CA2031102A1 - Safety apparatus of an industrial robot - Google Patents
Safety apparatus of an industrial robotInfo
- Publication number
- CA2031102A1 CA2031102A1 CA002031102A CA2031102A CA2031102A1 CA 2031102 A1 CA2031102 A1 CA 2031102A1 CA 002031102 A CA002031102 A CA 002031102A CA 2031102 A CA2031102 A CA 2031102A CA 2031102 A1 CA2031102 A1 CA 2031102A1
- Authority
- CA
- Canada
- Prior art keywords
- pressure medium
- force generating
- drive force
- safety
- pressure
- 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.)
- Abandoned
Links
- 238000001914 filtration Methods 0.000 claims abstract description 5
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 6
- 230000002708 enhancing effect Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 7
- 238000003860 storage Methods 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
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
-
- 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
- B25J19/063—Safety devices working only upon contact with an outside object
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
ABSTRACT
The invention comprises a safety apparatus of a robot provided with an intermittent device of a two-port two-position switching valve type which is installed between a filtering device and a direction switching device to supply pressure medium to a direction switching device or cut it off thereto as well as to discharge pressure medium out of this mechanism, thereby controlling the operating o-f each of arms and having a superior maintainnance allowing its repair and replacment of parts to be facilitated and the reduction effeciency of the power comsumtion.
The invention comprises a safety apparatus of a robot provided with an intermittent device of a two-port two-position switching valve type which is installed between a filtering device and a direction switching device to supply pressure medium to a direction switching device or cut it off thereto as well as to discharge pressure medium out of this mechanism, thereby controlling the operating o-f each of arms and having a superior maintainnance allowing its repair and replacment of parts to be facilitated and the reduction effeciency of the power comsumtion.
Description
A SAFETY APPARATUS OF AN I~IDUSTRIAL ROBOT
BACKGROUNG OF THE INVENTION
The invention is related to providing an industrial robot used in any line of Factory Automation System referred to as FA
system in an industrial field, and particularly to providing a safety apparatus for s~opping the operation of an industrial robot under emergency situation or safety accidents.
An industrial robot for Factory Automation System in lines of an industrial field has been variously developed. For example, a robot arm was reciprocated within its limited travelling distance using a power driven source, such as a pneumatic pressure system or a oil pressure system, so as to automatically perform a predetermined working procedure.
Then, it has disadvantages that safety accidents or emergency situations has been often happened if a worker in situ had inadvertently made an inroad into a working space of a robot arm or an alien substance disturbing the working of a robot arm had be protruded or introduced thereinto, unnecessarily, during operating o~ a robot.
A conventional typical example will be discribed in detail by reference to Fig.1 which shows a pressure medium circuit using in a drive control apparatus of a robot arm.
The circuit is constructed so that the pressure generated at air compressor or oil pressure generating device 1 pushes pressure medium stored at storage vessel 2 out of the outdoor7 :
... .
- : . . . .
and the oil ventad under a predetermined pressure therefrom is passed through in order of pressure adjusting device 3, oil filter 4 and direction switching device 5 and then operates drive device 7 for driving a robot arm. Herein, pressure adjusting device 3 uniforms the pressure of oil introduced thereinto, oil filter 4 gets rid of impurities contained in pressure medium, and direction switching ~evice 5 is a type of three-port two-position switching valve to allow pressure medium to supply through flowing round members 6A and 6B to both ends of drive force generating device 7 or to draw it back therefrom.
Therfore, the reciprocation of power transferring member 7A in drive forece generating device 7 makes it carry out a predetermined work of a load W connected to the front end of power transferring member 7A.
But, it could not assure the sufficient safety due to the fact that it was not equipped with a braking device for stopping the operating of the mechanisms during operatlng. That is, it happened safety accidents when the abnormal situation could be existed in the working space.
, Also, a robot is provided with a plurality of arms performing the working procedures simillar to each another or different from each another to control their operation by means of a single control device mounted therein. At that time that a predetermined work is performed using parts of a plurality of arms, only arms required therefor can not be partially operated, but all arms are operated following the unnecessary power '' ' :- .
. ' ~:' .
. .
consumption. When any or parts of arms were out of order, only the corresponding arms for repair could not been stopped during the operating of the mechanism. I~ makes the repair work troublesome due to stopping all mechanism of a robot including arms unnecessary for repair, while it decreases the productivity.
Considering these problems, the object o~ the invention is to provide a safety apparatus of an industrial robot having a relatively superior sefety, operation efficiency and productivity as well as being able to intermitantly operate parts of arms, respectively, thereby reducing the power consumption and permiting the corresponding arms to be repaired during operating of a robot.
SUMMARY OF THE INVENTION
The invention comprises an intermittent means of a two-port two-positlon switching valve type installed between a ~iltering means and a direction switching means of a pressure medium circuit for cutting ofF a pressure medium based on a signal of a drive stopping control member on the way to be supplied from a drive force generating means when the abnormal situation is happened near the lower of a power transFerring member as well as for automatlcally discharging pressure medium received in a drive Force generating device out of the external to stop the operation of a drive force generating means. Therefore, it prevents the occurring of safety accidents due to the emergency accidents of breaking a worker into a working region and gives a relatively .: :
:
:.: . : .
.
: . : -:; . . ~ : :
: . , .: .
superior sa~ety, opera~ion efficiency and productivity to user when parts of robot arms will be intermitently operated.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention wlll be describad in detail by reference to the accompanying drawlngs, in which:
Fig.l is a schematic view illustrating a pressure medium circuit used in a drive control device of a conventional industrial robot, Fig.2 is a schematic view illustrating a pressure medium circuit used in a drive control device of an industrial robot provided with a drive safety device according to the invention, Fig.3 is an electrical circuit illustrating a safety drive device according to the invention.
DETAIL DESCRIPTION OF THE INVENTION
Referring to Fig.2 and Fig.3, these drawings is a pressure medium circuit used in a drive control of a robot arm for Factory Automatiorl System in lndustrial Fields.
Pressure generating devlce 1 generates the pressure for discharging pressure medium, such as air or oil, under a predetermined pressure therefrom. The pressure from pressure generating device 1 pushes pressure medium stored at storage vessel 2 to force it to pass through pressure adjusting device 3 and filtering device 4. Filtering device 4 removes an alien , ,, .
: -substance contained in pressure medium to supply only the pure pressure through intermitent device 8 to direction switching device 5 of a three-port two position valve type. Direction switching device 5 supplies pressure medium to drive force generating device 7 and vise versa, or cuts off the supplying of pressure medium using flowing round member 6A and 5B connected near both ends of drive force ganerating device 7. Tharefore, power transferring member 7A mounted slidably in drive force generating device 8 is reciprocated according to the flowing of pressure medium to perform a predetermined work of load W in a predetermined travel distance.
Herein, intermikent device 8 is connected by means of flowing round member 6 between filtering device 4 and direction switching device 5 to supply pressure medium to direction switching device 5 or cut it off thereto as well as to discharge pressure medium out of this mechanism.
Also, intermitent device 8 is a type of a two-port two-posltion switching valve as shown in Fig.3, the valve of which is moved up and down according to the operation of operating stop member Pl, such as a switch, in the manner that a electromagnetic member is energized by the coil current of intermitent device 8.
This device 8 starts its operation with operating start member P2 being pushed. At that time, operating control member RY, such as relay, is operated to connect operating control opening/closing members RYSl and RYS2 to a power source. Thus, supplying passage - : . . ~; - ~ . ~ :
. .
. . . . .
8A and discharging passage 8B formsd in tha body of intermitent device 8 are selectively communicated with flowing round member 6 or crossed to each other, so that pressure medium may be supplied to drive force generating device 7 or cut off thereto.
The invention is going to come in~o action when operating start member P2 is connected. Thereafter, operating control member RY is operated to connec-t operating control opening/closing members RYS1 and RYS2 ~o a power source, while intermitent device 8 is operated to connect supplying passage 8A
to flowing round member 6. Thus, pressure medium is fed into drive force generating device 7 to perform the work of a robot arm.
On the contrary, if the abnormal situation is occurred at the load side of drive force generating device 7, operating stop member P1 is opened to break off the connection of operating control opening/closing members RYS1 and RYS2 to a power source.
At that time, interm~tent device 8 is interrupted from a power source to be initialized. That Is, Flowing round member 6 for guiding pressure medium is communicated with discharging passage 8B to block pressure medium to be fed into pressure generating medium 7 as showen in Fig.2, while forcing it to discharge through discharging passage 8B out of this mechanism. At this case, oil is returned to storage vessel 2.
Thust drive force generating device 7 is stopped at the place when it performed the work to prevent the user1s danger due .
. ~ . . .
,.: ; . :, . . .
- ' . .
to sa-Fety accidents, thereby enhancing the safety. It gives the effect that an alien substance on the side o~ load W causing the abnormal operation of the mechanism of a robot fails to break operating members mount0d on the side oF performing their predetermined work so as to heighten the sa-Fety during working in a line.
On the other hand, it is known that a robot is normally equipped with a plurality of arms. Therefore, the invention can operates arms, respectively, in the manner to control the operation of each of drive force generating device 7 using intermitent device 8 as well as to stop corresponding driving force generating devices 7 partly, when safety accidents was happened or the abnormal situakion is abruptly occurred. It has a superier maintainnance allowing its repair and replacment of parts to be facilitated. Also, the respective control of the operation in relation to parts of drive force generating device 7 can reduce the comsuming power over the operation oF all mechan~sm.
: . -, .: ~ j. . .
' ~ , '~;
.~ :
BACKGROUNG OF THE INVENTION
The invention is related to providing an industrial robot used in any line of Factory Automation System referred to as FA
system in an industrial field, and particularly to providing a safety apparatus for s~opping the operation of an industrial robot under emergency situation or safety accidents.
An industrial robot for Factory Automation System in lines of an industrial field has been variously developed. For example, a robot arm was reciprocated within its limited travelling distance using a power driven source, such as a pneumatic pressure system or a oil pressure system, so as to automatically perform a predetermined working procedure.
Then, it has disadvantages that safety accidents or emergency situations has been often happened if a worker in situ had inadvertently made an inroad into a working space of a robot arm or an alien substance disturbing the working of a robot arm had be protruded or introduced thereinto, unnecessarily, during operating o~ a robot.
A conventional typical example will be discribed in detail by reference to Fig.1 which shows a pressure medium circuit using in a drive control apparatus of a robot arm.
The circuit is constructed so that the pressure generated at air compressor or oil pressure generating device 1 pushes pressure medium stored at storage vessel 2 out of the outdoor7 :
... .
- : . . . .
and the oil ventad under a predetermined pressure therefrom is passed through in order of pressure adjusting device 3, oil filter 4 and direction switching device 5 and then operates drive device 7 for driving a robot arm. Herein, pressure adjusting device 3 uniforms the pressure of oil introduced thereinto, oil filter 4 gets rid of impurities contained in pressure medium, and direction switching ~evice 5 is a type of three-port two-position switching valve to allow pressure medium to supply through flowing round members 6A and 6B to both ends of drive force generating device 7 or to draw it back therefrom.
Therfore, the reciprocation of power transferring member 7A in drive forece generating device 7 makes it carry out a predetermined work of a load W connected to the front end of power transferring member 7A.
But, it could not assure the sufficient safety due to the fact that it was not equipped with a braking device for stopping the operating of the mechanisms during operatlng. That is, it happened safety accidents when the abnormal situation could be existed in the working space.
, Also, a robot is provided with a plurality of arms performing the working procedures simillar to each another or different from each another to control their operation by means of a single control device mounted therein. At that time that a predetermined work is performed using parts of a plurality of arms, only arms required therefor can not be partially operated, but all arms are operated following the unnecessary power '' ' :- .
. ' ~:' .
. .
consumption. When any or parts of arms were out of order, only the corresponding arms for repair could not been stopped during the operating of the mechanism. I~ makes the repair work troublesome due to stopping all mechanism of a robot including arms unnecessary for repair, while it decreases the productivity.
Considering these problems, the object o~ the invention is to provide a safety apparatus of an industrial robot having a relatively superior sefety, operation efficiency and productivity as well as being able to intermitantly operate parts of arms, respectively, thereby reducing the power consumption and permiting the corresponding arms to be repaired during operating of a robot.
SUMMARY OF THE INVENTION
The invention comprises an intermittent means of a two-port two-positlon switching valve type installed between a ~iltering means and a direction switching means of a pressure medium circuit for cutting ofF a pressure medium based on a signal of a drive stopping control member on the way to be supplied from a drive force generating means when the abnormal situation is happened near the lower of a power transFerring member as well as for automatlcally discharging pressure medium received in a drive Force generating device out of the external to stop the operation of a drive force generating means. Therefore, it prevents the occurring of safety accidents due to the emergency accidents of breaking a worker into a working region and gives a relatively .: :
:
:.: . : .
.
: . : -:; . . ~ : :
: . , .: .
superior sa~ety, opera~ion efficiency and productivity to user when parts of robot arms will be intermitently operated.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention wlll be describad in detail by reference to the accompanying drawlngs, in which:
Fig.l is a schematic view illustrating a pressure medium circuit used in a drive control device of a conventional industrial robot, Fig.2 is a schematic view illustrating a pressure medium circuit used in a drive control device of an industrial robot provided with a drive safety device according to the invention, Fig.3 is an electrical circuit illustrating a safety drive device according to the invention.
DETAIL DESCRIPTION OF THE INVENTION
Referring to Fig.2 and Fig.3, these drawings is a pressure medium circuit used in a drive control of a robot arm for Factory Automatiorl System in lndustrial Fields.
Pressure generating devlce 1 generates the pressure for discharging pressure medium, such as air or oil, under a predetermined pressure therefrom. The pressure from pressure generating device 1 pushes pressure medium stored at storage vessel 2 to force it to pass through pressure adjusting device 3 and filtering device 4. Filtering device 4 removes an alien , ,, .
: -substance contained in pressure medium to supply only the pure pressure through intermitent device 8 to direction switching device 5 of a three-port two position valve type. Direction switching device 5 supplies pressure medium to drive force generating device 7 and vise versa, or cuts off the supplying of pressure medium using flowing round member 6A and 5B connected near both ends of drive force ganerating device 7. Tharefore, power transferring member 7A mounted slidably in drive force generating device 8 is reciprocated according to the flowing of pressure medium to perform a predetermined work of load W in a predetermined travel distance.
Herein, intermikent device 8 is connected by means of flowing round member 6 between filtering device 4 and direction switching device 5 to supply pressure medium to direction switching device 5 or cut it off thereto as well as to discharge pressure medium out of this mechanism.
Also, intermitent device 8 is a type of a two-port two-posltion switching valve as shown in Fig.3, the valve of which is moved up and down according to the operation of operating stop member Pl, such as a switch, in the manner that a electromagnetic member is energized by the coil current of intermitent device 8.
This device 8 starts its operation with operating start member P2 being pushed. At that time, operating control member RY, such as relay, is operated to connect operating control opening/closing members RYSl and RYS2 to a power source. Thus, supplying passage - : . . ~; - ~ . ~ :
. .
. . . . .
8A and discharging passage 8B formsd in tha body of intermitent device 8 are selectively communicated with flowing round member 6 or crossed to each other, so that pressure medium may be supplied to drive force generating device 7 or cut off thereto.
The invention is going to come in~o action when operating start member P2 is connected. Thereafter, operating control member RY is operated to connec-t operating control opening/closing members RYS1 and RYS2 ~o a power source, while intermitent device 8 is operated to connect supplying passage 8A
to flowing round member 6. Thus, pressure medium is fed into drive force generating device 7 to perform the work of a robot arm.
On the contrary, if the abnormal situation is occurred at the load side of drive force generating device 7, operating stop member P1 is opened to break off the connection of operating control opening/closing members RYS1 and RYS2 to a power source.
At that time, interm~tent device 8 is interrupted from a power source to be initialized. That Is, Flowing round member 6 for guiding pressure medium is communicated with discharging passage 8B to block pressure medium to be fed into pressure generating medium 7 as showen in Fig.2, while forcing it to discharge through discharging passage 8B out of this mechanism. At this case, oil is returned to storage vessel 2.
Thust drive force generating device 7 is stopped at the place when it performed the work to prevent the user1s danger due .
. ~ . . .
,.: ; . :, . . .
- ' . .
to sa-Fety accidents, thereby enhancing the safety. It gives the effect that an alien substance on the side o~ load W causing the abnormal operation of the mechanism of a robot fails to break operating members mount0d on the side oF performing their predetermined work so as to heighten the sa-Fety during working in a line.
On the other hand, it is known that a robot is normally equipped with a plurality of arms. Therefore, the invention can operates arms, respectively, in the manner to control the operation of each of drive force generating device 7 using intermitent device 8 as well as to stop corresponding driving force generating devices 7 partly, when safety accidents was happened or the abnormal situakion is abruptly occurred. It has a superier maintainnance allowing its repair and replacment of parts to be facilitated. Also, the respective control of the operation in relation to parts of drive force generating device 7 can reduce the comsuming power over the operation oF all mechan~sm.
: . -, .: ~ j. . .
' ~ , '~;
.~ :
Claims
1. An safety apparatus of an industrial robot comprising:
an intermittent means of a two-port two-position switching valve type installed between a filtering means and a direction switching means of a pressure medium circuit for cutting off a pressure medium based on a signal of a drive stopping control member on the way to be supplied from a drive force generating means when the abnormal situation is happened near the lower of a power transferring member as well as for automatically discharging pressure medium received in a drive force generating device out of the external to stop the operation of a drive force generating means, thereby preventing the occurring of safety accidents and enhancing a relatively superior safety, operation efficiency and productivity.
an intermittent means of a two-port two-position switching valve type installed between a filtering means and a direction switching means of a pressure medium circuit for cutting off a pressure medium based on a signal of a drive stopping control member on the way to be supplied from a drive force generating means when the abnormal situation is happened near the lower of a power transferring member as well as for automatically discharging pressure medium received in a drive force generating device out of the external to stop the operation of a drive force generating means, thereby preventing the occurring of safety accidents and enhancing a relatively superior safety, operation efficiency and productivity.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019890017791 | 1989-11-19 | ||
| KR17791/89 | 1989-11-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2031102A1 true CA2031102A1 (en) | 1991-05-30 |
Family
ID=19292474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002031102A Abandoned CA2031102A1 (en) | 1989-11-19 | 1990-11-29 | Safety apparatus of an industrial robot |
Country Status (8)
| Country | Link |
|---|---|
| JP (1) | JPH0379288U (en) |
| KR (1) | KR920005146B1 (en) |
| CN (1) | CN1052724A (en) |
| CA (1) | CA2031102A1 (en) |
| DE (1) | DE4032732A1 (en) |
| FR (1) | FR2654970A1 (en) |
| GB (1) | GB2239677A (en) |
| IT (1) | IT1242174B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10062848C1 (en) | 2000-12-11 | 2002-04-04 | Biop Biopolymer Gmbh | Thermoplastic starch material, used for making moldings, films or fibrous raw materials and melt coating, is obtained by extruding natural starch in the presence of destructurization agent and storage for retrogradation |
| EP1229075B2 (en) | 2001-02-01 | 2011-08-31 | BIOP Biopolymer Technologies AG | Process for producing a thermoplastic polymer composite based on starch containing integrated nanoscopic particles |
| GB0517720D0 (en) * | 2005-08-31 | 2005-10-05 | Lee Paul T H | Improved luggage |
| CN110202611B (en) * | 2018-02-28 | 2023-07-11 | 精工爱普生株式会社 | Robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3910314A (en) * | 1973-08-16 | 1975-10-07 | Koehring Co | High-speed shutoff and dump valve |
| GB2030654B (en) * | 1978-09-28 | 1982-09-15 | Nat Supply Co Ltd | Marine arm control systems |
| DE3310069A1 (en) * | 1983-03-21 | 1984-10-04 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Monitoring device for a robot arm with gripper |
-
1990
- 1990-10-15 DE DE4032732A patent/DE4032732A1/en not_active Withdrawn
- 1990-10-15 JP JP1990107910U patent/JPH0379288U/ja active Pending
- 1990-11-28 FR FR9014862A patent/FR2654970A1/en not_active Withdrawn
- 1990-11-29 CN CN90110318A patent/CN1052724A/en active Pending
- 1990-11-29 GB GB9025941A patent/GB2239677A/en not_active Withdrawn
- 1990-11-29 IT IT48531A patent/IT1242174B/en active IP Right Grant
- 1990-11-29 CA CA002031102A patent/CA2031102A1/en not_active Abandoned
-
1991
- 1991-09-16 KR KR1019910016138A patent/KR920005146B1/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| GB9025941D0 (en) | 1991-01-16 |
| KR920005146B1 (en) | 1992-06-27 |
| CN1052724A (en) | 1991-07-03 |
| GB2239677A (en) | 1991-07-10 |
| JPH0379288U (en) | 1991-08-13 |
| IT9048531A0 (en) | 1990-11-29 |
| IT9048531A1 (en) | 1991-05-30 |
| DE4032732A1 (en) | 1991-06-06 |
| IT1242174B (en) | 1994-02-16 |
| FR2654970A1 (en) | 1991-05-31 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request | ||
| FZDE | Discontinued |