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US 7,031,807 B2Granted
Device and method for securing apparatuses with parts freely movable in space
AssigneeKUKA Roboter GmbH
InventorsPeter Heiligensetzer, Fritz Steininger
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AssigneeKUKA Roboter GmbH
InventorsPeter Heiligensetzer, Fritz Steininger
Estimating the term…
The invention relates to a safety device for apparatuses having parts freely movable in space, particularly handling equipment such as industrial robots or driverless transportation means, as well as a method for securing such apparatuses by means of such a safety device. The apparatuses have switching means which in the case of a collision of the moving parts with persons or objects emit a control signal through which the moving parts can be stopped or an emergency program can be started up, which brings about a movement sequence opposing the approach movement. The invention is characterized in that the safety device is constructed in the form of a tactile sensor system formed from optical waveguides and located on moving parts of the apparatus.
A method for securing apparatuses with parts freely movable in space, particularly for handling equipment, such as industrial robots or driverless transportation means, with switching means, which in the case of a collision of moving parts with persons or objects, emit a control signal through which the moving pails can be stopped or an emergency program can be started up bringing about a movement sequence opposing the approach movement, wherein in the case of contact with a moving part of the apparatus, electromagnetic radiation guided by optical waveguides forming a tactile sensor system and located on said part is influenced, so that at least one control signal is emitted for initiating at least one safety-relevant action.
A method for securing apparatuses with parts freely movable in space, particularly for handling equipment, such as industrial robots or driverless transportation means, with switching means, which in the case of a collision of moving parts with persons or objects emit a control signal through which the moving parts can be stopped or an emergency program can be started up bringing about a movement sequence opposing the approach movement, wherein an approach of an objector person to the moveable part of the apparatus is detected prior to any contact through a first contactless sensor system and wherein in the case of contact with a moving part of the apparatus, electromagnetic radiation guided by optical waveguides forming a second tactile sensor system and located on said part is influenced, so that at least one control signal is emitted for initiating at least one safety-relevant action.
Dependencies are inferred from the claim text.