JPS584389A - Safety device for robot - Google Patents
Safety device for robotInfo
- Publication number
- JPS584389A JPS584389A JP9971181A JP9971181A JPS584389A JP S584389 A JPS584389 A JP S584389A JP 9971181 A JP9971181 A JP 9971181A JP 9971181 A JP9971181 A JP 9971181A JP S584389 A JPS584389 A JP S584389A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- radiator
- safety device
- area
- power supply
- 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
- 230000006870 function Effects 0.000 description 6
- 230000006378 damage Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000003920 cognitive function Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000037152 sensory function Effects 0.000 description 1
Landscapes
- 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、ロボットの稼動中に人や物体が轟該ロボット
の稼動領域内に侵入した際、人身事故やロボットの破損
等の事故がおこるのを防止するようにしたロボットの安
全装置に関するｅ辺部工業用ロボットはあらゆる業種で
使用されてきている。この種のロボツ）Ｋは人間の腕や
手の機能にＳ似した多様な動作機能をするもｑ）や、感
覚機能、＠識機能等１有し自律的に機能するものがＴｏ
）、その使用目的は多種多様である０ロボツトの使用が
多くなるＫつれてその事故も多くなっているが、まだ、
何ら法的な安全規制がなされていない状況にある。諸外
国においては既に事故が多発し、それがロボットの導入
を遅らせている原因の一つ罠なっている。DETAILED DESCRIPTION OF THE INVENTION The present invention is a robot that prevents accidents such as personal injury or damage to the robot when a person or object enters the operating area of the robot while the robot is in operation. Industrial robots have been used in all kinds of industries. This kind of robot) K has various movement functions similar to the functions of human arms and hands (S), sensory functions, cognitive functions, etc. 1, and can function autonomously (To).
), the purposes for which they are used are diverse, and as the use of robots increases, the number of accidents is also increasing, but still...
There are no legal safety regulations in place. Accidents have already occurred frequently in other countries, and this is one of the reasons for delaying the introduction of robots.
ロボットの動作範囲は第１図及びｗＩ２図に示されるよ
うに、ロボット１は制御箱２から制御指令に基ついて水
平及び画直方向にそｎぞｆ′Ｌ回動し、またそのアーム
６は伸縮自在に動作するから、例えば図の符号４のよう
な領域を示すことＫなるＣ従って、従来安全対策として
はロボットの移動範囲４を安全柵で囲い、その中に関係
者以外の者が立入ることｆ禁止していた。しかし、関係
者、例えば作業員は操作、―整、点検等のために欄内に
立入る必要があシ、関係者自体が危険にさらされていた
。さらに１安全柵は動作範囲全域にわたって設けなけれ
ばならないから、ロボットの製作が動作範囲４の一部分
に限定された一合であっても他のｉＩ域を利用すること
ができず、必然的に広い場所をとるという欠点があつ’
ｌｔｃ
本発明は上述の状況に＃ｉみて発明されたものであシ、
ロボットに１１ｉＬ付けられ、電磁波を照射する放射器
、及び該“放射器の動作電流の変化を検出し、骸変化が
所定値を越え次ならば警報器を作動させ、又は鱈ポット
の動作を停止させる制御装置を備え、ロボット事故のＳ
［を少なくして安全度を高め、かつそのために必要な面
積を少なくしたロボットの安全装置を提供するものであ
る。本発明の実施りをａｔ面と共に詳述すれば次のとお
シであるＯＷ４′５図は本発明の一実施例に係るロボッ
トの安全装置のブロック図であり、第１図及び第２図と
同一符号のものは同−又は相当部を示している〇電源ｌ
１５は制御装置６に電力を供給しておシ、制御装置６は
発娠器（図示せず）をＰ３１１．シ、増幅７を介して放
射器８．９．１０から電磁波を放射している０放射器８
．９．１０は送信アンテナとしての機能をもち、アンテ
ナの給電電圧を変えるとそれＫよって誘導されている電
界及び磁界はともにその電圧に比１１Ｊして変化するか
ら、アンテナの給電電流は給電点付近の電界強度に比例
する。As shown in Figures 1 and 2, the robot 1 rotates horizontally and in the direction perpendicular to the image, and its arm 6 rotates f'L based on control commands from the control box 2. Since the robot operates in a flexible manner, it is difficult to indicate an area such as 4 in the figure. Therefore, as a conventional safety measure, the movement range 4 of the robot is surrounded by a safety fence, and no one other than the person involved is allowed to stand within it. It was forbidden to enter. However, related parties, such as workers, were required to enter the field for operation, maintenance, inspection, etc., and the related parties themselves were exposed to danger. Furthermore, since the safety fence 1 must be provided over the entire operating range, even if the robot is manufactured only in a part of the operating range 4, the other iI areas cannot be used, and it is inevitably wide. It has the disadvantage of taking up space.'
ltc The present invention was invented in view of the above-mentioned situation.
A 11iL radiator attached to the robot emits electromagnetic waves, and changes in the operating current of the radiator are detected, and if the shell change exceeds a predetermined value, an alarm is activated or the cod pot operation is stopped. Equipped with a control device to prevent robot accidents.
To provide a safety device for a robot that increases the safety level by reducing the amount of noise and reduces the area required for this purpose. To explain the implementation of the present invention in detail together with the AT side, the following figure OW4'5 is a block diagram of a robot safety device according to an embodiment of the present invention, and is similar to Figs. 1 and 2. Items with the same symbols indicate the same or equivalent parts〇Power supply l
15 supplies power to the control device 6, and the control device 6 connects the generator (not shown) to P311. 0 radiator 8 radiating electromagnetic waves from radiator 8.9.10 via amplification 7
．． 9.10 has the function of a transmitting antenna, and when the feeding voltage of the antenna is changed, both the electric field and magnetic field induced by it change by 11 J relative to the voltage, so the feeding current of the antenna is near the feeding point. is proportional to the electric field strength.
従って、送信アンテナの給電点から見た電圧と電流はた
がいに比例する。、この関係を数式で表わすため、給電
電圧及び給電電流の実効値を位相をも含めてそれぞれＶ
、Ｉとすると、
Ｖ＝ＺＩ＝（Ｒ＋ｊＸ’）Ｉ
と表わされる。この比例係Ｈｚ（２）はアンチ゛す及び
その付近の空間の構造によって定まる鋸素足数であって
、これはアンテナの入力インピーダンスあるいは給電点
インピーダンスと呼ばれる。従って、アンテナに一定電
圧を供給した場合は上記空間構造が変化すれば入力イン
ピーダンｘ−Ｚが変化し、このことによシ給電電流が変
化することがわかる。Therefore, the voltage and current seen from the feeding point of the transmitting antenna are proportional to each other. , in order to express this relationship mathematically, the effective values of the supply voltage and supply current, including the phase, are expressed as V
, I, it is expressed as V=ZI=(R+jX')I. This proportionality coefficient Hz(2) is a sawtooth number determined by the structure of the antenna and the space around it, and is called the input impedance of the antenna or the feeding point impedance. Therefore, it can be seen that when a constant voltage is supplied to the antenna, if the above-mentioned spatial structure changes, the input impedance x-Z changes, and thereby the feeding current changes.
以上の事から第６図において符号「１１」で示され死空
間領域に障害物がない状態での各放射器８゜９．１０の
入力インピーダンスと、障害物が入った状態での入力イ
ンピーダンスとを予め求めておけば、障害物が入ってき
た場合の給電電流の変化を予測することができる。From the above, the input impedance of each radiator 8゜9.10 when there is no obstacle in the dead space area, indicated by the symbol "11" in Fig. 6, and the input impedance when there is an obstacle in the dead space area. By determining this in advance, it is possible to predict changes in the power supply current when an obstacle enters.
従って、障害物が空間領域１１に侵入してきた場合は給
電電流が変化するから、この給電電流の変化が所定の基
準値を越えたか否かについて制御装置６に円賦し九比較
回路（図示せず）により判断し、越えたならば制御箱２
に停止信号を送出し、ロボット１の動作を停止させる。Therefore, when an obstacle enters the spatial region 11, the power supply current changes, and therefore a comparison circuit (not shown) is applied to the control device 6 to determine whether the change in the power supply current exceeds a predetermined reference value. ), and if it exceeds the control box 2.
A stop signal is sent to the robot 1, and the operation of the robot 1 is stopped.
なお、上記基準値は予め実験により給電ＩＩＲの変化を
種々の障害物に対し求めておき、安全側に機能するよう
に設定する０゜
上述の説明ではロボットの動作を停止させる場合につい
て説明したが、警報器１２を鳴動させるようＫしてもよ
い。さらに、これらの２つの機能を併用し、島１の給電
電流の変化△■１で警報器１２を鳴動させ、次に＠２の
給電電流の変化ΔＩｓ（ΔＩ。Note that the above reference value is determined in advance through experiments to determine changes in the power supply IIR for various obstacles, and is set to function on the safe side. , K may be pressed so that the alarm 12 sounds. Furthermore, by using these two functions together, the alarm 12 is sounded when the power supply current of island 1 changes Δ■1, and then the power supply current of @2 changes ΔIs(ΔI.
〉Δ１．）でロボットの動作を停止させるようＫしても
よいＣ
以上の説明から明らかなように１本発明は電磁波を利用
したものであるから応答性が非常に早く、どんｔＫ連〈
移動する物体であっても空間領域（警戒領域）１１に侵
入した瞬間に検知することができ、光電式検知装置にし
はしば見られるような、いわゆる調速移動物体の検知漏
れがおこる余地は食〈ない。さらに、Ｉｌ［、Ｉｌｌ、
光線、車前、振動等の影響を受けない九め侵入物検知の
信頼性が高く、人身に対する安全が守られ、労働災害の
防止、機械やロボット自身の保霞、事故発生の減少によ
る生産性の向上勢多くの利点があげられる。〉Δ1. ) may be used to stop the robot's operation.As is clear from the above explanation, since the present invention uses electromagnetic waves, the response is very fast, and the response time is very fast.
Even moving objects can be detected the moment they enter the spatial area (warning area) 11, and there is no room for failure to detect so-called speed-controlled moving objects, which is often seen with photoelectric detection devices. No food. Furthermore, Il[, Ill,
Highly reliable detection of intruders that is unaffected by light, the front of the car, vibrations, etc., protects personal safety, prevents industrial accidents, protects machines and robots themselves, and increases productivity by reducing accidents. There are many advantages to improving your performance.
また、空間領域１１の大きさは、放射器の指向性、放射
器の配置、給電電圧の調整によって任意に得られるから
、ロボットの移動範囲内の危険保険区域の形、大きさに
あわせて複雑な立体形状の検知空間が得られる。このこ
とから、従来のように危険領域を広くとる必要がなく、
狭い領域でたりる。In addition, the size of the spatial region 11 can be arbitrarily obtained by adjusting the directivity of the radiator, the arrangement of the radiator, and the power supply voltage, so it can be complicated depending on the shape and size of the hazard insurance area within the movement range of the robot. A three-dimensional sensing space can be obtained. Because of this, there is no need to widen the danger area as in the past,
Appears in a narrow area.
第１図及び第２図はそれぞれロボットの動作範囲の平面
説明図及び側面説明図、第３図は本発明の一実施例に係
るロボットの安全装置のブロック図である。
１・・・ロボット、２・・・制御箱、３・・・アーム、
４・・・動作範囲、５・・・電源部、６・・・制御装置
、７・・・増幅器、８，９．１０・・・放射器、１１・
・・警戒空間領域、１２・・・警報器。FIGS. 1 and 2 are a plan view and a side view of the operating range of a robot, respectively, and FIG. 3 is a block diagram of a safety device for a robot according to an embodiment of the present invention. 1...Robot, 2...Control box, 3...Arm,
4... Operating range, 5... Power supply section, 6... Control device, 7... Amplifier, 8, 9.10... Radiator, 11.
...Warning space area, 12...Alarm.
Claims (1)
該放射器の動作電流の変化を検出し、該餐化が所定値を
越えたならば警報器を作動させ、又はロボットの動作を
停止させる制御装置を備えたことｔ＊黴とするロボット
の安全装置。Detects changes in the operating current of the radiator that is attached to the radiator and radiates electromagnetic waves, and if the radiator exceeds a predetermined value, activates an alarm or stops the robot's operation. A safety device for robots that is equipped with a control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9971181A JPS584389A (en) | 1981-06-29 | 1981-06-29 | Safety device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9971181A JPS584389A (en) | 1981-06-29 | 1981-06-29 | Safety device for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS584389A true JPS584389A (en) | 1983-01-11 |
Family
ID=14254653
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9971181A Pending JPS584389A (en) | 1981-06-29 | 1981-06-29 | Safety device for robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS584389A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7849515B2 (en) | 2004-11-22 | 2010-12-07 | National University Corporation Kagawa University | Nanotweezer and scanning probe microscope equipped with nanotweezer |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52105464A (en) * | 1976-02-27 | 1977-09-03 | Hitachi Ltd | Collision preventing apparatus in use of ultrasonic wave |
| JPS538092A (en) * | 1976-07-09 | 1978-01-25 | Fujitsu Ltd | Semiconductor light emitting device |
-
1981
- 1981-06-29 JP JP9971181A patent/JPS584389A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52105464A (en) * | 1976-02-27 | 1977-09-03 | Hitachi Ltd | Collision preventing apparatus in use of ultrasonic wave |
| JPS538092A (en) * | 1976-07-09 | 1978-01-25 | Fujitsu Ltd | Semiconductor light emitting device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7849515B2 (en) | 2004-11-22 | 2010-12-07 | National University Corporation Kagawa University | Nanotweezer and scanning probe microscope equipped with nanotweezer |
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