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

Claim 0:
1. A handling appliance, comprising:
at least one handling device that is movable in at least one direction of movement;
a collision protection device configured to limit contact forces due to collisions of the handling device with objects, the collision protection device comprising a kinematic system that mechanically enables a relative movement of the handling device with respect to a carrier of the handling device, said kinematic system being configured to be inhibited by at least one actuator device and to enable the relative movement in a collision; and
an acquisition device configured to determine forces acting on the at least one actuator device and/or on the handling device and on components of the collision protection device decoupled by the at least one actuator device,
wherein the collision protection device is configured to account for the determined forces and, via the at least one actuator device, the collision protection device is configured to:
in the absence of a collision, prevent relative movement of the handling device with respect to the carrier of the handling device, and
in response to a collision, 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.