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1. (WO2018195569) DETECTING A COLLISION OF A MANIPULATOR DEVICE WITH AN OBSTACLE

Pub. No.:    WO/2018/195569    International Application No.:    PCT/AT2018/000030
Publication Date: Fri Nov 02 00:59:59 CET 2018 International Filing Date: Wed Apr 25 01:59:59 CEST 2018
IPC: B25J 19/00
B25J 19/06
B25J 13/08
Applicants: BLUE DANUBE ROBOTICS GMBH
Inventors: BALDINGER, Andreas
FERNER, Tobias
WOHLKINGER, Walter
ZILLICH, Michael
Title: DETECTING A COLLISION OF A MANIPULATOR DEVICE WITH AN OBSTACLE
Abstract:
The invention relates to a device for detecting a collision of a manipulator device with an obstacle, comprising at least one sensor element, wherein the sensor element has a gas-filled chamber, surrounded by a flexible casing that can be deformed by a collision with an obstacle, and a flexible support structure, wherein the support structure forms a damping element which, together with the casing, dampens forces acting in the event of a collision, as well as comprising a pressure sensor for measuring the gas pressure inside the chamber and securing means for securing the at least one sensor element to the surface of the manipulator device, wherein the securing means comprise at least one bearing element, which can be secured to the surface of the manipulator device, and interlocking elements with which corresponding interlocking elements of the at least one sensor element can be interlockingly connected.