System

Abstract

A system having a sensor system comprising distance sensors for monitoring a hazardous zone at a movable machine part having at least one protected zone, wherein a tool is arranged at the movable machine part, wherein the distance sensors are arranged at a holder at the movable machine part, wherein a plurality of distance sensors are arranged, with the detection beams of the distance sensors forming a protected field shell, wherein the holder has the distance sensors, with the holder having a disk-shaped housing, with the disk-shaped housing having round surfaces and not having any corners at the outer surfaces, with the system comprising a fastening system, the fastening system comprises one of a first fastening adapter and a second fastening adapter at which the holder is respectively arranged for fastening the holder to the movable machine part.

Claims

1. A system having a sensor system comprising distance sensors and a control and evaluation unit for monitoring a hazardous zone at a movable machine part having at least one protected zone, wherein a tool is arranged at the movable machine part, wherein the distance sensors are arranged at a holder; wherein a plurality of distance sensors are arranged; with the detection beams of the distance sensors forming a protected field shell; wherein the holder has the distance sensors, with the holder having a disk-shaped housing, with the disk-shaped housing having round surfaces and not having any corners at the outer surfaces, with the system comprising a fastening system, wherein the fastening system comprises a second fastening adapter at which the holder is arranged for fastening the holder to the movable machine part, with the second fastening adapter having two limbs that are arranged at a right angle to one another, with the holder being fastened to the first limb and with the second fastening adapter being connected to the movable machine part at the second limb, and wherein the second fastening adapter is screwed to the holder by means of a single screw connection, with the screw connection having a diameter that is greater than the central continuous opening for the tool.

2. The system in accordance with claim 1, wherein the first limb of the second fastening adapter has an opening for the tool.

3. The system in accordance with claim 1, wherein the first limb and the second limb each have fastening holes.

4. The system in accordance with claim 1, wherein the first limb and the second limb are each formed as round at the ends.

5. The system in accordance with claim 1, wherein the tool is one of an installation tool, a screw tool, a bonding tool, a cleaning tool, a drilling tool, a milling tool, a grinding tool, and a deburring tool.

6. The system in accordance with claim 1, wherein the system comprises the control and evaluation unit, with the distance sensors being connected to the control and evaluation unit, with first detection beams of the distance sensors forming the protected field shell and second detection beams of the distance sensors forming a warning field shell, with the warning field shell sheathing the protected field shell.

7. The system in accordance with claim 1, wherein the control and evaluation unit is configured to vary a movement speed of the movable machine part, with the movement speed being slowed on an intervention in the warning field shell and being stopped on an intervention in the protected field shell.

8. The system in accordance with claim 1, wherein the control and evaluation unit is configured to only activate the tool when a minimum distance is present between the tool and a work-piece, with the minimum distance being based on anthropometric data.

9. The system in accordance with claim 1, wherein the control and evaluation unit is configured to only activate the tool when a minimum distance is present between the tool and a workpiece, with the minimum distance amounting to 10 mm to 20 mm.

10. The system in accordance with claim 1, wherein the control and evaluation unit is configured to only activate the tool when a minimum distance is present between the tool and a workpiece, with the minimum distance amounting to 14 mm.

Description

(1) The invention will also be explained in the following with respect to further advantages and features with reference to the enclosed drawing and to embodiments. The Figures of the drawing show in:

(2) FIG. 1 a system having a sensor system having a first fastening adapter;

(3) FIG. 2 a system having a sensor system having a second fastening adapter;

(4) FIGS. 3 and 4 respectively a second fastening adapter;

(5) FIGS. 5 and 6 respectively a first fastening adapter;

(6) FIG. 7 a respective holder with distance sensors;

(7) FIG. 8 a sensor system comprising a protected shell field and a warning shell field; and

(8) FIGS. 9 and 10 in each case a sensor system with a protected shell field.

(9) In the following Figures, identical parts are provided with identical reference numerals.

(10) FIG. 1 shows a system 1 having a sensor system 2 comprising distance sensors 8 for monitoring a hazardous zone at a movable machine part 5 having at least one protected zone 6, wherein a tool 7 is arranged at the movable machine part 5, wherein the distance sensors 8 are arranged at a holder 9, wherein a plurality of distance sensors 8 are arranged, with the detection beams of the distance sensors 8 forming a protected field shell 11, wherein the holder 9 has the distance sensors 8, with the holder 9 having a disk-shaped housing 12, with the disk-shaped housing 12 having round surfaces 13 and not having any corners at the outer surfaces, with the system 1 comprising a fastening system 14, wherein the fastening system 14 comprises a first fastening adapter 15 at which the holder 9 is arranged for fastening the holder 9 to the tool 7, and wherein the first fastening adapter 15 has a central continuous opening 20 for the tool 7.

(11) FIG. 2 shows a system 1 having a sensor system 2 comprising distance sensors 8 for monitoring a hazardous zone at a movable machine part 5 having at least one protected zone 6, wherein a tool 7 is arranged at the movable machine part 5, wherein the distance sensors S are arranged at a holder 9, wherein a plurality of distance sensors 8 are arranged, with the detection beams 10 of the distance sensors 8 forming a protected field shell 11, wherein the holder 9 has the distance sensors 8, with the holder 9 having a disk-shaped housing 12, with the disk-shaped housing 12 having round surfaces 13 and not having any corners at the outer surfaces, with the system 1 comprising a fastening system 14, wherein the fastening system 14 comprises a second fastening adapter 16 at which the holder 9 is arranged for fastening the holder 9 to the movable machine part 5, with the second fastening adapter 16 having two limbs 23, 24 that are arranged at a right angle to one another, and with the holder 9 being fastened to the first limb 23 and the second fastening adapter 16 being connected to the movable machine part 5 at the second limb 24.

(12) The fastening system 14 is preferably fixed to the last axis of a robot. The fastening system 14 thus has a defined orientation or a defined angle with respect to the last axis.

(13) A longitudinal axis of the tool 7 is preferably arranged at an angle of 90° to a last axis of the movable machine part 5.

(14) The disk-shaped housing 12 has round surfaces and no corners at the outer surfaces.

(15) Due to the round surface 13 of the disk-shaped housing 12, a possible collision surface is present at every point and actually no collision edge or collision corner, whereby a risk of injury is minimized. The outer contours of the disk-shaped housing are here optionally rounded, also circular or arcuate. The system does not have any sharp edges.

(16) The holder 9 that receives the distance sensors 8 can be monolithic or modular.

(17) The holder 9 and the mount for the distance sensors 8 are fixedly connected to the fastening adapters 15, 16 so that they do not release from the fastening adapters 15, 16 on a blow between the human and the holder 9.

(18) The sensor system 2 serves for the safe monitoring of the hazardous zone or of a monitored zone of the movable machine part 5.

(19) The control and evaluation unit 28 recognizes protected field shell infringements and can output a safety directed switch-off signal to stop a dangerous movement of the movable machine part 5 or to brake the part. This can e.g. be implemented via safe switching signals e.g. OSSD signals (output safety switching device signals) or safe distance data, spacing data or safe spatial data of the intrusion event. For example, the control and evaluation unit 28 is configured with two channels.

(20) The plurality of distance sensors 8 are connected to the control and evaluation unit 28 for evaluating the distance sensors 8.

(21) The distance sensors 8 are optionally arranged spaced from one another along a ring, with the distance sensors 8 forming an areal protected field shell 11 that extends, for example, cylindrically or frustoconically.

(22) The distance sensors 8 optionally have uniform spacings. An almost uniform resolution within the protected field is achieved by the uniform spacings of the sensors 8 and a respective identical angular orientation of the detection beams 10.

(23) The distance sensors 8 are contactlessly acting distance measuring sensors 8, with the distance sensors 8 having a detection beam for detecting objects in the monitored zone. The distance sensors 8 are preferably optoelectronic distance sensors 8.

(24) The distance sensors 8 can each have a linear or areal protected field. The areal protected field is formed in fan shape with a specific opening angle of, for example, 2° to 20°.

(25) The monitoring takes place optionally using a plurality of simple distance measurement sensors sensing in one dimension.

(26) The distance sensors 8 are time of flight sensors, for example.

(27) A modular design of the holder 9 is likewise provided. A submodule of the holder 9 here only includes a limited number of distance sensors 8. Any desired securing contours can thus be produced by a combination of different submodules.

(28) An adaptation of the number of sensors is provided to generate a more or less closed protected field shell 11 from the distance sensors 8: The number of sensors can be changed, for example. The more distance sensors 8 are arranged, the closer the optical axes of the distance sensors are 8 next to one another, whereby the protected field shell has a higher resolution.

(29) Mounts of the holder 9 for the distance sensors 8 optionally have at least one mechanical fastening for the distance sensors at which the distance sensors 8 can be mounted in at least one predefined position.

(30) The holder 9 or a mount in the holder 9 is implemented such that all the distance sensors 8 have a fixed relative position with respect to one another that is compatible with the securing concept.

(31) The mount is optionally implemented such that a plurality of orientations of the individual distance sensors 8 are possible that are each compatible with the securing concept.

(32) The fastening system 14 is configured such that no manipulation is possible due to the fastening mechanism. I.e. the holder 9 has to be installed first, then the tool 7. The fastening system 14 is designed such that the holder 9 can only be removed after dismantling the tool 7.

(33) The fastening system 14 is configured such that the tool 7 is vertically adjustable relative to the holder 9 or to the EOAS. The protected field shell 11 can thereby always be adapted to the application and to the dimensions of the tool 7.

(34) The fastening system 14 is designed such that the tool 7 can be easily replaced. This can preferably also be done in ongoing operation.

(35) The fastening system 14 is designed such that the tool 7 does not slide in position and location after installation since the position of the tool length to the protected field shell 11 has to remain ensured.

(36) The fastening system 14 is configured such that a strain relief of cables and lines is provided at the fastening system.

(37) In accordance with FIG. 3 and FIG. 4, the second fastening adapter 16 is screwed to the holder 9 by means of a single screw connection 19, with the screw connection 19 having a diameter that is greater than the central continuous opening 20 for the tool 7.

(38) Since the diameter has a size that is greater than the central continuous opening for the tool 7, the screw connection 19 can surround the central opening 20 and the screw connection 19 can, for example, be released and fastened or fixed by the hand alone.

(39) In accordance with FIGS. 5 and 6, the first fastening adapter 15 has an annular fastening unit 21, with the annular fastening unit 21 surrounding or encompassing the central opening 20 and with fastening means being symmetrically arranged at the annular fastening unit 21.

(40) A central axis of the first fastening adapter 15 can thereby be arranged congruent with a central axis of the tool 7. The tool 7 is here arranged centrally to the first fastening adapter 15 and centrally to the holder 9.

(41) In accordance with FIGS. 3 and 4, the first limb 23 of the second fastening adapter 16 has an opening for the tool 7.

(42) A central axis of the opening of the first limb 23 of the second fastening adapter 16 can thereby be arranged congruent with a central axis of the tool 7. The tool 7 is here arranged centrally to the opening of the first limb 23 of the second fastening adapter 16 and centrally to the holder 9.

(43) In accordance with FIGS. 3 and 4, the first limb 23 and the second limb 24 each have fastening holes.

(44) The holder 9 can thereby be easily fastened to the first limb 23, for example by means of installation screws, and the second limb 24 of the second fastening adapter 16 can, for example, be connected to the movable machine part 5 by means of installation screws.

(45) In accordance with FIGS. 3 and 4, the first limb 23 and the second limb 24 are each round at the ends.

(46) Due to the round surface of the ends, no sharp edges or corners are present, whereby a risk of injury is minimized. The outer contours of the limbs 23, 24 are here optionally circular or arcuate.

(47) In accordance with an embodiment that is not shown, a material supply device is arranged at and fastened to the fastening system 14.

(48) The fastening system 14 is configured such that applications can be implemented with and output a supply of installation parts. In screw applications, it may e.g. occur that screws are delivered to the installation site by a supply along the tool 7, for example along a screw tool.

(49) The fastening system 14 is configured such that the supply does not impair or shadow the protected field shell 11. The material supply device is here, for example, guided within the holder 9, that is, not by the protected field shell 11, or the material supply device is guided between two detection beams 10 close to the origin of the detection beams 10, whereby the protected field shell 11 is likewise not impaired or shadowed.

(50) In accordance with FIG. 2, the tool is an installation tool 27, a screw tool, a bonding tool, a cleaning tool, a drilling tool, a milling tool, a grinding tool, or a deburring tool.

(51) FIG. 7 shows the arrangement of the distance sensors in different holders 9.

(52) In accordance with FIG. 8, the system 1 comprises the control and evaluation unit 28, with the distance sensors 8 being connected to the control and evaluation unit 28, with first detection beams of the distance sensors 8 forming the protected field shell 11 and second detection beams of the distance sensors 8 forming a warning field shell 31, with the warning field shell 31 sheathing the protected field shell 11.

(53) The outer warning field shell 31 results in a weaker safety measure on an intervention such as an alarm or a certain reduction of speed and only the inner protected field shell 11 acts as a protected field with a genuine safeguarding by stopping, evading, or by a great reduction of the speed of the tool 7.

(54) In accordance with FIG. 8, the control and evaluation unit 28 is configured to vary a movement speed of the movable machine part, 5 with the movement speed 31 being slowed on an intervention in the warning field shell 31 and being stopped on an intervention in the protected field shell 11.

(55) In accordance with FIG. 9, the control and evaluation unit 28 is configured to only activate the tool 7 when a minimum distance is present between the tool 7 and a workpiece, with the minimum distance amounting to 14 mm.

(56) The system 1 or the control and evaluation unit 28 is configured for the purpose that the protected field shell 11 is configured such that on an approach to a process point, for example the point at which the screw is installed, the movable machine part 5 or the robot becomes slower on an intervention in the warning field shell 31 or stops on an intervention in the protected field shell 11.

(57) The system or the control and evaluation unit 28 is configured for the purpose that the protected field shell is configured such that the tool 7 and the robot are switched off or stopped in the case of an intervention. The tools 7 are in particular only actuated (e.g. rotating the screw head/drill or the deburrer, actuating the adhesive nozzle, etc.) when the distance between the tool tip and the surface to be machined is smaller than a minimum distance.

REFERENCE NUMERALS

(58) 1 system 2 sensor system 5 movable machine part 6 protected zone 7 tool 8 distance sensors 9 holder 10 detection beams 11 protected field shell 12 disk-shaped housing 13 round surfaces 14 fastening system 15 first fastening adapter 16 second fastening adapter 19 screw connection 20 central continuous opening 21 annular fastening unit 22 fastening means 23 first limb 24 second limb 25 fastening holes 27 installation tool 28 control and evaluation unit 29 first detection beams 30 second detection beams 31 warning field shell