JPS58177296A - Danger preventive device for robot - Google Patents
Danger preventive device for robotInfo
- Publication number
- JPS58177296A JPS58177296A JP6063682A JP6063682A JPS58177296A JP S58177296 A JPS58177296 A JP S58177296A JP 6063682 A JP6063682 A JP 6063682A JP 6063682 A JP6063682 A JP 6063682A JP S58177296 A JPS58177296 A JP S58177296A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- pressure
- dangerous area
- sensitive mat
- teaching operation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は、ロボットの危険防止装置に関し、特にロボッ
ｌ−の教示動作に伴う危険区域内に人間が立入ったこと
を感圧マットで感知してロボットの教示動作を停止させ
るようにしたロボットの危険防止装置に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a danger prevention device for a robot, and in particular, a pressure-sensitive mat that detects when a person enters a dangerous area associated with a robot's teaching motion to prevent the robot from teaching. This invention relates to a safety device for a robot that is designed to stop the robot.
従来のロボットは教示動作を反復するもので、この教示
動作範囲内に人間が誤って立入ることにより衝突事故が
起きる可能性がある。そこで、事故を防止するためにロ
ボットの制御機能に人間を感知する機能を附加して、教
示動作を停止するように構成したものがあるが、制御機
能に感知制御を附加することは装置が複雑となり、コス
トが高くなる。又、特開昭５４−３１１６３号に示すよ
うに、人間の位置をロボットの動作範囲の床面の位置と
して検出して動作を停止するものがあるが、これは装置
が大規模になり、コスト高になるという問題がある。そ
の他の手段としては、ロボットの教示範囲をフェンスで
囲って、フェンスを開くとスイッチが動作してロボット
の動作を停止するようにしたものなどがあるが、これは
大規模なフェンスを設置するのでコストが高くなるとい
う問題がある。Conventional robots repeat teaching motions, and if a human accidentally enters the teaching motion range, a collision may occur. Therefore, in order to prevent accidents, some robots have been configured to stop the teaching operation by adding a function to detect humans to the control function of the robot, but adding sensing control to the control function requires complicated equipment. Therefore, the cost becomes high. Furthermore, as shown in Japanese Patent Application Laid-open No. 54-31163, there is a robot that detects the position of a human being on the floor within the robot's operating range and stops the robot, but this requires a large-scale device and is costly. There is a problem with getting high. Other methods include surrounding the robot's teaching range with a fence so that when the fence is opened, a switch is activated to stop the robot's operation, but this requires a large-scale fence. There is a problem in that the cost is high.
本発明は上記問題点を解決するもので、ロボットの教示
動作に伴う危険区域内に感圧マツｈを敷設することによ
り、人間が危険区域内に立入ったことを感知させてロボ
ットの教示動作を停止させるように構成したロボットの
危険防止装置を提供するものである。The present invention solves the above-mentioned problems by installing a pressure-sensitive pine h in the dangerous area accompanying the teaching operation of the robot, so that it can sense when a human enters the dangerous area, and the robot can perform the teaching operation. To provide a danger prevention device for a robot configured to stop the robot.
以下、本発明の実施例を図面に基づいて詳細に説明する
。Embodiments of the present invention will be described in detail below with reference to the drawings.
第１図〜第２図は本発明の実施例を示すもので、ロボッ
ト１は、第１図示のように本体６に内蔵されているプロ
グラミングに従って、左右及び円周方向に教示動作を行
うものとすると、ロボット１の教示動作に伴う危険区域
２は図示のように長楕円形状となる。この危険区域２の
圧面には感圧マット３を全体的に敷設している。なお、
この感圧Ｍｌ’１
マツＩ−は第３図示のように、市松模様にあるいは適当
に各ニレメン１−を点在させて敷設してもよく、この際
、如何なる箇所に人間が立入っても必ずいずれかのエレ
メントを踏むことができるように、各エレメントの間隔
は人間の足の長さより狭くなるように配置している。又
、第４図示のように、危険区域の周囲に帯状に敷設して
もよく、あるいは、周囲に沿ってうず巻状に敷設しても
よい。いずれの場合にも感圧マット３の使用面積が少な
くてすむので、経済的である。感圧マット３は危険区域
２内に立入った人間を感知するためのもので、感圧マッ
ト３には加圧導電ゴム等に電極を取付けたマットを用い
てもよい。この感圧マット３を人間が足で踏めば、その
自重によりマットに圧力が加わるから、抵抗値が急激に
低下してオフ状態からオン状態に変化して電流が流れる
。これを感知信号としてロボット１に入力するように構
成している。感圧効果を大１こするには、突起で覆われ
た板で片面を押えるようにしておけば、突起部の圧力は
大となるから感度がよくなる。あるいは突起状の電極を
用いても同様の効果が得られる。加圧導電ゴムを用いた
場合には柔軟であるから取扱いが容易であるとともに、
レイアウトも容易である。Figures 1 and 2 show an embodiment of the present invention, in which the robot 1 performs teaching movements in the left-right and circumferential directions according to the programming built into the main body 6 as shown in the first figure. Then, the dangerous area 2 associated with the teaching operation of the robot 1 becomes an elongated oval shape as shown in the figure. A pressure-sensitive mat 3 is laid entirely on the pressure surface of this dangerous area 2. In addition,
This pressure-sensitive Ml'1 pine I- may be laid in a checkered pattern or with the elms 1- suitably scattered as shown in the third diagram, and in this case, no human can enter any part. To ensure that you can always step on one of the elements, the distance between each element is narrower than the length of a human foot. Further, as shown in the fourth figure, the wires may be laid in a band shape around the danger area, or they may be laid in a spiral shape along the periphery. In either case, the area used for the pressure sensitive mat 3 is small, so it is economical. The pressure-sensitive mat 3 is for sensing a person who has entered the dangerous area 2, and a mat in which electrodes are attached to pressurized conductive rubber or the like may be used as the pressure-sensitive mat 3. When a person steps on this pressure-sensitive mat 3 with his/her foot, pressure is applied to the mat due to his/her own weight, so that the resistance value rapidly decreases and the state changes from the OFF state to the ON state, causing a current to flow. This is configured to be input to the robot 1 as a sensing signal. In order to greatly increase the pressure-sensitive effect, if one side is pressed down with a plate covered with protrusions, the pressure on the protrusions will be large and the sensitivity will be improved. Alternatively, a similar effect can be obtained by using a protruding electrode. When using pressurized conductive rubber, it is flexible and easy to handle.
The layout is also easy.
ロボット１には、感圧マット３からの感知信号を判別す
る信号判別回路４と、感知信号が入力している期間、ロ
ボット本体６の教示動作を停止させる教示動作停止回路
５と、感知信号がなくなったことを検知して自動的にロ
ボットの教示動作を開始させるための自動復帰回路７と
を設けている。The robot 1 includes a signal discrimination circuit 4 that discriminates the sensing signal from the pressure-sensitive mat 3, a teaching operation stop circuit 5 that stops the teaching operation of the robot body 6 while the sensing signal is input, and a teaching operation stop circuit 5 that stops the teaching operation of the robot body 6 while the sensing signal is input. An automatic return circuit 7 is provided for detecting the absence of the robot and automatically starting the teaching operation of the robot.
次に、危険区域２内に人間が立入った場合について説明
する。Next, a case where a person enters the danger area 2 will be explained.
ロボット１が動作中に、人間が危険区域２内に立入ると
、人間の自重により加圧導電ゴム３は抵抗値が急激に変
化してオフ状態からオン状態となり多くの電流が流れる
。この電流が感知信号として信号判別回路４から教示動
作停止回路５に入力する。教示動作停止回路５からは、
加圧導電ゴムがオン状態にある間、即ち、危険区域２内
に人間が立入っている間中停止信号を出力して、ロボッ
ト本体６の教示動作を停止する。When a person enters the dangerous area 2 while the robot 1 is operating, the resistance value of the pressurized conductive rubber 3 changes rapidly due to the person's own weight, changing from an off state to an on state, and a large amount of current flows. This current is input as a sensing signal from the signal discrimination circuit 4 to the teaching operation stop circuit 5. From the teaching operation stop circuit 5,
While the pressurized conductive rubber is in the ON state, that is, while a person is in the dangerous area 2, a stop signal is output to stop the teaching operation of the robot body 6.
（４）
人間が危険区域２を脱出すると、加圧導電ゴム３がオフ
状態となり、このオフ状態を信号判別回路４を介して自
動復帰回路７で検出して動作開始信号をロボット本体６
に入力すれば再びロボット１は教示動作を開始する。(4) When a person escapes from the danger area 2, the pressurized conductive rubber 3 turns off, and this off state is detected by the automatic return circuit 7 via the signal discrimination circuit 4, and an operation start signal is sent to the robot body 6.
If input to , the robot 1 starts the teaching operation again.
第５図は、他の実施例を示すもので、危険区域２内を移
動するロボット１のアーム１ａの表面に感圧マットとし
て例えば加圧導電ゴム３ａを貼着している。ロボット１
には加圧導電ゴム３ａからの感知信号により、教示動作
をただちに停止する回路を設けている。このように構成
しているので、人間が危険区域２内に立入った場合、何
等かの原因でロボットが停止しない時でも、最悪の状態
ではあるが、アーム１ａが人間に衝突した際の接触圧を
感知して直ちに停止するから、二重の危険防止になる。FIG. 5 shows another embodiment, in which a pressure-sensitive conductive rubber 3a, for example, is attached as a pressure-sensitive mat to the surface of the arm 1a of the robot 1 moving within the dangerous area 2. robot 1
is provided with a circuit that immediately stops the teaching operation in response to a sensing signal from the pressurized conductive rubber 3a. With this configuration, even if a human enters the danger area 2 and the robot does not stop for some reason, even if the robot does not stop due to some reason, contact will occur if the arm 1a collides with the human. It detects pressure and immediately stops, which prevents double danger.
特にロボット１のティチングの際などには直接人間がロ
ボット１に接近しアーム１８等に触れるため、何らかの
原因で不測の動作をするようなことがあっても、本発明
のごとく停止信号が発せられていれば危険につながるこ
とはない。In particular, when teaching the robot 1, a human directly approaches the robot 1 and touches the arm 18, etc., so even if an unexpected movement occurs for some reason, a stop signal is issued as in the present invention. There is no danger if you do so.
以上述べたように、本発明によればロボットの教示動作
に伴う危険区域内に人間の自重を感知する感圧マットを
敷設するとともに、この感圧マットの感知信号が出力し
ている間口ボットの教示動作を停止する手段を設けたの
で、簡単な構成でロボットと人間との衝突を防止するこ
とができる。As described above, according to the present invention, a pressure-sensitive mat that senses the weight of a person is laid in a dangerous area associated with the robot's teaching operation, and a frontage bot that outputs a sensing signal from the pressure-sensitive mat is installed. Since a means for stopping the teaching operation is provided, a collision between the robot and a human can be prevented with a simple configuration.
その上口ボットのアームがつかんでいる品物を落下させ
た場合にもロボッ１−の動作は停止するから、ロボット
の内部に、品物の落下を検出する回路を組込む必要もな
く、それだけロボットの構成が簡単になる。また、アー
ムにも感圧マットを貼着しておけば二重の安全装置を施
すことができる。Since the robot 1- will stop operating even if the item it is holding on to is dropped by the arm of the upper mouth bot, there is no need to incorporate a circuit inside the robot to detect the dropping of the item. becomes easier. Additionally, by attaching a pressure-sensitive mat to the arm, you can provide a double safety device.
以上、本発明につき好適な実施例を挙げて種々説明した
が、本発明はこの実施例に限定されるものではなく、発
朗の精神を逸脱しない範囲内で多くの改変を施し得るの
はもちろんのことである。The present invention has been variously explained above with reference to preferred embodiments, but the present invention is not limited to these embodiments, and it goes without saying that many modifications can be made without departing from the spirit of Hatsuro. It is about.
第１図〜第２図は本発明の実施例を示す平面図及びブロ
ック図、第３図、第４図は感圧マットの（７）
敷設状態を示す図、第５図は本発明の他の実施例を示す
要部平面図である。
１・・・・ロボット＋ ｌａ・・・・アーム、
２・・・・危険区域、 ３・・・・感圧マット＋ ３
ａ・・・・加圧導電ゴム、 ４・・・・信号判別回路
、 ５・・・・教示動作停止回路、 ６・・・・本体
、 ７・・・・自動復帰回路。
特許出願人
有限会社 共立精機工業
代表者 山 崎 芳 信
（８）
第１図
第２図
第３図
第４図Figures 1 and 2 are plan views and block diagrams showing embodiments of the present invention, Figures 3 and 4 are views showing the (7) laying state of the pressure sensitive mat, and Figure 5 is a diagram showing the embodiment of the present invention. FIG. 1...Robot + la...Arm,
2... Dangerous area, 3... Pressure sensitive mat + 3
a: Pressurized conductive rubber, 4: Signal discrimination circuit, 5: Teaching operation stop circuit, 6: Main body, 7: Automatic return circuit. Patent Applicant Limited Company Kyoritsu Seiki Kogyo Representative Yoshinobu Yamazaki (8) Figure 1 Figure 2 Figure 3 Figure 4
Claims (1)
してあり、この危険区域内に立入った人間の自重を感知
する感圧マットと、この感圧マットの感知信号が出力し
ている間上記ロボットの教示動作を停止させる手段とを
具備したロボットの危険防止装置。 ２、ロボットの教示動作に伴う危険区域内の床面に敷設
してあり、この危険区域内に立入った人間の自重を感知
する第１の感圧マットと、上記危険区域内を移動するロ
ボットのアームに貼着してあり、このアームと上記人間
との接触圧を感知する第２の感圧マットと、上記第１の
感圧マットの感知信号が出力している間上記ロボットの
教示動作を停止させる第１の手段と、この第１の手段が
非動作の時、上記第２の感圧マットからの感知信号によ
り上記ロボットの教示動作を停止させる第２の手段とを
具備したことを特徴とするロボットの危険防止装置。[Claims] 1. A pressure-sensitive mat that is laid on the floor in a dangerous area associated with the robot's teaching operation and that senses the weight of a person who has entered the dangerous area; A danger prevention device for a robot, comprising means for stopping the teaching operation of the robot while the sensing signal is being output. 2. A first pressure-sensitive mat that is laid on the floor in a dangerous area that is accompanied by the robot's teaching motion and that senses the weight of a person who has entered the dangerous area, and a robot that moves within the dangerous area. A second pressure-sensitive mat is attached to the arm of the robot and senses the contact pressure between the arm and the human, and while the first pressure-sensitive mat is outputting a sensing signal, the robot is instructed to operate. and a second means for stopping the teaching operation of the robot in response to a sensing signal from the second pressure-sensitive mat when the first means is inactive. Characteristic robot hazard prevention device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6063682A JPS58177296A (en) | 1982-04-12 | 1982-04-12 | Danger preventive device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6063682A JPS58177296A (en) | 1982-04-12 | 1982-04-12 | Danger preventive device for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS58177296A true JPS58177296A (en) | 1983-10-17 |
Family
ID=13147996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6063682A Pending JPS58177296A (en) | 1982-04-12 | 1982-04-12 | Danger preventive device for robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58177296A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1985003472A1 (en) * | 1984-01-31 | 1985-08-15 | Fanuc Ltd | Robot system safety method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5032929U (en) * | 1973-07-23 | 1975-04-10 | ||
| JPS543760A (en) * | 1977-06-08 | 1979-01-12 | Shin Meiwa Ind Co Ltd | Safety device for industrial robot |
| JPS5431163A (en) * | 1977-08-15 | 1979-03-07 | Hitachi Ltd | Robot controlling method for preventing collision of the robot with man |
| JPS54146371A (en) * | 1978-05-10 | 1979-11-15 | Kobe Steel Ltd | Safety apparatus for robot |
-
1982
- 1982-04-12 JP JP6063682A patent/JPS58177296A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5032929U (en) * | 1973-07-23 | 1975-04-10 | ||
| JPS543760A (en) * | 1977-06-08 | 1979-01-12 | Shin Meiwa Ind Co Ltd | Safety device for industrial robot |
| JPS5431163A (en) * | 1977-08-15 | 1979-03-07 | Hitachi Ltd | Robot controlling method for preventing collision of the robot with man |
| JPS54146371A (en) * | 1978-05-10 | 1979-11-15 | Kobe Steel Ltd | Safety apparatus for robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1985003472A1 (en) * | 1984-01-31 | 1985-08-15 | Fanuc Ltd | Robot system safety method |
| JPS60160409A (en) * | 1984-01-31 | 1985-08-22 | Fanuc Ltd | Safety method of robot system |
| US4697979A (en) * | 1984-01-31 | 1987-10-06 | Fanuc Ltd. | Robot system safety method |
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