Safety device for a handling apparatus, in particular an industrial robot, and method for operating the safety device

• US 9,475,200 B2
• Filed: 12/09/2011
• Issued: 10/25/2016
• Est. Priority Date: 12/16/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Schlaich, Peter, Frangen, Joachim
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US13/995,089
• Publication Number:
  US 20130338829A1
• Time in Patent Office: 1,782 Days
• Field of Search: 700/253, 700/255
• US Class Current: 1/1
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: F16P 3/141 using sound propagation, e.g. sonar
• CPC Class Codes: F16P 3/148 using capacitive technology
• CPC Class Codes: G05B 2219/39091 Avoid collision with moving obstacles
• CPC Class Codes: G05B 2219/40559 Collision between hand and workpiece, operator

Abstract

A safety device is described for a handling apparatus, particularly an industrial robot, having at least one movable gripping arm and a gripping device situated on the gripping arm, as well as having a first sensor device, connected to a control device, that is associated with the gripping arm, for collision detection. The first sensor device includes a first recording range. The safety device includes a second sensor device connected to the control device and including a second recording range. The second recording range records a range which has a greater distance from the handling apparatus than the first recording range. Both recording ranges extend outside the handling apparatus.

Claims

1. A safety device for a handling apparatus that includes at least one movable gripping arm, comprising:

a control device;

a first sensor device connected to a control device and associated with the gripping arm for collision detection, the first sensor device having a first recording range starting from the handling apparatus and ending at a first recording range end position remote from the handling apparatus; and

a second sensor device connected to the control device and having a second recording range starting from a second recording range starting position remote from the handling apparatus and ending at a second recording range end position remote from the handling apparatus, wherein the second recording range starting position is locatable, along a direction from the handling apparatus that is the same as a direction of the first recording range from the handling apparatus, at a location that is further removed from the handling apparatus than the first recording range end position for all operating positions of the handling apparatus.

2. The safety device as recited in claim 1, wherein the handling apparatus includes an industrial robot.

3. The safety device as recited in claim 1, wherein a gripping device is situated on the gripping arm.

4. The safety device as recited in claim 1, wherein an intermediate zone is developed between the first and second recording ranges, the intermediate zone not monitored by either of the first and second sensor devices.

5. The safety device as recited in claim 1, wherein the second sensor device is situated outside the handling apparatus.

6. The safety device as recited in claim 5, wherein the second sensor device is situated on a stand.

7. The safety device as recited in claim 1, wherein:

the first sensor device includes a plurality of first sensor elements working on a capacitive measuring principle, and

the first sensor elements are situated on an outside surface of, and enclose, the handling apparatus.

8. The safety device as recited in claim 1, wherein at least one sensor element from each of the first and the second sensor devices, respectively, is connected to two evaluation circuits of the control device.

9. A method for operating a safety device for a handling apparatus, the safety device including a first sensor device connected to a control device and a second sensor device connected to the control device, the first sensor device including a first recording range that is different than a second recording range of the second sensor device, the first recording range starting from the handling apparatus and ending at a first recording range end position remote from the handling apparatus, and the second recording range starting from a second recording range starting position remote from the handling apparatus and ending at a second recording range end position remote from the handling apparatus, wherein the second recording range starting position is locatable, along a direction from the handling apparatus that is the same as a direction of the first recording range from the handling apparatus, at a location that is further removed from the handling apparatus than the first recording range end position for all operating positions of the handling apparatus, the method comprising:

upon a response of the second sensor device for the second recording range, reducing by the control device a traversing speed of the handling apparatus compared to a normal operation.

10. The method as recited in claim 9, wherein the handling apparatus includes an industrial robot.

11. The method as recited in claim 10, further comprising:

wherein the reduction as well as an increase in the traversing speed of the handling apparatus takes place as a function of one of a currently recorded distance and for an approaching speed of one of an object and a person from the path of motion of the handling apparatus.

12. The method as recited in claim 11, wherein the increase in the traversing speed takes place again subsequently.

13. The method as recited in claim 9, further comprising:

monitoring and regulating the traversing speed of the handling apparatus.

14. The method as recited in claim 9, further comprising:

in addition to reducing the traversing speed of the handling apparatus, reducing a feed force of a gripper.

15. The method of claim 9, further comprising:

upon detection of an object in the first recording range by the first sensor device, further reducing the motion speed of at least a gripping arm of the handling apparatus as a function of an actually recorded distance of the object from the first sensor device until the gripping arm reaches a complete standstill.