PROTECTION APPARATUS FOR A MANIPULATION DEVICE ON A HANDLING DEVICE, AS WELL AS HANDLING DEVICE

Abstract

A protection apparatus for a manipulation device on a handling device, in particular on a handling robot. The manipulation device has at least one movably developed manipulation element and at least one overload protection which induces an evasion of the manipulation device when a trigger force on the manipulation device is exceeded. The overload protection has at least one magnetic element, which fixates the manipulation device in a setpoint position at forces below the trigger force.

Claims

1. A protection apparatus for a manipulation device on a handling device, the handling device being a handling robot, the manipulation device having at least one movably developed manipulation element, the protective apparatus comprising: at least one overload protection which causes an evasion of the manipulation device when a trigger force on the manipulation device is exceeded, the overload protection including at least one magnetic element which fixates the manipulation device in a setpoint position at forces below the trigger force.

2. The protection apparatus as recited in claim 1, wherein the overload protection includes spring which applies a force to the at least one magnetic element in a direction counter to the trigger force.

3. The protection apparatus as recited in claim 1, wherein the overload protection is situated between a housing-mounted component and a movably disposed component of the handling device, and the movably disposed component carries the manipulation device.

4. The protection apparatus as recited in claim 3, wherein the manipulation device is situated in a guide of the movably disposed component in a manner that allows a linear displacement.

5. The protection apparatus as recited in claim 4, wherein through the force of gravity, the manipulation device in the guide is acted upon by a force against a stop through the force of gravity.

6. The protection apparatus as recited in claim 3, wherein the movably disposed component is aligned with the aid of a plurality of guide elements with respect to a housing-mounted component and is supported via the guide elements so as to allow pivoting about at least one space axis.

7. The protection apparatus as recited in claim 3, wherein the movably disposed component is aligned with the aid of a plurality of guide elements with respect to a housing-mounted component and is supported via the guide elements so as to allow pivoting about three space axes that are situated perpendicularly with respect to one another.

8. The protection apparatus as recited in claim 6, wherein a spring in the form of a cylindrical spring is provided, which is situated in a centered manner with respect to the plurality of guide elements, and the longitudinal axis of the cylindrical spring is aligned with the direction of the trigger force.

9. The protection apparatus as recited in claim 6, wherein at least one sensor device coupled with a control device of the handling device is provided, which transfers the handling device into a safe operating mode if a specific angle of the movably disposed component is exceeded or a linear movement of the manipulation device counter to its weight force occurs.

10. A handling robot, comprising: a manipulation device having at least one movably developed manipulation element; and a protective apparatus including at least one overload protection which causes an evasion of the manipulation device when a trigger force on the manipulation device is exceeded, the overload protection including at least one magnetic element which fixates the manipulation device in a setpoint position at forces below the trigger force.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG. 1 shows a greatly simplified representation of a handling device in the form of a handling robot having a protection apparatus according to the present invention, in a perspective representation.

[0017] FIG. 2 shows a schematic representation of the protection apparatus as it is used in the handling device according to FIG. 1.

[0018] FIG. 3 shows a section in the plane III-III of FIG. 2.

[0019] Identical elements or elements having the identical function have been provided with identical reference numerals in the figures.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0020] FIG. 1 shows a handling device 100 in the form of a handling robot in a greatly simplified manner. Handling device 100 has a stationary column 101 on which a robot arm 105 is situated; robot arm 105 is made up of a plurality of members 102, 103 which are situated so as to allow pivoting about a respective axis in relation to each other. Robot arm 105 is positioned such that it is able to move freely within the range of handling device 100, or it is designed to be movable between different positions in space. On its side facing away from column 101, robot arm 105 carries a manipulation device 1 having two gripping elements 4, 5, which are situated so as to allow them to move in the direction of double arrows 2, 3, for example. For instance, an object is able to be picked up or accepted at a first position and to be set down or handed over at a second position with the aid of gripping elements 4, 5. Handling device 100 described thus far is used for the automated production of machinery or components, in particular.

[0021] In the area of robot arm 105, handling device 100 has a protection apparatus 10 in the transition area to manipulation device 1, which is integrated into robot arm 105 by way of example and includes an overload protection for manipulation device 1. As is clear from an overall view of FIGS. 2 and 3 in particular, protection apparatus 10 includes two housing-mounted components 11, 12, between which a component 13 is situated so that it can move relative to components 11, 12. As is clear especially from FIG. 3, component 13 is developed in the form of a triangular plate; on the side pointing toward housing-mounted component 11, component 13 is designed to be movable from the position shown in FIG. 2 in the direction of arrow 16 toward housing-mounted component 11, this being accomplished with the aid of a spring element 14 developed in the form of a compression spring 15, and component 13 being acted upon by a force in the direction of component 12.

[0022] On the side facing housing-mounted component 12, ball pins 18, such as three by way of example, are fixed in place on component 13, each mounted via a respective cylindrical intermediate piece 17 in each case. Ball pins 18 engage in recesses 19 in housing-mounted component 12, which are developed in the form of blind holes or as through holes, for example. Because of the spring force of compression spring 15, a force is applied to component 13 in the direction of housing-mounted component 12, so that ball pins 18 engage in recesses 19.

[0023] A guide element 21 is situated on component 13 between the two components 12 and 13, by which a fastening plate 22, visible in FIG. 1, via which manipulation device 1 is fastened to protection apparatus 10 or to robot arm 105, is able to be moved in the direction of arrow 23, from the position shown in FIGS. 1 and 2 into a raised position. In this context it is essential that because of the weight force of manipulation device 1, it, or fastening plate 22, rests against a housing-mounted stop 24, so that manipulation device 1 is situated in a way that allows it to move counter to the force of gravity or the weight force of manipulation device 1. To increase the possible accelerations of fastening plate 22 or manipulation device 1 without the protection apparatus responding, it is provided that in addition to stop 24, a magnetic element 27 is provided which cooperates with fastening plate 22 and generates an additional force in the direction of the weight force of fastening plate 22.

[0024] If forces are acting on manipulation device 1 about the three space axes x, y and z, shown in FIG. 2 and situated perpendicularly with respect to one another, then it is possible that because of the guidance of component 13 via ball pins 18 in recesses 24 of component 12, component 13, and thus also manipulation device 1, is pivotable about a specific angle in space axes x, y and z.

[0025] Fastening plate 22 has two damping elements 25, 32 as part of a proximity switch 26, 40; these damping elements are situated on a section between the two components 12, 13 that projects from guide element 21. The two redundantly acting proximity switches 26, 40 are connected to, or coupled with, a control device 50 of handling device 100. The function of the two proximity switches 26 and 40 is such that when component 13 is pivoted about one of the three space axes x, y and z, or when fastening plate 22 is lifted counter to the force of gravity, a corresponding signal is forwarded to control device 50, whereupon handling device 100 transitions to a safe operation. The safe operation preferably consists of stopping of the movements of handling device 100.

[0026] Furthermore, protection apparatus 10 has as part of the overload protection a plurality of magnetic elements 28, 29 and 30, i.e. three in the exemplary embodiment, which are fixed in place on component 13, the magnetic elements cooperating with a respective cylindrical extension 31 on component 12 and fixating component 13 with respect to element 12 in an (axial) setpoint position. As can be seen especially from FIG. 3, both the three intermediate pieces 17 or pin bolts 18 and the three magnetic elements 28 through 30 are situated at an offset from each other at a respective angle of 120 in relation to the respective bisectrix 34 through 36 of component 13. Furthermore, it can be seen from FIG. 3 that longitudinal axis 37 of compression spring 15 crosses the point of intersection of bisectrix 34 through 36 in an approximately centered manner.

[0027] When a trigger force A arises that is acting on manipulation device 1 or movably situated component 13 in parallel with the direction of longitudinal axis 37 of compression spring 15, and trigger force A is greater than the forces acting between magnetic elements 28 through 30 and extensions 31, then the magnetic connection between magnetic elements 28 through 30 and extensions 31 is canceled. This is also detected by proximity switches 26, 40, so that handling device 100 is switched into the aforementioned safe operating mode.

[0028] Handling device 100 or protection apparatus 10 described herein may be modified in a variety of ways without deviating from the present invention.