# US 2014/0195051 A1 · Configurable Security Monitoring For A Robot Assembly > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195051 A1 - Document ID: US20140195051A1 - Status: Published application - Kind: A1 - Application number: 14/151,348 - Filed: 2014-01-09 - Published: 2014-07-10 - Earliest claimed: 2013-01-09 - Assignees: KUKA Laboratories GmbH - Applicants: KUKA Laboratories GmbH - Inventors: Uwe Bonin; Jonas Rumping; Marc-Walter Ueberle; Christian Hartmann; Denis Pesotski; Botond Gorog; Giulio Milighetti; Robert Bertossi - Web page: https://patentgrep.com/patent/US20140195051A1 ## CPC - G05B 19/0428: {Safety, monitoring (G05B19/0423 takes precedence)} - B25J 9/1676: {Avoiding collision or forbidden zones} - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A safety monitoring means for a robot assembly with at least one robot includes a configuration means for configuring a linking function arrangement with at least one first linking function including a fixed and predetermined number of monitoring functions of a monitoring function arrangement. The monitoring functions are logically linked to one another such that the first linking function has a reaction state whenever none of the monitoring functions indicates a not-violated state. The configuration means may further include at least one second linking function including a fixed and predetermined number of monitoring functions that are logically linked to one another such that the second linking function does not have a reaction state whenever all monitoring functions indicate a violated state. ## Claims ### Claim 1 A safety monitoring means for a robot assembly with at least one robot, wherein the safety monitoring means comprises: a configuration means for configuring a linking function arrangement, the linking function arrangement comprising: at least one first linking function, the first linking function comprising a fixed and predetermined number of monitoring functions of a monitoring function arrangement; the monitoring functions indicating a violated state, a non-violated state, or an error state, depending on at least one signal input of the robot assembly; each monitoring function associated with the first linking function being logically linked to one another such that the first linking function has a reaction state whenever none of the monitoring functions of the first linking function indicates the emergency violated state; and/or at least one second linking function comprising a fixed and predetermined number of monitoring functions of the monitoring function arrangement; each of the monitoring functions associated with the second linking function being logically linked to one another such that the second linking function does not have a reaction state whenever all monitoring functions of the second linking function indicate the violated state. ### Claim 2 (depends on 1) The safety monitoring means according to claim 1, wherein the configuration means is designed for at least one of: parameterizing and/or selection of the reaction state of at least one linking function of the linking function arrangement from several predefined reaction states, parameterizing and/or for selection of at least one monitoring function of at least one linking function of the linking function arrangement from several predefined monitoring functions, or activation of at least a linking function of the linking function arrangement. ### Claim 3 (depends on 1) The safety monitoring means according to claim 1, further comprising an evaluation and reaction means for continuous evaluation of the linking function arrangement during an operation of the robot assembly and for triggering a reaction dependent on a reaction state of the linking function arrangement. ### Claim 4 (depends on 3) The safety monitoring means according to claim 3, wherein the evaluation and reaction means is designed for triggering a higher-ranking reaction depending on the reaction states of at least two linking functions of the linking function arrangement. ### Claim 5 (depends on 1) The safety monitoring means according to claim 1, further comprising an output means for outputting displaying signals when a monitoring function has the error state. ### Claim 6 (depends on 1) The safety monitoring means according to claim 1, wherein the monitoring function arrangement has at least one of an emergency stop monitoring function, an operating mode monitoring function, a speed monitoring function, a space monitoring function, an operator protection monitoring function, a tool monitoring function, an axis adjustment monitoring function, a monitoring function of an in particular secure input, or a dummy monitoring function. ### Claim 7 (canceled) ### Claim 8 (depends on 1) A method for safety monitoring system of a robot assembly with at least one robot by means of a safety monitoring means as set forth in claim 1, comprising: configuring the linking function arrangement. ### Claim 9 (depends on 8) The method according to claim 8, further comprising at least one of: parameterizing and/or selection of the reaction state of at least one linking function of the linking function arrangement from several predefined reaction states, parameterizing and/or selection of at least one monitoring function of at least one linking function of the linking function arrangement from several predefined monitoring functions, or activating at least one linking function of the linking function arrangement. ### Claim 10 (depends on 8) The method according to claim 8, comprising: continuously evaluating the linking function arrangement during an operation of the robot assembly, and triggering of a reaction dependent on a reaction state of the linking function arrangement. ### Claim 11 (depends on 10) The method according to claim 10, wherein a higher-ranking reaction is triggered depending on the reaction states of at least two linking functions of the linking function arrangement. ### Claim 12 (depends on 8) The method according to claim 8, further comprising: outputting displaying signals when a monitoring function has the error state. ### Claim 13 (depends on 8) The method according to claim 8, wherein the monitoring function arrangement has at least one of: an emergency stop monitoring function, an operating mode monitoring function, a speed monitoring function, a space monitoring function, an operator protection monitoring function, a tool monitoring function, an axis adjustment monitoring function, a monitoring function of a secure input, or a dummy monitoring function. ### Claim 14 (depends on 8) Computer program product with a program code stored on a non-transitory medium that can be read by a computer for carrying out the method according to claim 8. ### Claim 15 (depends on 8) Robot assembly comprising: at least one robot, a detection means assembly with at least two detection means for detecting a security quantity, and a safety monitoring means according to claim 8, whose monitoring functions can have a violated state, a non-violated state, or an error state, dependent on at least one signal input of the detection means assembly.