Patent ID: 11878430
Assignee: ROBERT BOSCH GMBH
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 11:
12. A method for operating a handling appliance having at least one handling device that is movable in at least one direction of movement, and a collision protection device configured to limit contact forces due to collisions of the handling device with objects, the collision protection device including a kinematic system having at least one actuator device that inhibits a relative movement of the handling device with respect to a carrier of the handling device and, in a collision, enables the relative movement of the handling device with respect to the carrier, the method comprising:
determining, with an acquisition device, forces acting on the handling device and/or on components of the collision protection device decoupled by the actuator device resulting from movement and/or orientation of the handling device and of the collision protection device;
in the absence of a collision, operating the at least one actuator device to prevent relative movement of the handling device with respect to the carrier of the handling device; and
in response to a collision, operating the at least one actuator device to trigger and/or enable relative movement of the handling device with respect to the carrier of the handling device, wherein:
the at least one actuator device includes first actuators of at least one first axis and second actuators of at least one second axis, and
a mechanical system of the collision protection device is at least partially serial and is configured to trigger the first actuators of the at least one first axis and, upon triggering the first actuator, switch off at least the second actuators of the at least one second axis that further counteract the collision so as to enable a retraction in the at least one second axis even below a triggering threshold.