• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    An improvement of a device for protecting manipulators against collision with other objects. Two discs are held in spaced relationship by spacer balls applied thereagainst on the periphery. The discs are urged toward each other and the gap is adjustable. If due to a collision, the position of the spacer balls is changed, the discs move toward each other, thereby causing actuation of a switch and a disconnection of the drive.
    公开号:SU1409124A3
    申请号:SU853888154
    申请日:1985-04-26
    公开日:1988-07-07
    发明作者:Видеманн Курт；Шварц Вернер
    申请人:Кука Швейсанлаген Унд Роботер Гмбх (Фирма)；
    IPC主号:
    专利说明:

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    The invention relates to mechanical engineering, in particular, to safety devices for manipulators, in particular, to safety devices for switching off the actuator actuator in a collision with objects.
    The purpose of the invention is to increase the reliability of the safety device due to the possibility of its reaction in a collision with objects, regardless of the direction from which the power pulses act.
    Ch) ig.1 shows the safety device, front view; figure 2 - section aa in figure 1.
    The safety device for turning off the manipulator actuator when colliding with objects contains two docking assemblies 1 and 2. At this, the docking assembly 1 is intended to be connected to the tool 3, and the docking assembly 2 is connected to the last secondary axis 4 of the boom arm. Both docking stations 1 and 2 are fixedly connected to each other in the normal operating position. However, in the event of a collision with objects, for example, when a tool collides with an object, such a connection of both docking ports 1 and 2 is not rigid, but variable. The relative movement of the docking stations, and 2 gives a control pulse used to turn off the manipulator drive. According to the exemplary embodiment shown in Fig. 2, the docking assembly 1 is fixed to the jetting element 3 through the flange 5 by means of the screw 6.
    The docking stations 1 and 2 are mounted concentrically, with the docking station 1 being covered by the docking station 2 on the hub section, and the surface 7 is convex on the hub of the docking station 1 so that the docking station 2 can perform a spherical (ball-shaped) movement around the docking station 1. Between the docking stations and 2 in various places, preferably in three, located at the same distance from each other, centering balls 8 are provided, which provide a force closure (connections ) Connecting nodes 1 and 2. The external docking station 2
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    has through radial holes accessible from outside chamber 9. Each centering ball 8 is disposed radially in guide 10. On the outside, the centering ball 8 is provided with a package of springs 11 placed in the adapter body 12. These springs are pre-tensioned to the desired by means of an appropriate tool 13, which is accessible from the outside, and thus the safety device is regulated without dismantling the individual components.
    On the inner side of the centering ball 8 there is a hemispherical guide 14, which is provided as an insert in the internal docking station 1. All of these elements are included in the power closure tool of the docking stations. The guide 14 overlaps the radial hole 15 in the inner docking station 1, with two 16 and 17 being directed into the hole 15. The ball 16 is designed as a means of forcefully closing the docking stations and the ball 17 as a connecting element. These balls 16 and 17 interact with the centering ball 8, namely in the radial plane. Thus, the displacement of the centering ball 8 in any direction leads to the movement of the balls 16 and 17.
    Spacer 16 interacts with bevels 18 of two working bodies 19 and 20 spaced apart from each other, which are preferably made in the form of a disk. The working bodies 19 and 20 are arranged coaxially and in parallel and are connected to each other with threaded screws (bolts) 21. The screw 21 is threaded into the working body 20. Between the other working body 19 and the head of the bolt 21 a pressure spring 22 is installed, pressing against each other both working bodies 19 and 20. On working body 20, an approximation switch 23 is located, which has the task of monitoring the distance between working bodies 19 and 20. If the distance decrease exceeds by a certain amount, then the approximation switch 23 further transmits such a measurement distance, which turns off the drive. For
    To this end, in working body 19, a regular screw 24 is located at the thread of the thread, having a switch 25 forming an adjustable stop with it and interacting with the approximation switch 23. The position of the screw 24 can be fixed by a lock nut 26. During normal operation, through the force of the spring package I1, the centering ball 8 acts radially inward on the balls 16 and 17, and the spacer ball 16 ensures that both working parts 19 and 20 are located at a given distance from each other. friend The rotational movement of the working bodies 19 and 20 is prevented by at least one pin 27 entering into the slot 28 of the working body 19, which makes it possible to axially move them. With the help of threaded bolts 21, the pretension force between the working bodies 19 and 20 can be adjusted by means of a pressure spring 22. The pressure spring 22 and the adjustable stop formed by the adjusting screw 24 and the switch 25 are included in the power circuit of the working bodies . If the relative movement between the docking stations I and 2 leads to a change in the position of the centering balls 8 relative to their guides 14, then due to the change in the distance of the working bodies 19 and 20, the switch 23 turns off the drive. In preventing the movement of the docking stations I and 2 from their predetermined position, one or more locking bolts 29 are provided, which are included in the recess 30 of the other assembly which is large with a large clearance, thereby preventing the separation of both docking stations 1 and 2.
    Fig. 1 shows screw connections 31 for connecting the outer docking station 2 with the last secondary axis 4 of the boom arm, as well as screw connections for connecting the inner docking station 1 with the tool 3.
    However, according to the example, the individual nozzle bodies 12 of the outer docking station 2 are designed so that, on the one hand, they allow the preload tension devices 13 to be displaced, and on the other hand, these devices are fixed in the set position
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    SRI. For this purpose, the separate housing 12 is provided with a gap 32. With a screw connection 33, it becomes possible to tension the housing 12 relative to the tool 13 and thus fix its position.
    The safety device operates as follows.
    The device is directed to the sudden termination of the automatically controlled movement of the manipulator in the event that one node of the manipulator unexpectedly collides with an object. In most cases, the tool 3 of the manipulator collides with a part of the workpiece being machined. Termination should be used to avoid damage.
    The proposed safety device is located at the end of the boom arm in the place where the last side axis 4 adjoins the tool 3. In both cases, the connected nodes are located in a guide provided with a power element. The force closure created by one or several springs is chosen in such a way that the nodes are relatively stationary with each other during normal operation. But if a tool or other part of the manipulator unexpectedly collides with an object, the power connection of the nodes is stopped, and the relative motion is recognized by the firing switch and is used to turn off the drive.
    The safety device is designed so that it can react to a three-dimensional change in their force-centered position. This is achieved if both nodes approach each other in a coaxial direction or if they are turned relative to each other in the circumferential direction, and also independently of the direction from which the power pulses act, which most often occurs in practice. Both the design of the working bodies and the structure of the spacer elements and the switch can be varied in various ways. Formula of the invention
    权利要求:
    Claims (8)
    [1]
    1. Safety device for switching off the manipulator drive
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    when colliding with objects, containing two docking nodes, means of their power closure, a switch designed to turn off the drive, and the switch reacts to the spatial deviation of the nodes in three coordinates, which is characterized by the fact that it is equipped with two working organs located at a distance from each other, and a means for forcefully closing these working bodies.
    [2]
    2. The device according to claim 1, about tl and - the fact that each working body is made in the form of a disk, and the disks are arranged coaxially
    and the means for force closure of the working bodies are made in the form of a spring that presses the disks and an adjustable stop, with additionally inserted spacer elements of the means for force closure of the docking assemblies installed peripherally between the disks.
    [3]
    3. A device according to claim 2, characterized in that bevels are made on facing surfaces of the disks.
    [4]
    4. The device according to claim 1, characterized in that said drive switch is fixed to one of the discs, and the adjustable stop is fixed to the other one, means for power
    closure of the working bodies, intended for interaction; 1 interaction with the switch.

    [5]
    5. A device according to nn.i-A, which is based on the fact that the disks are installed by means of spacer elements in one of the connecting nodes with the possibility of axial movement.
    [6]
    6. The device according to claims 1-5, which is designed in such a way that the docking nodes are mounted concentrically and have radial holes, and the means for forcefully closing these nodes are equipped with hemispherical directions set in the radial holes of the internal docking station and spring-loaded centering balls placed in the radial openings of the outer assembly and in the hemispherical guides of the inner joint.
    I
    [7]
    7. A device as claimed in Claims 1-6, characterized in that the spacer elements are made in the form of balls adjacent to each other in the radial holes of the hemispherical guide of the internal node and centering balls spring-loaded against the working bodies.
    [8]
    8. A device as claimed in Claims 1-7, such that the means for forcefully closing the docking stations are provided with additional guides for the centering balls installed in the radial openings of the outer assembly, and packages of springs with individual devices for their pre-tensioning. installed in these holes.
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    figure 1
    类似技术:
    公开号 | 公开日 | 专利标题
    SU1409124A3|1988-07-07|Safety device for disconnecting manipulator drive upon collision with objects
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    US4573271A|1986-03-04|Machine performance sensor
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    US4466511A|1984-08-21|Lead screw overthrust protection
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    US5836083A|1998-11-17|Remote elastic center machine
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    US4842118A|1989-06-27|Clutch
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    US20200070362A1|2020-03-05|Robotic tool changer having over-center cam and remote power source
    CA1235440A|1988-04-19|Safety mounting device
    同族专利:
    公开号 | 公开日
    US4648784A|1987-03-10|
    JPS6141099A|1986-02-27|
    FR2564365A1|1985-11-22|
    GB2158806A|1985-11-20|
    DE3418720C2|1987-08-13|
    FR2564365B1|1989-05-05|
    JPH0240160B2|1990-09-10|
    DE3418720A1|1985-11-21|
    GB2158806B|1987-10-14|
    GB8512114D0|1985-06-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US2311230A|1942-04-07|1943-02-16|Hill Charles|Spring winding device|
    US3599781A|1969-07-02|1971-08-17|Feedmatic Detroit Inc|Feed wheel for feeding intermittently movable parts|
    GB1369207A|1970-09-30|1974-10-02|Bishop Eaves & Sons Ltd|Torque-limitting clutches|
    DE2358498C2|1972-12-01|1984-07-05|Hitachi, Ltd., Tokio/Tokyo|Apparatus for automatically inserting a first part into an opening in a second part|
    DE2717871C3|1977-04-22|1981-03-26|Volkswagen Ag, 38440 Wolfsburg|Safety device for a handling device|
    DE2749603C3|1977-11-05|1986-07-31|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg|Handling device with an arrangement for switching off its drive|
    JPS5821294Y2|1978-06-23|1983-05-06|
    DE3004015A1|1980-02-04|1981-08-06|Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg|RELEASABLE HOLDING DEVICE BETWEEN A HOLDING ARM AND A CARRIER OF A HANDLING DEVICE|
    DE3004014A1|1980-02-04|1981-08-06|Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg|OVERLOAD SAFETY DEVICE FOR A HANDLING DEVICE|
    DE3003990C2|1980-02-04|1982-08-12|Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg|Safety device between a holding arm and a tool carrier of a handling device|
    JPS5911435B2|1980-12-11|1984-03-15|Fuanatsuku Kk|
    US4461936A|1982-03-18|1984-07-24|Yaskawa Electric Mfg. Co., Ltd.|Contact sensing device|
    JPH032638B2|1982-03-31|1991-01-16|Daihen Corp|
    DE3241132A1|1982-11-08|1984-05-10|Dieter 6090 Rüsselsheim Harms|Robot safety sensor|
    DE3328412A1|1983-08-05|1985-02-21|Siemens AG, 1000 Berlin und 8000 München|Robot arm-hand overload disconnect link|
    DE8322682U1|1983-08-05|1986-02-13|Siemens AG, 1000 Berlin und 8000 München|Mechanical overload protection|
    US4540331A|1983-08-18|1985-09-10|General Motors Corporation|Cut out device|
    DE3338412A1|1983-10-22|1985-05-02|Blaupunkt-Werke Gmbh, 3200 Hildesheim|Circuit arrangement for setting the phase angle of vertical synchronising pulses|DE3626236C2|1986-08-02|1988-04-28|Rema Gesellschaft Fuer Schweisstechnik-Geraetebau Mbh, 6082 Moerfelden-Walldorf, De|
    DE3717616A1|1987-05-25|1988-12-08|Rema Schweisstechnik|Safety connection flange for a robot-guided tool, in particular an electric welding tool|
    EP0307550A1|1987-09-11|1989-03-22|Schmid & Wezel|Compliant interchangeable tool support for a robot|
    US4821584A|1988-03-15|1989-04-18|The United States Of America As Represented By The United States Department Of Energy|Piezoelectric film load cell robot collision detector|
    DE8809831U1|1988-08-02|1989-11-30|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De|
    US5040915A|1989-03-31|1991-08-20|Tweco Products, Inc.|Breakaway mount|
    US5265667A|1989-09-14|1993-11-30|Westinghouse Electric Corp.|Robotic arm for servicing nuclear steam generators|
    US5447409A|1989-10-20|1995-09-05|Applied Materials, Inc.|Robot assembly|
    US5227708A|1989-10-20|1993-07-13|Applied Materials, Inc.|Two-axis magnetically coupled robot|
    EP0858867A3|1989-10-20|1999-03-17|Applied Materials, Inc.|Robot apparatus|
    US5376862A|1993-01-28|1994-12-27|Applied Materials, Inc.|Dual coaxial magnetic couplers for vacuum chamber robot assembly|
    FI102827B|1997-09-08|1999-02-26|Kci Kone Cranes Int Oy|Crane safety stop|
    FR2848133B1|2002-12-05|2005-11-11|Process Conception Ing Sa|DEVICE FOR THE COMPLETE CONNECTION BETWEEN A SUPPORT OF A WORKING TOOL OF A WORKPIECE AND A MEMBER OF A MACHINE|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3418720A|DE3418720C2|1984-05-19|1984-05-19|
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