Robot and method for monitoring the torque on such a robot

US8649906B2 · kind B2 · utility

Assignee

• KUKA Laboratories GmbH · DE

Inventors

• Rainer Bischoff
• Eugen Heinze · Augsburg, DE
• Ralf Koeppe · Hanerau-Hademarschen, DE
• Johannes Kurth · Augsburg, DE
• Günter Schreiber · Friedberg, DE
• Uwe Zimmermann · Bischofsheim, DE

Key dates

• Filing date: Dec 11, 2008
• Grant date: Feb 11, 2014
• Expiry date: Aug 14, 2029

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/37297
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

In order to increase the safety of a robot that may come into contact with other robots, objects or humans, the invention provides that said robot comprises at least two joints and parts that are moveable in relation to each other via at least one joint. At least one sensor (31) is arranged on at least one moveable part (3, 4, 5′, 6, 7), detecting torque. Sensor components (21′, 22.1, 22.2) of the sensor (31) are designed for the redundant detection of a torque, or for the redundant detection of a torque of at least two sensors (31) are provided, and redundant evaluation units are provided for the redundant evaluation. In order to increase safety, the invention further provides a method for monitoring torque on a robot of said kind, wherein at least a torque on at least one movable part (3, 4, 5′, 6, 7) is redundantly detected and redundantly evaluated on at least one moveable part (3, 4, 5′, 6, 7) by means of two sensor components of a sensor (31) or by means of two sensors (31).