Protective device for an effector of a manipulator, device for manipulating workpieces, and a method for actuating a device for manipulating workpieces

Abstract

A protective device for an effector of a manipulator includes a shell having a plurality of chambers, wherein the shell is flexurally slack and bounds a fillable and/or evacuable pressure space. The protective device further includes at least one first pulling means for pulling back the shell, and at least one actuator for applying a tensile force to the at least one first pulling means. A device for manipulating workpieces includes a robotic manipulator having an effector, and the protective device disposed proximate the effector.

Claims

1. A system, comprising: a robotic manipulator having an end effector; and a protective device coupled with the end effector of the robotic manipulator, the protective device comprising a flaccid shell having a first end and an oppositely disposed second end, the second end movable in directions toward and away from the first end; the first end of the shell coupled proximate the end effector of the robotic manipulator by a fastening section adapted to connect to the end effector or to a connection flange of the robotic manipulator for receiving the end effector; the shell convertible to and between a first, deployed configuration and a second, retracted configuration; wherein the second end of the shell is extended away from the first end to envelop at least the end effector in the first configuration; wherein the second end of the shell is drawn away from the end effector and in a direction toward the first end in the second configuration; the protective device further comprising at least one pulling member operatively coupled with the shell; the at least one pulling member cooperating with the shell to move the shell to and between the first and second configurations; wherein the at least one pulling member maintains the shell in the second, retracted configuration during operation of the end effector to pick up or deposit a workpiece, and the shell is extended to the first configuration during a movement of the robotic manipulator to protect against collisions.

2. The system of claim 1, wherein the at least one pulling member is in a tension-released state in the first configuration of the shell.

3. The protective device of claim 1, further comprising: at least one actuator operatively coupled with the at least one pulling member; the at least one actuator cooperating with the at least one pulling member to move the shell from the first configuration to the second configuration.

4. The protective device of claim 1, further comprising an information technology user interface adapted to at least one of receive input information or output information.

5. A protective device for an end effector of a robotic manipulator, the protective device comprising: a flexurally slack shell having a first end and an oppositely disposed second end, the second end movable in directions toward and away from the first end; the first end of the shell couplable proximate the end effector of the robotic manipulator; the shell convertible to and between a first, deployed configuration and a second, retracted configuration; wherein the second end of the shell is extended away from the first end to envelop at least one of the end effector or the end effector and a workpiece supported by the end effector in the first configuration; wherein the second end of the shell is drawn away from the end effector and in a direction toward the first end in the second configuration; at least one pulling member operatively coupled with the shell; the at least one pulling member cooperating with the shell to move the shell to and between the first and second configurations; wherein the at least one pulling member comprises: a first section coupled with the second end of the shell, and a second section operatively connected with the first section, the second section exhibiting a greater elasticity than the first section, such that the first section is operable to transmit a tensile force to the shell for moving the shell from the first configuration to the second configuration.

6. The protective device of claim 5, wherein the second section of the pulling member comprises an elastic band for providing the greater elasticity.

7. The protective device of claim 5, wherein the second section of the pulling member comprises a spring for providing the greater elasticity.

8. A protective device for an end effector of a robotic manipulator, the protective device comprising: a flexurally slack shell having a first end and an oppositely disposed second end, the second end movable in directions toward and away from the first end; the first end of the shell couplable proximate the end effector of the robotic manipulator; the shell convertible to and between a first, deployed configuration and a second, retracted configuration; wherein the second end of the shell is extended away from the first end to envelop at least one of the end effector or the end effector and a workpiece supported by the end effector in the first configuration; wherein the second end of the shell is drawn away from the end effector and in a direction toward the first end in the second configuration; at least one pulling member operatively coupled with the shell; the at least one pulling member cooperating with the shell to move the shell to and between the first and second configurations; wherein: the shell defines at least one pressure space, the shell is configured to move to the first configuration in response to the pressure space being exposed to a pressure source, and the shell is configured to move to the second configuration when the pressure space is evacuated.

9. The protective device of claim 8, further comprising a pressure source communicating with the pressure space for supplying pressurized fluid to the pressure space in the first configuration of the shell.

10. A method for actuating a protective device for an end effector of a robotic manipulator, the protective device comprising a flaccid shell having first end coupled proximate the end effector and a second end that is movable toward and away from the first end, and at least one pulling member, the at least one pulling member including a first section coupled with the second end of the shell and a second section operatively connected with the first section and exhibiting a greater elasticity than the first section, the method comprising: placing the shell in a first configuration wherein the second end of the shell is extended away from the first end to envelop at least the end effector in response to at least one of: a sensed collision of the end effector with an object, or movement of the end effector by the robotic manipulator other than a movement to pick up or deposit a workpiece with the end effector.

11. The method of claim 10, wherein placing the shell in a first configuration comprises at least one of: releasing a tensile force in the at least one pulling member; or exposing a pressure space of the shell to a pressure source.

12. The method of claim 10, further comprising: moving the shell from the first configuration to a second configuration wherein the second end of the shell is drawn away from the end effector in a direction toward the first end.

13. The method of claim 12, wherein moving the shell from the first configuration to the second configuration comprises at least one of: applying a tensile force to the second end of the shell with the at least one pulling member; or evacuating a pressure space of the shell.

14. The method of claim 10, further comprising at least one of: filling at least one pressure space of the shell and releasing the at least one first pulling member in response to a manipulation of a workpiece by the robotic manipulator not being scheduled; or evacuating the at least one pressure space and applying a tensile force to the at least one pulling member in response to a manipulation of a workpiece being scheduled.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and, together with a general description of the invention given above, and the detailed description given below, serve to explain the principles of the invention.

(2) FIG. 1 depicts a gripper for an industrial robot with an exemplary protective device comprising a shell and elastic pulling means,

(3) FIG. 2 depicts a gripper for an industrial robot with another exemplary protective device comprising a shell, pulling means, and actuators,

(4) FIG. 3 depicts an industrial robot with a gripper and an exemplary protective device in an inflated state,

(5) FIG. 4 depicts the industrial robot with a gripper of FIG. 3 with the protective device in a pulled back state, and

(6) FIG. 5 depicts an industrial robot with a gripper and an exemplary protective device comprising an information technology user interface.

DETAILED DESCRIPTION

(7) FIG. 1 shows a gripper 100 for an industrial robot with a protective device 102 comprising a shell 104 and elastic drawing means, such as 106. Protective device 102 functions to protect a person, cooperating with the industrial robot in its working area, from gripper 100 and, if necessary, from a gripped workpiece.

(8) Protective device 102 has an annular fastening section 108 for fastening on gripper 100. Gripper 100 has a connection flange 110 for connecting to a corresponding connection flange of an industrial robot. Protective device 102 is fastened using its fastening section 108 on gripper 100 in the proximity of connection flange 110.

(9) Shell 104 is flexurally slack and bounds a fillable and/or evacuable pressure space 112. An air distribution duct is arranged in fastening section 108. Pressure space 112 and the air distribution duct are communicatively connected to one another. An air hose 114 is arranged on fastening section 108. Air hose 114 is communicatively connected to the air distribution duct. Pressure space 112 may be filled with air and/or air may be evacuated from pressure space 112 via air hose 114 and the air distribution duct.

(10) Shell 104 has a rigid end section 116 tightly connected to fastening section 108 and a free end section 118. Elastic pulling means 106 are arranged in pressure space 112. Presently, pulling means 106 are designed as elastic rubber bands. Pulling means 106 respectively have a high-tensile connection to fastening section 108 on one end and a high-tensile connection to shell 104 at free end section 118 at another end. At areas which contact gripper 100 when pressure space 112 is filled, shell 104 has reinforcing elements, such as 120. Reinforcing elements 120 are presently produced from a plastic material.

(11) FIG. 2 shows a gripper 200 for an industrial robot with a protective device 202 comprising a fillable and/or evacuable shell 204, pulling means, such as 206, and actuators, such as 208. Pulling means 206 respectively have a high-tensile connection to an actuator 208 on one end and a high-tensile connection to shell 204 at free end section 210 at another end. Presently, pulling means 206 have a low elasticity and function to transfer tensile forces from actuators 208 to shell 204. Actuators 208 function to apply a tensile force to pulling means 206 and each has a pneumatically-actuable piston-cylinder arrangement. For the rest, reference is supplementally made in particular to FIG. 1 and the associated description.

(12) FIG. 3 shows an industrial robot 300 comprising a manipulator 302, a gripper 304, and a protective device 306, like protective device 102 according to FIG. 1 or protective device 202 according to FIG. 2, in the inflated state. FIG. 4 shows industrial robot 300 with protective device 306 in the pulled back state. When the pressure space is filled, shell 308 is inflated and surrounds gripper 304 like a hood, as shown in FIG. 3. When the pressure space is evacuated, shell 308 is pulled back and is arranged folded together like a round cup at fastening section 310 of protective device 306, as is shown in FIG. 4. During operation of industrial robot 300, shell 308 is drawn back if a workpiece is to be picked up or deposited with the aid of gripper 304, and is inflated if manipulator 302 with gripper 304 is moved with or without a workpiece. Drawing back the shell 308 is supported by the pulling means and, if necessary, the actuators. For the rest, reference is supplementally made in particular to FIG. 1 and FIG. 2 and the associated description.

(13) FIG. 5 shows an industrial robot 400 comprising a gripper and a protective device 402 for an effector with an information technology user interface 404. User interface 404 functions both for information output and also for information input.

(14) Shell 406 has multiple chambers, such as 410, 412. Chambers 410, 412 are separated fluid-tight from one another and form pressure spaces separated from one another. In the case of a defect, in particular damage and/or leakage of individual chambers 410, 412, a basic safety level is maintained. Chambers 410, 412 may be individually exchanged or repaired.

(15) Protective device 402 has a light module for information output. The light module is arranged inside of shell 406. Shell 406 is produced from a translucent material. Shell 406 is illuminable from the interior with different colors with the aid of the light module. Thus, for example, status information, like a safety state, a fault, or a necessary interaction may be signaled.

(16) Protective device 402 presently has a touchpad 408 for information output [sic]. Touchpad 408 is arranged on the exterior on shell 406 and is fixedly connected to shell 406. Touchpad 408 is flexible in such a way that shell 406 with touchpad 408 may be pulled back from the effector. Touchpad 408 presently has symbols and numerals.

(17) For the rest, reference is supplementally made in particular to FIG. 1 and FIG. 2, to FIG. 3 and FIG. 4, and the associated description.

(18) While the present invention has been illustrated by a description of various embodiments, and while these embodiments have been described in considerable detail, it is not intended to restrict or in any way limit the scope of the appended claims to such detail. The various features shown and described herein may be used alone or in any combination. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative apparatus and method, and illustrative example shown and described. Accordingly, departures may be made from such details without departing from the spirit and scope of the general inventive concept.

REFERENCE NUMERALS

(19) 100 Effector, gripper

(20) 102 Protective device

(21) 104 Shell

(22) 106 Drawing means

(23) 108 Fastening section

(24) 110 Connection flange

(25) 112 Pressure space

(26) 114 Air hose

(27) 116 End section

(28) 118 End section

(29) 120 Reinforcing element

(30) 200 Effector, gripper

(31) 202 Protective device

(32) 204 Shell

(33) 206 Drawing means

(34) 208 Actuator

(35) 210 End section

(36) 300 Industrial robot

(37) 302 Manipulator

(38) 304 Effector, gripper

(39) 306 Protective device

(40) 308 Shell

(41) 310 Fastening section

(42) 400 Industrial robot

(43) 402 Protective device

(44) 404 User interface

(45) 406 Shell

(46) 408 Touchpad

(47) 410 Chamber

(48) 412 Chamber