DE102008004037A1 - Collision protection system for measuring sensor installed on industrial robot, has rectangular protective housing surrounding sensors, where sensor rays pass between free spaces of cage elements that are upstream to sensors - Google Patents
Collision protection system for measuring sensor installed on industrial robot, has rectangular protective housing surrounding sensors, where sensor rays pass between free spaces of cage elements that are upstream to sensors Download PDFInfo
- Publication number
- DE102008004037A1 DE102008004037A1 DE102008004037A DE102008004037A DE102008004037A1 DE 102008004037 A1 DE102008004037 A1 DE 102008004037A1 DE 102008004037 A DE102008004037 A DE 102008004037A DE 102008004037 A DE102008004037 A DE 102008004037A DE 102008004037 A1 DE102008004037 A1 DE 102008004037A1
- Authority
- DE
- Germany
- Prior art keywords
- protective housing
- sensor
- collision protection
- sensors
- protection according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B1/00—Measuring instruments characterised by the selection of material therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/047—Accessories, e.g. for positioning, for tool-setting, for measuring probes
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
Description
Die Erfindung bezieht sich auf einen Kollisionsschutz für einen optischen oder opto-elektronischen Sensor, insbesondere für einen auf einem Industrieroboter montierten Messsensor, wobei ein Schutzgehäuse den Sensor umgibt.The The invention relates to a collision protection for a optical or opto-electronic sensor, in particular for a mounted on an industrial robot measuring sensor, wherein a protective housing surrounds the sensor.
Das Messen von beispielsweise Karosserie-Blechteilen von Kraftfahrzeugen geschieht häufig in einer sogenannten Robotermesszelle, in der ein handelsüblicher Industrieroboter ein berührungslos arbeitendes optisches Messsystem um das Messobjekt herum bewegt. Von diesem werden aus verschiedenen Positionen digitale Aufnahmen gemacht, die z. B. anhand auf dem Messobjekt aufgebrachter Zielmarken zu einer einzigen Aufnahme zusammengesetzt werden. Das Ergebnis aller Aufnahmen ist eine sogenannte Punktwolke des Messobjektes.The Measuring, for example, body sheet metal parts of motor vehicles happens frequently in a so-called robot measuring cell, in a commercial industrial robot a non-contact working optical measuring system moves around the measuring object. Of this digital shots are taken from different positions the z. B. based on applied to the target targets a single shot. The result of all Shooting is a so-called point cloud of the measurement object.
Aus verschiedenen Gründen kann es nun zu Kollisionen des Roboters bzw. des Messsensors mit feststehenden Objekten innerhalb des in der Regel zugangsgesicherten Bereichs der Robotermesszelle kommen.Out For various reasons, it can now cause collisions of the robot or the measuring sensor with fixed objects within the in usually access secured area of the robot cell come.
Zum Schutz vor Kollision mit feststehenden Objekten könnte der Roboter mit einer Abschaltsicherung ausgestattet werden, die in einen Not-Aus-Kreis eingebunden wird. Das Signal zum Auslösen des Not-Aus kommt dann z. B. aus einem Kraft-Momenten-Sensor, der auf eine bestimmte, auf das am Roboterflansch montierte Werkzeug (oder Messgerät) einwirkende Kraft reagiert. Weiterhin denkbar wäre der Einsatz einer Überlastkupplung zwischen Roboterflansch und Messgerät, wobei bei Vollauslenkung der Kupplung das Not-Aus-Signal erzeugt wird. Eine weitere vorstellbare Lösung könnte die Befestigung des Messsensors über Schrauben mit Sollbruchstelle sein, so dass der Messsensor bei Kollision vom Roboterflansch getrennt wird.To the Protection against collision with fixed objects could the robot will be equipped with a shutdown protection, the is integrated into an emergency stop circuit. The signal to trigger the emergency stop comes then z. B. from a force-moment sensor, the to a specific tool mounted on the robot flange (or meter) acting force responds. Still conceivable would be the use of an overload clutch between Robot flange and measuring device, with full deflection the coupling the emergency stop signal is generated. Another imaginable Solution could be attaching the measuring sensor over Be screws with predetermined breaking point, so that the measuring sensor in collision is separated from the robot flange.
Die
Auch
in der
Auch
die
In
der
Ein
insoweit vergleichbarer Pinolenschutz für eine Koordinaten-Messmaschine
ist in der
Allen vorbeschriebenen (Patentliteratur) Einrichtungen gemeinsam ist, dass im Kollisionsfalle die Zustelleinheit, der Messarm, die Pinole u. s. w. geschützt ist, nicht hingegen der eigentliche Sensor.all common to (patent literature) institutions, that in case of collision, the feed unit, the measuring arm, the quill u. s. w. protected, but not the actual Sensor.
Aus
der
Von daher liegt der Erfindung die Aufgabe zugrunde, einen Kollisionsschutz für einen optischen oder opto-elektronischen Sensor bereit zu stellen, der einfach aufgebaut und hochwirksam ist.From Therefore, the invention is based on the object, a collision protection ready for an optical or opto-electronic sensor to provide, which is simple and highly effective.
Die erfindungsgemäße Lösung ist in Patentanspruch 1 zu sehen. Demnach ist das Schutzgehäuse käfigartig ausgebildet und die dem Sensor in Richtung Messobjekt vorgelagerten Käfigelemente sind in der Weise angeordnet, dass Sensorstrahlen zwischen Freiräumen der Käfigelemente hindurchtreten können. Damit ist der Sensor praktisch vollständig von dem Schutzgehäuse umhüllt und somit zuverlässig gegen Kollision geschützt.The inventive solution is in claim 1 to see. Accordingly, the protective housing is cage-like trained and upstream of the sensor in the direction of the object to be measured Cage elements are arranged in such a way that sensor beams between Freiräumen the cage elements can pass. Thus, the sensor is almost completely from the protective housing wrapped and thus reliable against collision protected.
Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung sind in den Unteransprüchen beansprucht.advantageous Embodiments and developments of the invention are claimed in the subclaims.
Die Erfindung wird nachstehend anhand von Ausführungsbeispielen näher erläutert. Die zugehörige Zeichnung zeigt dabei inThe invention is described below with reference to Embodiments explained in more detail. The accompanying drawing shows in
Wie
sich aus der Zusammenschau der
Die
Sensoreinheit
Eine
alternative Ausführungsform eines Schutzgehäuses
Die
Stützarme
Die
Schutzgehäuse
Je
nach Materialauswahl (z. B. Kunststoff oder gummiartiges Material)
des Schutzgehäuses
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - EP 0763710 B1 [0005] EP 0763710 B1 [0005]
- - DE 3526633 A1 [0006] - DE 3526633 A1 [0006]
- - DE 3927245 A1 [0007] - DE 3927245 A1 [0007]
- - FR 2555734 A1 [0008] FR 2555734 A1 [0008]
- - DE 3514444 A1 [0009] - DE 3514444 A1 [0009]
- - DE 3739607 A1 [0011] - DE 3739607 A1 [0011]
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008004037A DE102008004037A1 (en) | 2008-01-11 | 2008-01-11 | Collision protection system for measuring sensor installed on industrial robot, has rectangular protective housing surrounding sensors, where sensor rays pass between free spaces of cage elements that are upstream to sensors |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008004037A DE102008004037A1 (en) | 2008-01-11 | 2008-01-11 | Collision protection system for measuring sensor installed on industrial robot, has rectangular protective housing surrounding sensors, where sensor rays pass between free spaces of cage elements that are upstream to sensors |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102008004037A1 true DE102008004037A1 (en) | 2009-07-23 |
Family
ID=40785721
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102008004037A Ceased DE102008004037A1 (en) | 2008-01-11 | 2008-01-11 | Collision protection system for measuring sensor installed on industrial robot, has rectangular protective housing surrounding sensors, where sensor rays pass between free spaces of cage elements that are upstream to sensors |
Country Status (1)
Country | Link |
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DE (1) | DE102008004037A1 (en) |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012217764A1 (en) * | 2012-09-28 | 2014-06-12 | Bayerische Motoren Werke Aktiengesellschaft | Mold protection device for tool of processing system e.g. robotic handling system, has cover that is moved from capping position into release position and vice versa |
WO2016140804A1 (en) * | 2015-03-03 | 2016-09-09 | The Procter & Gamble Company | Safety device for a mechanical motion device |
WO2017036732A1 (en) * | 2015-09-01 | 2017-03-09 | Siemens Aktiengesellschaft | Device for connecting to a robot |
WO2017036690A1 (en) * | 2015-09-01 | 2017-03-09 | Siemens Aktiengesellschaft | Device for attaching to a robot |
DE102015223072A1 (en) * | 2015-11-23 | 2017-05-24 | Bayerische Motoren Werke Aktiengesellschaft | Protective device for securing an effector of a robot |
WO2017161193A1 (en) * | 2016-03-16 | 2017-09-21 | Hexagon Metrology, Inc. | Optical probe with crash protection and probe clips |
US10137580B1 (en) | 2017-09-15 | 2018-11-27 | Honda Motor Co., Ltd. | Systems and methods for robotic arm guard assemblies |
US20190015987A1 (en) * | 2017-07-13 | 2019-01-17 | Siemens Aktiengesellschaft | Arrangement Comprising an Automatic Movement Machine and a Delimiting Device, Delimiting Device for the Arrangement, and Method for Operating the Arrangement |
WO2019025711A1 (en) | 2017-08-04 | 2019-02-07 | Compagnie Generale Des Etablissements Michelin | Effector device comprising a protective device that is extendable or retractable by bending |
CN109849053A (en) * | 2019-01-03 | 2019-06-07 | 太仓中科信息技术研究院 | It is a kind of for connecting the device of industrial robot Yu movie-level video camera |
DE102018122391A1 (en) * | 2018-09-13 | 2020-03-19 | Sikora Ag | Device and method for detecting an object |
CN112276942A (en) * | 2020-09-30 | 2021-01-29 | 成都卡诺普自动化控制技术有限公司 | Consistency compensation method for robot arm |
CN115258593A (en) * | 2022-08-05 | 2022-11-01 | 北京半导体专用设备研究所(中国电子科技集团公司第四十五研究所) | Mask transfer device and mask transfer system |
WO2023174557A1 (en) * | 2022-03-18 | 2023-09-21 | Roundpeg Technologies Gmbh | Robot assembly for processing and/or handling a workpiece, protection element for a robot assembly, and protection assembly |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2555734A1 (en) | 1983-11-25 | 1985-05-31 | Villejuif Etudes Indles | Device for protecting a vertical translating part of a measuring machine against shocks |
DE3514444A1 (en) | 1985-04-20 | 1986-10-23 | Mauser-Werke Oberndorf Gmbh, 7238 Oberndorf | Sleeve shield in coordinate measuring machines |
DE3526633A1 (en) | 1985-07-25 | 1987-02-05 | Mauser Werke Oberndorf | PROTECTIVE DEVICE OF AN INPUT UNIT |
DE3739607A1 (en) | 1987-06-01 | 1988-12-22 | Jenoptik Jena Gmbh | Arrangement for protecting optical and optoelectronic measuring heads, in particular for coordinate measuring machines |
DE3927245A1 (en) | 1989-08-18 | 1991-02-21 | Mauser Werke Oberndorf | Protection unit for measuring machine setting unit - has protecting shield suspended elastically at all sides by four bar springs with shield fitted so that it can be pulled downwards |
EP0763710B1 (en) | 1995-09-16 | 2003-05-14 | Carl Zeiss | Collision protective arrangement for the measuring arm of a coordinate measuring apparatus |
-
2008
- 2008-01-11 DE DE102008004037A patent/DE102008004037A1/en not_active Ceased
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2555734A1 (en) | 1983-11-25 | 1985-05-31 | Villejuif Etudes Indles | Device for protecting a vertical translating part of a measuring machine against shocks |
DE3514444A1 (en) | 1985-04-20 | 1986-10-23 | Mauser-Werke Oberndorf Gmbh, 7238 Oberndorf | Sleeve shield in coordinate measuring machines |
DE3526633A1 (en) | 1985-07-25 | 1987-02-05 | Mauser Werke Oberndorf | PROTECTIVE DEVICE OF AN INPUT UNIT |
DE3739607A1 (en) | 1987-06-01 | 1988-12-22 | Jenoptik Jena Gmbh | Arrangement for protecting optical and optoelectronic measuring heads, in particular for coordinate measuring machines |
DE3927245A1 (en) | 1989-08-18 | 1991-02-21 | Mauser Werke Oberndorf | Protection unit for measuring machine setting unit - has protecting shield suspended elastically at all sides by four bar springs with shield fitted so that it can be pulled downwards |
EP0763710B1 (en) | 1995-09-16 | 2003-05-14 | Carl Zeiss | Collision protective arrangement for the measuring arm of a coordinate measuring apparatus |
Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012217764A1 (en) * | 2012-09-28 | 2014-06-12 | Bayerische Motoren Werke Aktiengesellschaft | Mold protection device for tool of processing system e.g. robotic handling system, has cover that is moved from capping position into release position and vice versa |
WO2016140804A1 (en) * | 2015-03-03 | 2016-09-09 | The Procter & Gamble Company | Safety device for a mechanical motion device |
WO2017036732A1 (en) * | 2015-09-01 | 2017-03-09 | Siemens Aktiengesellschaft | Device for connecting to a robot |
WO2017036690A1 (en) * | 2015-09-01 | 2017-03-09 | Siemens Aktiengesellschaft | Device for attaching to a robot |
US10786908B2 (en) | 2015-09-01 | 2020-09-29 | Siemens Aktiengesellschaft | Device for attaching to a robot |
KR102062056B1 (en) | 2015-09-01 | 2020-02-11 | 지멘스 악티엔게젤샤프트 | Device for attaching to robot |
KR20180048889A (en) * | 2015-09-01 | 2018-05-10 | 지멘스 악티엔게젤샤프트 | A device for attaching to a robot |
DE102015223072A1 (en) * | 2015-11-23 | 2017-05-24 | Bayerische Motoren Werke Aktiengesellschaft | Protective device for securing an effector of a robot |
DE102015223072B4 (en) | 2015-11-23 | 2022-03-24 | Bayerische Motoren Werke Aktiengesellschaft | Protective device for protecting an effector of a robot |
US10458450B2 (en) | 2016-03-16 | 2019-10-29 | Hexagon Metrology, Inc. | Optical probe with crash protection and probe clips |
WO2017161193A1 (en) * | 2016-03-16 | 2017-09-21 | Hexagon Metrology, Inc. | Optical probe with crash protection and probe clips |
US20190015987A1 (en) * | 2017-07-13 | 2019-01-17 | Siemens Aktiengesellschaft | Arrangement Comprising an Automatic Movement Machine and a Delimiting Device, Delimiting Device for the Arrangement, and Method for Operating the Arrangement |
US11376737B2 (en) * | 2017-07-13 | 2022-07-05 | Siemens Aktiengesellschaft | Arrangement comprising an automatic movement machine and a delimiting device, delimiting device for the arrangement, and method for operating the arrangement |
WO2019025711A1 (en) | 2017-08-04 | 2019-02-07 | Compagnie Generale Des Etablissements Michelin | Effector device comprising a protective device that is extendable or retractable by bending |
US10137580B1 (en) | 2017-09-15 | 2018-11-27 | Honda Motor Co., Ltd. | Systems and methods for robotic arm guard assemblies |
DE102018122391A1 (en) * | 2018-09-13 | 2020-03-19 | Sikora Ag | Device and method for detecting an object |
CN109849053A (en) * | 2019-01-03 | 2019-06-07 | 太仓中科信息技术研究院 | It is a kind of for connecting the device of industrial robot Yu movie-level video camera |
CN112276942B (en) * | 2020-09-30 | 2021-10-29 | 成都卡诺普机器人技术股份有限公司 | Consistency compensation method for robot arm |
CN112276942A (en) * | 2020-09-30 | 2021-01-29 | 成都卡诺普自动化控制技术有限公司 | Consistency compensation method for robot arm |
WO2023174557A1 (en) * | 2022-03-18 | 2023-09-21 | Roundpeg Technologies Gmbh | Robot assembly for processing and/or handling a workpiece, protection element for a robot assembly, and protection assembly |
CN115258593A (en) * | 2022-08-05 | 2022-11-01 | 北京半导体专用设备研究所(中国电子科技集团公司第四十五研究所) | Mask transfer device and mask transfer system |
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