Detection device and detection method
AssigneeKUKA Systems GmbH
InventorsRichard Zunke, Andreas Domke, Konrad Wirth, Thomas Rau, Julian Stockschläder
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Abstract
A detection device and a detection method are provided for robot-induced loads that can act upon the human body in contact with the robot during a working process. The robot-induced loads, in particular forces, are measured by the measuring device (16) of an external sensing device (2). The measuring device (16) is suitably positioned and oriented in this process in the working area of an industrial robot (3) by means of a positioning device (15).
Claims17
A detection device for robot-induced loads, which may act on a human body in a working process in case of physical contact of an industrial robot with the human body in a robot work area and which industrial robot includes an internal industrial robot sensor system detecting forces of the industrial robot internally of the industrial robot, the detection device comprising:
- a measuring device for an external detection of robot-induced forces;
- an analysis unit for synchronously analyzing and comparing the forces detected externally by the measuring device with the forces detected by the internal sensor system of the industrial robot in case of a physical contact with the industrial robot;
- and
- a positioning device for correctly positioning and orienting the measuring device for the working process in the work area of an industrial robot.
A working device comprising:
- an industrial robot, which carries a process tool and which is configured as an HRC robot suitable for human-robot cooperation or collaboration, the industrial robot comprising an internal industrial robot sensor system detecting forces of the robot internally of the industrial robot;
- and
- a detection device, which detects robot-induced loads, which may act on the human body in the working process in case of physical contact with the industrial robot or with the process tool or with both the industrial robot and the process tool, is arranged in a robot work area of the industrial robot, the detection device comprising:
- a measuring device for an external detection of robot-induced forces;
- an analysis unit for synchronously analyzing and comparing the forces detected externally by the measuring device with the forces detected by the internal sensor system of the industrial robot in case of a physical contact with the industrial robot;
- and
- a positioning device for correctly positioning and orienting the measuring device for the working process in the work area of an industrial robot.
A method for detecting robot-induced loads, which may act on the human body in a working process in case of physical contact with an industrial robot and which industrial robot includes an internal industrial robot sensor system detecting forces of the robot internally, the method comprising the steps of:
- measuring the robot-induced forces with a measuring device of an external detection device, wherein the measuring device is positioned and oriented correctly for the process in a work area of an industrial robot by means of a positioning device;
- and
- synchronously analyzing and comparing the forces detected externally by the measuring device with the forces detected by the internal sensor system of the industrial robot in case of a contact.
Dependencies are inferred from the claim text.