WO1993022110A1 - Safety apparatus - Google Patents
Safety apparatus Download PDFInfo
- Publication number
- WO1993022110A1 WO1993022110A1 PCT/JP1992/000578 JP9200578W WO9322110A1 WO 1993022110 A1 WO1993022110 A1 WO 1993022110A1 JP 9200578 W JP9200578 W JP 9200578W WO 9322110 A1 WO9322110 A1 WO 9322110A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- output signal
- work
- circuit
- output
- light emitting
- Prior art date
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
- B25J19/06—Safety devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
Definitions
- the present invention has a common workplace between industrial machines such as robots and humans.
- 'It relates to safety devices to ensure human safety in one space.
- a work for machining must be carried into a work area of a robot movable part, for example, a robot arm.
- the present invention has been made in view of the above-mentioned problems, and can surely stop the power supply of the movable parts of the machine when a human enters the safety car surrounding the industrial machine.
- An object of the present invention is to provide a safety device that does not stop the power supply.
- the present invention determines whether a passing object is a human or a work at an entrance and exit of a work space of a machine that processes a carried-in work, and a movable part of the machine when a human passes through the entrance and exit.
- a safety device for securing the safety of humans by generating a drive stop signal of the formula (1), wherein the output signal energy decreases when an object passing through the entrance is detected, and the output signal energy state is erroneously reduced in the event of failure.
- a first object detecting means for detecting humans, and a work detecting means configured to increase output signal energy when an object passing through the entrance is detected and to reduce output signal energy in a decreasing direction in the event of a failure.
- Second object detecting means and logical sum calculating means for calculating a logical sum of an output signal of the first object detecting means and an output signal of the second object detecting means.
- the output signal energy state of the calculation means is expressed as logical values 1 and 0 as binary variables. At this time, the output of the logical value 0 corresponding to the low energy state is configured to be the drive stop signal of the mechanical movable section.
- the output signal energy of the first object detection means decreases.
- the output signal energy of the second object detecting means increases, so that the logical sum calculating means uses the logical value corresponding to the high energy state based on the output of the second object detecting means. Generates 1 output.
- the object passing through the doorway is determined to be a work, and the incoming work is processed while the movable state is maintained without generating a drive stop signal for the mechanical movable part.
- the output signal energy of the second object detecting means does not increase, and the logical sum calculating means generates an output of a logical value 0 corresponding to the low energy state.
- the object passing through the doorway is determined to be a human, and a drive stop signal for the mechanical movable part is generated to stop the drive of the movable part, thereby ensuring human safety.
- the first object detecting means includes: a plurality of light emitting elements vertically arranged on one side of a wall face of the working space entrance facing each other; and a plurality of light emitting elements provided for each light emitting element and having different frequencies.
- a plurality of excitation circuits that excite the light emitting elements to generate light beams from the corresponding light emitting elements, and a plurality of excitation circuits arranged in the vertical direction facing the light emitting elements on the other side of the wall surface, and when no object exists.
- a plurality of light receiving elements for receiving a light beam from a facing light emitting element, and a plurality of filter circuits provided for each light receiving element and passing only a frequency signal of a light beam generated by the light emitting element facing the corresponding light receiving element.
- a plurality of amplifier circuits for amplifying the output signal of each filter circuit, respectively. What is necessary is just to comprise a plurality of rectifying circuits for rectifying, and a logical product calculating means for calculating the logical product of the output signals of the plurality of rectifying circuits to generate an output, and for outputting a logical value of 0 when a failure occurs.
- the second object detection means includes: a transmission coil installed at the entrance and exit of the work space; an excitation circuit for exciting the transmission coil to generate an AC signal; and receiving an AC signal from the transmission coil.
- a level test circuit that generates an output signal having a logical value of 1 corresponding to the high energy state in the above case, the output signal energy of the receiving coil increases based on the electromagnetic induction action when the work to be detected exists. What is necessary is just to make it the structure which the output signal level of the said rectifier circuit input into the said level determination circuit becomes more than predetermined level.
- the mark to be detected by the second object detecting means is made of metal.
- the work to be detected is not metal
- the work may be placed on a pallet, conveyed, and a metal may be attached to the pallet.
- the detection sensitivity can be increased.
- the pallet may be provided with information transmitting means capable of transmitting various information related to a work processing operation of a machine to a receiving coil.
- FIG. 1 is a diagram that models a machine working system to which the present invention is applied.
- FIG. 2 is a simplified configuration diagram showing an example of the arrangement of a human detection sensor and a work detection sensor according to one embodiment of the present invention.
- FIG. 3 is a circuit configuration diagram of the human detection sensor.
- FIG. 4 is a circuit configuration diagram of the work detection sensor.
- FIG. 5 is a diagram showing a final output circuit of the safety device of the present embodiment.
- FIG. 6 is a view showing another embodiment of a pallet on which a work is placed.
- FIG. 1 shows an example of a work system to which the present embodiment is applied.
- each of the robots 1 and 2 including the working areas A and B (shown by a circle in the figure) of the arm that is a movable part is surrounded by safety fences 3 and 4.
- Entrances a and b are formed in the safety doors 3 and 4, respectively, and an entrance c is also formed in a safety door portion provided between the both-bottoms.
- the work is carried into the safety fence 3 from the entrance a and is processed by the robot 1, then is carried into the safety fence 4 through the entrance c, is processed by the robot 2, and is processed through the entrance b. It is carried out.
- This work is automatically and continuously transferred by, for example, a belt conveyor.
- FIG. 1 At each of the entrances a to c, a human detection sensor as first object detection means for human detection, described below, and a metal work A work detection sensor is provided as second object detection means for detecting M.
- the human detection sensor is configured as follows.
- Each light - emitting element lOi.li. ⁇ ⁇ ⁇ 10 n is a third figure showing as different frequency f I. F 2.
- the light receiving element lh.11 2 ... Ll n receives the light beam from the light emitting element 10 10 2 ... 10 when the object is not present, converts the light beam into an electric signal, and converts the converted output.
- the work detection sensor is configured as follows.
- the transmitting coil 21 and the receiving coil 21 are positioned close to the workpiece passing through the entrance.
- the communication coil 22 is arranged.
- the coil width L of these two coils 21 and 22 is sufficiently longer than the wall thickness of the entrance and exit in the work transfer direction.
- the transmission coil 21 is excited by a signal generation circuit 23 as an excitation circuit.
- the reception coil 22 receives the signal from the transmission coil 21 and when the work M is present, the energy of the reception output increases due to the electromagnetic induction action, and this output signal is input to the AC amplifier 24.
- the amplified output of the AC amplifier 24 is rectified by the rectifier circuit 25, and then rectified by a conventionally known comparator (US Pat. No. 4,661,880, US Pat. No.
- the data is input to a level test circuit 26 using data.
- the level test circuit 26 generates an output Y having a logical value of 1 or a port-level logical value of 0 based on the level of the input signal from the rectifier circuit 25.
- the output signal level from is above a predetermined level (logic level corresponding to logic value 1), and a logic 1 output is generated. It is desirable that the threshold level of the level verification circuit 26 be set higher than a level that is increased by the electromagnetic induction action of the metal member existing near the entrance and exit when the workpiece M does not exist.
- the output X of the AND gate 16 and the output Y of the level test circuit 26 are input to an OR gate 30, and based on the output Z of the OR gate, the output Z of the OR gate is set to a logical value of 1.
- the drive power of the robot arm is held in the ON state to permit driving, and the drive power of the robot arm is set to 0 FF when the output Z of the OR gate is a logical value 0. ⁇
- a sensor with a structure in which the light beam emitted from the light-emitting element is always received by the light-receiving element and is interrupted by the presence of an object so that the light beam is not received by the light-receiving element.
- the receiving side increases the reception energy due to the presence of the object on the receiving side.
- the output signal is in the absence of a person in the event of a failure despite the presence of a person, resulting in a dangerous error.
- a sensor with such a structure has an output signal form that indicates the presence of a human at the time of a failure, and will never make an error on the safe side nor make an error on the dangerous side.
- the human detection sensor having a configuration in which the output signal energy decreases when an object is detected is an output signal form indicating the presence of a human at the time of failure, and is a safe sensor.
- the senor for work detection is to maintain the ⁇ -bot movable part in the driving state when a work is detected, and to generate a movable part drive signal due to an increase in output signal energy when the work is detected.
- the drive signal of the robot movable part is not generated, and the movable part of the mouth is stopped, so that an error that is mistaken for humans on the safe side is made. It becomes an aile-safe sensor.
- the AC signal from the transmission coil 21 is strengthened by the electromagnetic induction action and received by the reception coil 22, and the energy of the output signal of the reception coil 22 increases.
- the output signal with the increased energy of the receiving coil 22 is amplified by an AC amplifier 24 and rectified by a rectifier 25, and then input to a level detector 26.
- the level of the input signal from the rectifier circuit 25 is higher than a predetermined level due to an increase in the output signal energy of the receiving coil 22, and the output signal Y of the level test circuit 26 has a logical value 1.
- the output Z of the OR gate 30 for calculating the logical sum of the output signal X and the output signal Y becomes the logical value 1, and the robot movable part can be driven. It is kept in the state, and the work of the work can be performed.
- the sensor for human detection is at least one of the light emitting elements 10 ⁇ . 10 2 .
- the electromagnetic induction does not occur when humans pass, and the reception energy of the reception coil 22 does not increase and the energy of the output signal of the reception coil 22 does not increase.
- the output signal level of the rectifier circuit 25 is lower than the predetermined level of the level test circuit 26, and the output signal Y of the level test circuit 26 becomes a logical value 0.
- both the output signal X and the output signal Y have a logical value of 0, and the output signal Z of the OR gate 30 becomes the logical value and stops driving of the robot movable part.
- the moving parts of the robot stop and the safety of humans entering the safety area is secured.
- the output signal X of the AND gate 16 has a logical value of 0, ie, a signal indicating the presence of an object (human).
- the output signal of the OR gate 30 becomes a logical value 0, and the robot movable section is immediately stopped.
- the energy of the output signal of the receiving coil 22 does not increase, and the output signal of the level test circuit 26 has a logical value of 0, that is, a signal form indicating that the work does not exist.
- the output of the OR gate 30 becomes the logical value 0, and the robot movable part stops.
- the human detection sensor is configured to reduce the output signal energy due to the presence of the object
- the work detection sensor is configured to increase the output signal energy due to the presence of the object. If the drive of the robot movable part is controlled by the output, the robot It is possible to reliably discriminate between a human and a work entering the work space of a robot, to ensure human safety in a fail-safe configuration, and to prevent a reduction in work efficiency in a work system that automatically transports the work.
- the light emitting element 1 ( ⁇ .102. the 11 "fill evening circuit 13 teeth 13 2 to fill evening-ring output signal from the ⁇ ⁇ ⁇ 13.” provided - with to have different frequencies in beams, light receiving element 11, .11 2 .... since also corresponds to the light beams from the light emitting elements other than the light-emitting element is incident Fi le evening circuit 13, .13 2 ... -. since 13 can Chikara' DOO this with filter-ring operation ", such It is possible to prevent the AND gate 16 from generating an erroneous output due to the reception of a light beam.
- the workpiece is made of metal.
- the workpiece can be placed on a pallet as shown in FIGS. 6 (A) to 6 (C) and transported. Good.
- FIG. 6 (A) shows an example of a pallet 40 in which metal m is embedded.
- the work detection sensor operates in the same manner as described above due to the electromagnetic induction effect of the metal m in the pallet 40, and the pallet 40 By detecting 40, peaks can be detected indirectly.
- FIG. 6 (B) shows an example of a pallet 50 in which a resonance circuit including a coil 51 and a capacitor 52 that resonate with an AC signal generated from the transmission coil 21 is embedded.
- FIG. 6 (C) shows an example of a pallet 60 in which a coil 61 and a transmitter 62 connected to the coil 61 are embedded (in this case, the transmission coil in FIG. 2). (There is no need for the signal 21 and the signal generation circuit 23).
- information relating to the pallet 60 and the work M placed thereon, etc. such as information such as the type and number of the work, the number of the pallet, etc., which have been previously coded and stored.
- information relating to the pallet 60 and the work M placed thereon, etc. such as information such as the type and number of the work, the number of the pallet, etc., which have been previously coded and stored.
- the information is transmitted from the transmitter 62 as a code signal and transmitted to the receiving coil 22.
- the information is processed as the processing information of the work on the pallet 60 and the pallet management information on the side of the mouth bot by the passage of the pallet 60. It is possible to build a transmission system.
- a sensor using electromagnetic induction is shown as a work detection sensor.
- a light emitting element and a light receiving element are arranged on the same side, and a light beam from the light emitting element is applied to a work or a palette.
- the light A workpiece detection sensor configured to perform detection may be used.
- the work or pallet detection information is transmitted as an increase in the output signal energy of the light receiving element, which is the same as that using the electromagnetic induction action of the present embodiment.
- a metal or a coil may be directly attached to a nonmetal object without using a pallet.
- a sensor configured to transmit object detection information as a decrease in output signal energy on the receiving side is used as a sensor for human detection, and object detection information is output from the output signal energy on the receiving side.
- a sensor configured to transmit as an increase is used as a peak detection sensor, and the drive and stop of the mechanical moving part are controlled based on the logical sum output of both sensors, so if there is no output signal in the event of a sensor failure, Since the moving parts of the machine always stop, it has excellent fail-safety and can ensure the safety of workers.
- the present invention is directed to an automation work system for processing a work using an industrial machine such as a robot.
- an automation work system the safety of a worker working in a common workplace with the machine is remarkably improved, and an accident by the machine of the worker is prevented.
- Industrial applicability is great because it can be prevented before it happens.
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- General Engineering & Computer Science (AREA)
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- Geophysics And Detection Of Objects (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69218436T DE69218436T2 (en) | 1992-05-01 | 1992-05-01 | PROTECTIVE DEVICE |
PCT/JP1992/000578 WO1993022110A1 (en) | 1992-05-01 | 1992-05-01 | Safety apparatus |
EP92909644A EP0598119B1 (en) | 1992-05-01 | 1992-05-01 | Safety apparatus |
US08/170,306 US5428279A (en) | 1992-05-01 | 1994-03-02 | Safety apparatus determining whether a detected presence is a work piece or a human |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP1992/000578 WO1993022110A1 (en) | 1992-05-01 | 1992-05-01 | Safety apparatus |
US08/170,306 US5428279A (en) | 1992-05-01 | 1994-03-02 | Safety apparatus determining whether a detected presence is a work piece or a human |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1993022110A1 true WO1993022110A1 (en) | 1993-11-11 |
Family
ID=26433444
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1992/000578 WO1993022110A1 (en) | 1992-05-01 | 1992-05-01 | Safety apparatus |
Country Status (1)
Country | Link |
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WO (1) | WO1993022110A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019038588A (en) * | 2017-08-25 | 2019-03-14 | 大森機械工業株式会社 | Pillow packaging machine |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS56168102A (en) * | 1980-11-14 | 1981-12-24 | Hitachi Ltd | Noncontacting type differential detector |
JPS58132492A (en) * | 1982-02-01 | 1983-08-06 | 株式会社井上ジャパックス研究所 | Robot device |
JPS58126199U (en) * | 1982-02-18 | 1983-08-27 | 新明和工業株式会社 | Personnel safety equipment for industrial robots |
JPS61100118U (en) * | 1984-12-05 | 1986-06-26 | ||
JPS61168493A (en) * | 1984-12-31 | 1986-07-30 | ウエスチングハウス エレクトリック コ−ポレ−ション | Robot device |
JPS62130847U (en) * | 1986-02-13 | 1987-08-18 | ||
JPS6384892A (en) * | 1986-09-29 | 1988-04-15 | 労働省産業安全研究所長 | Safety system for controlling robot |
JPH01222889A (en) * | 1988-02-26 | 1989-09-06 | Murata Mach Ltd | Safety device for mobile type robot |
-
1992
- 1992-05-01 WO PCT/JP1992/000578 patent/WO1993022110A1/en active IP Right Grant
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS56168102A (en) * | 1980-11-14 | 1981-12-24 | Hitachi Ltd | Noncontacting type differential detector |
JPS58132492A (en) * | 1982-02-01 | 1983-08-06 | 株式会社井上ジャパックス研究所 | Robot device |
JPS58126199U (en) * | 1982-02-18 | 1983-08-27 | 新明和工業株式会社 | Personnel safety equipment for industrial robots |
JPS61100118U (en) * | 1984-12-05 | 1986-06-26 | ||
JPS61168493A (en) * | 1984-12-31 | 1986-07-30 | ウエスチングハウス エレクトリック コ−ポレ−ション | Robot device |
JPS62130847U (en) * | 1986-02-13 | 1987-08-18 | ||
JPS6384892A (en) * | 1986-09-29 | 1988-04-15 | 労働省産業安全研究所長 | Safety system for controlling robot |
JPH01222889A (en) * | 1988-02-26 | 1989-09-06 | Murata Mach Ltd | Safety device for mobile type robot |
Non-Patent Citations (1)
Title |
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See also references of EP0598119A4 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019038588A (en) * | 2017-08-25 | 2019-03-14 | 大森機械工業株式会社 | Pillow packaging machine |
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