dougherty, Thomas M.
• Application Number:
  US10/321,007
• Publication Number:
  US 20030137219A1
• Time in Patent Office: 1,218 Days
• Field of Search: 700/231, 700/245, 700/257, 700/260, 700/301, 700/60, 600/101, 600/424, 901/6, 901/36
• US Class Current: 700/301
• CPC Class Codes: B25J 13/084 Tactile sensors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 13/086 Proximity sensors
• CPC Class Codes: B25J 19/0091 Shock absorbers in general F16F
• CPC Class Codes: B25J 19/027 Electromagnetic sensing devices
• CPC Class Codes: B25J 19/063 working only upon contact with an outside object
• CPC Class Codes: F16P 3/12 with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine F16P3/08 takes precedence
• CPC Class Codes: F16P 3/144 using light grids
• CPC Class Codes: F16P 3/148 using capacitive technology

Abstract

The invention relates to a safety device for apparatuses having parts freely movable in space, particularly handling equipment such as industrial robots or driverless transportation means, as well as a method for securing such apparatuses by means of such a safety device. The apparatuses have switching means which in the case of a collision of the moving parts with persons or objects emit a control signal through which the moving parts can be stopped or an emergency program can be started up, which brings about a movement sequence opposing the approach movement. The invention is characterized in that the safety device is constructed in the form of a tactile sensor system formed from optical waveguides and located on moving parts of the apparatus.

Claims

1. A method for securing apparatuses with parts freely movable in space, particularly for handling equipment, such as industrial robots or driverless transportation means, with switching means, which in the case of a collision of moving parts with persons or objects, emit a control signal through which the moving pails can be stopped or an emergency program can be started up bringing about a movement sequence opposing the approach movement, wherein in the case of contact with a moving part of the apparatus, electromagnetic radiation guided by optical waveguides forming a tactile sensor system and located on said part is influenced, so that at least one control signal is emitted for initiating at least one safety-relevant action.

2. The method according to claim 1, wherein an approach of an object or a person to the movable part of the apparatus is detected prior to any contact through an additional, contactless sensor system and a control signal is emitted for bringing about at least one safety-relevant action.

3. The method according to claim 2, wherein said control signal is brought about by a change in the capacitance of at least one capacitor located on the movable part and which forms part of a capacitive sensor system.

4. The method according to claim 2, wherein the safety-relevant action is brought about by said control signal of said tactile sensor system and another control signal of a capacitive sensor system in the sense of a logic OR operation of the two control signal.

5. The method according to claim 2, wherein at least one area of a capacitive sensor system is blocked out, so that no control signal is emitted despite an approach having taken place.

6. The method according to claim 2, wherein a capacitive sensor system detects the objects and persons with a high permittivity coefficient.

7. The method according to claim 2, wherein a capacitive sensor system detects the persons and objects with a permittivity coefficient equal to or larger than 30.

8. The method according to claim 2, wherein, through a directivity of the elements of a capacitive sensor systems essentially no components of the apparatus are detected.

9. The method according to claim 1, wherein a collision between a moving part of the apparatus and an object or a person is detected by an additional motor current monitoring system, which emits another control signal after measuring currents in electric motors associated with the moving parts of the apparatus and alter a comparison of the measurement with a set of theoretically expected currents and in the case of a given deviation.

10. The method according to claim 9, wherein the collision is detected by at least one additional force-moment sensor, which emits a corresponding control signal if unusual forces and/or moments occur.

11. The method according to claim 10, wherein the safety-relevant-action is brought about by the control signal of the motor current monitoring system and/or the force-moment sensor means.

12. The method according to claim 1, wherein, through said control signal, one or more of the following safety-relevant actions are initiated:

a) stopping the apparatus,

b) initiating a movement sequence opposing the collision movement, or

c) triggering an optical and/or acoustic alarm.

14. The method according to claim 2, wherein a capacitive sensor system detects the persons and objects with a permittivity coefficient in the range of 50.

13. A method for securing apparatuses with parts freely movable in space, particularly for handling equipment, such as industrial robots or driverless transportation means, with switching means, which in the case of a collision of moving parts with persons or objects emit a control signal through which the moving parts can be stopped or an emergency program can be started up bringing about a movement sequence opposing the approach movement, wherein an approach of an objector person to the moveable part of the apparatus is detected prior to any contact through a first contactless sensor system and wherein in the case of contact with a moving part of the apparatus, electromagnetic radiation guided by optical waveguides forming a second tactile sensor system and located on said part is influenced, so that at least one control signal is emitted for initiating at least one safety-relevant action.