JPS61244493A - Robot device - Google Patents
Robot deviceInfo
- Publication number
- JPS61244493A JPS61244493A JP8646685A JP8646685A JPS61244493A JP S61244493 A JPS61244493 A JP S61244493A JP 8646685 A JP8646685 A JP 8646685A JP 8646685 A JP8646685 A JP 8646685A JP S61244493 A JPS61244493 A JP S61244493A
- Authority
- JP
- Japan
- Prior art keywords
- main body
- robot
- circuit
- signal
- section
- 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
Landscapes
- Manipulator (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】 〔発明の技術分野〕 本発明はロボットの安全装置の改良に関する。[Detailed description of the invention] [Technical field of invention] The present invention relates to improvements in safety devices for robots.
一般にロボットの非常緊急停止スイッチは、ロボットの
本体制御部および教示用の操作部に取付けられている。Generally, an emergency stop switch of a robot is attached to a main body control section and a teaching operation section of the robot.
そして操作部は固定されていて本体制御部とは有線によ
り連結されている。従って緊、急にロボットを停止させ
たいような場合は、作業者が本体制御部もしくは操作部
の所まで行き、非常緊急スイッチを動作させる必要があ
゛つた。このためロボットの動作領域近くで作業をして
いる作業者は、非常の場合でもロボットを即座に停止さ
せることができず、極めて危険にさらされるおそれがあ
った。このような欠点をなくすため、本発明者は実願昭
５９−１１１６５号に示す考案をした。The operation section is fixed and connected to the main body control section by wire. Therefore, when it is necessary to stop the robot suddenly, it is necessary for the operator to go to the main body control section or operation section and operate the emergency switch. For this reason, workers working near the robot's operating area may not be able to stop the robot immediately even in an emergency, and may be exposed to extreme danger. In order to eliminate such drawbacks, the present inventor has devised a device disclosed in Utility Model Application No. 11165/1983.
すなわち作業者は携帯自在でかつ無線送信回路をもった
緊急繰作体を携えていて、緊急時にはこれを発信させて
無線連絡により本体制御部に指令してロボットを停止さ
せる安全装置である。In other words, the worker carries a portable emergency robot with a wireless transmission circuit, and in the event of an emergency, this is a safety device that transmits a signal and commands the main body control section via wireless communication to stop the robot.
この考案は従来の欠点をかなり改良したものであるが、
作業者自身が操作して初めてロボットが停止するもので
、全く不用意に作業者がロボットの作業領域に近付いた
ようなときには、必らずしも安全が確保されないという
不都合がありた。Although this idea considerably improves on the drawbacks of the conventional method,
The robot only stops when operated by the worker himself, and this poses an inconvenience in that safety cannot always be ensured if the worker inadvertently approaches the robot's work area.
本発明は上述の不都合を解決するためになされたもので
、作業者が誤って作業領域に近付いた場合に作業者が何
も操作しなくても自動的にロボット本体を停止させる安
全装置を具えたロボット装置を提供することを目的とす
る。The present invention has been made to solve the above-mentioned disadvantages, and includes a safety device that automatically stops the robot body without any operation by the worker if the worker accidentally approaches the work area. The purpose of this invention is to provide a robot device with improved performance.
本発明は電波信号もしくは超音波信号を発信する携帯自
在な発信部と、ロボット本体に取付けられた受信部とを
設けて、作業者が携帯している発信部からの受信信号の
強さが所定の設定値を超えた場合に自動的にロボット本
体を停止させるロボット装置である。The present invention includes a portable transmitter that transmits a radio wave signal or an ultrasonic signal, and a receiver attached to the robot body, so that the strength of the received signal from the transmitter carried by the worker is controlled at a predetermined level. This is a robot device that automatically stops the robot body when the set value is exceeded.
以下、本発明の詳細を図示の一実施例により説明する。 Hereinafter, details of the present invention will be explained with reference to an illustrated embodiment.
本実施例は、ロボット本体部（１）と、これと有線で電
気的に接続された本体制御部（２）と、作業者が携帯し
ていて常時電波信号を発信している発信部（３）と、ロ
ボット本体部（１）に取付けられた受信部（４）とから
構成されている。ロボット本体部（１）は一般公知の多
関節ロボットである。本体制御部（２）はＣＰＵ（中央
処理装置）■を内蔵し、ロボット本体部（１）を動かす
モータυ、これを駆動するドライバー回路（Ｌｌ、ＣＰ
Ｕ（１１）の指令によりドライバー回路０を操作するサ
ーボコントローラα荀およびサーボコントローラＩとＣ
ＰＵ（１１）との間に介挿されてサーボコントローラＩ
の電源を切る緊急停止回路（イ）などからなっている。This embodiment consists of a robot main body part (1), a main body control part (2) that is electrically connected to the main body part by wire, and a transmitter part (3) that is carried by the worker and constantly transmits radio signals. ) and a receiving section (4) attached to the robot main body (1). The robot body (1) is a generally known multi-joint robot. The main body control unit (2) has a built-in CPU (Central Processing Unit) ■, a motor υ that moves the robot main body (1), and a driver circuit (Ll, CP) that drives it.
Servo controller α and servo controllers I and C operate driver circuit 0 according to commands from U (11).
The servo controller I is inserted between the PU (11)
It consists of an emergency stop circuit (a) that turns off the power.
なお各種センサからの入力などの電気系統については一
般公知のものと同様なので省略する。発信部（３）は電
波発信回路（図示せず）を備えていて、作業者に携行さ
れた状態で一定強度の電波信号を連続して常時放出して
いる。Note that the electrical system including inputs from various sensors is the same as that generally known, so a description thereof will be omitted. The transmitting unit (3) is equipped with a radio wave transmitting circuit (not shown), and continuously emits a radio wave signal of a constant strength while being carried by the worker.
受信部（４）は受信回路のと、これに接続された判定回
路臼と、これとＣＰＵ（Ｌｉｔとの間に挿入接続された
停止信号回路のとを具えて構成されている。The receiving section (4) includes a receiving circuit, a determination circuit connected to the receiving circuit, and a stop signal circuit inserted and connected between this and the CPU (Lit).
次に本装置の作用を説明する。まず、本体制御部（２）
によりロボット本体部（１）は所定の作業を行っている
ときに作業者が作業領域に近付いたとする。Next, the operation of this device will be explained. First, the main body control section (2)
Assume that a worker approaches the work area while the robot main body (1) is performing a predetermined work.
作業者は発信部（３）を携行しているので、常時発信さ
れている電波信号は受信部（４）の受信回路（ロ）に入
る。ここに入っ九信号は判定回路のに送られる。Since the worker carries the transmitting section (3) with him, the constantly transmitted radio wave signal enters the receiving circuit (b) of the receiving section (4). The nine signals entering here are sent to the judgment circuit.
ここではその信号は比較回路に入力され、その強度が予
め設定された値より大であるかどうか比較され、大であ
るときは作業者が作業領域に近付きすぎていて、危険で
あると判定し、比較回路は次の停止信号回路（ハ）に電
気信号を送る。停止信号回路に）は直ちにＣＰＵ（１１
）に停止信号を送る。これを受けたＣＰＵＣＩＩ）は緊
急停止回路αＱを作動させてサーボコントローラ（１４
Ｊの電源を直ちに切り、ロボット本体部（１）を停止さ
せる。Here, the signal is input to a comparator circuit and compared to see if its intensity is greater than a preset value, and if so, it is determined that the worker is too close to the work area and is dangerous. , the comparison circuit sends an electric signal to the next stop signal circuit (c). to the stop signal circuit), the CPU (11
) sends a stop signal to Upon receiving this, the CPU II) activates the emergency stop circuit αQ and the servo controller (14
Immediately turn off the power to J and stop the robot body (1).
なお、本実施例においては、電波信号により停止するよ
うに構成したが、超音波を用いてもよいことはもちろん
である。Although this embodiment is configured to stop using a radio signal, it goes without saying that ultrasonic waves may also be used.
以上詳°述したように、本発明のロボット装置は作業者
に携行されて常に電波信号もしくは超音波信号を出して
いる発信部と、ロボット本体部に取付けられた受信部と
を設け、受信した信号の強度が設定値を超えたときロボ
ット本体部を停止させるように構成したので、作業者自
身が何も操作しなくても、その安全は確保される。As described in detail above, the robot device of the present invention is provided with a transmitter that is carried by a worker and constantly emits radio signals or ultrasonic signals, and a receiver that is attached to the robot body. Since the robot body is configured to stop when the signal strength exceeds a set value, safety is ensured without the operator performing any operations.
第１図は本発明の一実施例の全体構成図、第２図は同じ
く電気回路の説明図である。
（１） ： Ｇ＋ポット本体部 （２）二本体制輝部（
３）：発信部 （４）：受信部（１４） ：サ
ーボコントローラ
（２）：緊急停止回路 の二判定回路＠：停止信号回
路
代理人 弁理士 則 近 憲 佑
（ほか１名）FIG. 1 is an overall configuration diagram of an embodiment of the present invention, and FIG. 2 is an explanatory diagram of the electric circuit. (1): G + pot main body (2) Dual shining part (
3): Transmitting section (4): Receiving section (14): Servo controller (2): Emergency stop circuit Two judgment circuits @: Stop signal circuit Representative Patent attorney Kensuke Chika (and 1 other person)
Claims (3)
波もしくは超音波による信号を連続的に発信しかつ作業
者が携帯自在な発信部と、上記ロボット本体に取付けら
れ上記発信部からの信号を空間を介して受信しこの信号
が設定値を越えたとき上記本体制御部に上記ロボット本
体の停止指令を出させる受信部とを具備したことを特徴
とするロボット装置。(1) A robot main body, a main body control unit that controls the robot main body, a transmitter that continuously transmits radio waves or ultrasonic signals in space and can be carried by the worker, and is attached to the robot main body. a receiving section that receives a signal from the transmitting section via space and causes the main body control section to issue a stop command to the robot main body when the signal exceeds a set value. .
この判定回路の出力により本体制御部に緊急停止の信号
を出力する停止信号回路を有することを特徴とする特許
請求の範囲第１項記載のロボット装置。(2) The receiving section has a determination circuit that determines the strength of the radio wave signal and a stop signal circuit that outputs an emergency stop signal to the main body control section based on the output of this determination circuit. Robotic device described in section.
ントローラの電源を切る緊急停止回路を具えていること
を特徴とする特許請求の範囲第２項記載のロボット装置
。(3) The robot device according to claim 2, wherein the main body control section includes an emergency stop circuit that turns off power to the servo controller by outputting the stop signal circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8646685A JPS61244493A (en) | 1985-04-24 | 1985-04-24 | Robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8646685A JPS61244493A (en) | 1985-04-24 | 1985-04-24 | Robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61244493A true JPS61244493A (en) | 1986-10-30 |
Family
ID=13887732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8646685A Pending JPS61244493A (en) | 1985-04-24 | 1985-04-24 | Robot device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61244493A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11249702A (en) * | 1998-03-05 | 1999-09-17 | Toshiba Corp | Mobile terminal system for operation of field equipment |
| JP2004243427A (en) * | 2003-02-12 | 2004-09-02 | Yaskawa Electric Corp | Robot control device and robot control method |
| JP2005314059A (en) * | 2004-04-28 | 2005-11-10 | Fuji Heavy Ind Ltd | Safety system of refuse collection vehicle |
| JP2006036466A (en) * | 2004-07-27 | 2006-02-09 | Morita Econos Corp | Refuse charging port safety device in refuse collecting vehicle |
| JP2006043862A (en) * | 2004-08-09 | 2006-02-16 | Honda Motor Co Ltd | Man-machine work system |
| JP2006043861A (en) * | 2004-08-09 | 2006-02-16 | Honda Motor Co Ltd | Man-machine work system |
| WO2009119379A1 (en) * | 2008-03-28 | 2009-10-01 | 株式会社 ダイヘン | Robot control system |
| JP2019193974A (en) * | 2019-06-11 | 2019-11-07 | ファナック株式会社 | Robot system and robot control method |
| WO2021033241A1 (en) * | 2019-08-19 | 2021-02-25 | オムロン株式会社 | Robot control system |
-
1985
- 1985-04-24 JP JP8646685A patent/JPS61244493A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11249702A (en) * | 1998-03-05 | 1999-09-17 | Toshiba Corp | Mobile terminal system for operation of field equipment |
| JP2004243427A (en) * | 2003-02-12 | 2004-09-02 | Yaskawa Electric Corp | Robot control device and robot control method |
| JP2005314059A (en) * | 2004-04-28 | 2005-11-10 | Fuji Heavy Ind Ltd | Safety system of refuse collection vehicle |
| JP2006036466A (en) * | 2004-07-27 | 2006-02-09 | Morita Econos Corp | Refuse charging port safety device in refuse collecting vehicle |
| JP2006043862A (en) * | 2004-08-09 | 2006-02-16 | Honda Motor Co Ltd | Man-machine work system |
| JP2006043861A (en) * | 2004-08-09 | 2006-02-16 | Honda Motor Co Ltd | Man-machine work system |
| WO2009119379A1 (en) * | 2008-03-28 | 2009-10-01 | 株式会社 ダイヘン | Robot control system |
| US20110010006A1 (en) * | 2008-03-28 | 2011-01-13 | Daihen Corporation | Robot control system |
| JPWO2009119379A1 (en) * | 2008-03-28 | 2011-07-21 | 株式会社ダイヘン | Robot control system |
| US8660690B2 (en) | 2008-03-28 | 2014-02-25 | Daihen Corporation | Robot control system |
| JP2019193974A (en) * | 2019-06-11 | 2019-11-07 | ファナック株式会社 | Robot system and robot control method |
| WO2021033241A1 (en) * | 2019-08-19 | 2021-02-25 | オムロン株式会社 | Robot control system |
| JPWO2021033241A1 (en) * | 2019-08-19 | 2021-02-25 |
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