CN108921987A - A kind of access control system - Google Patents
A kind of access control system Download PDFInfo
- Publication number
- CN108921987A CN108921987A CN201810624317.0A CN201810624317A CN108921987A CN 108921987 A CN108921987 A CN 108921987A CN 201810624317 A CN201810624317 A CN 201810624317A CN 108921987 A CN108921987 A CN 108921987A
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- China
- Prior art keywords
- robot
- interference region
- indicator light
- door
- control system
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- 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.)
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/30—Individual registration on entry or exit not involving the use of a pass
- G07C9/38—Individual registration on entry or exit not involving the use of a pass with central registration
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of access control systems, it is configured as access of the managerial staff member to interference region, wherein, staff and robot composite device include the indicator light at least arranged on four direction from the center of interference region, open and close the door of the door of interference region, the locking device and control device of locking and unlocking door control indicator light corresponding with the operation of robot and locking device.A kind of access control system of the invention, staff can identify interference region and can determine if the case where capable of working in interference region in staff.
Description
Technical field
What it is the invention belongs to the access of managerial staff member's working space shared to staff and industrial robot is
Command domain, and in particular to a kind of access control system.
Background technique
Now, traditionally, the operating area of industrial robot is surrounded by safe fence, and safe fence is by worker and work
Industry robot separates.In recent years, due to the raising of industrial robot control ability, working space between worker and industrial robot
Sharing Theory on may be implemented.But if industrial robot is closed by safe fence, staff is not easy to access dry
Disturb region.
On the other hand, in the case where being not provided with existing safe fence, work is entered by monitoring staff and object
The region on industry robot periphery, proposes the system for avoiding the interference between industrial robot and operating personnel.For example, patent is literary
System disclosed in offering includes：Sensor section, the Sensor section monitor that unregistered new object enters the operation of robot
Region；Radiation of visible light part is irradiated visible optical position to the peripheral portion of operating area from radiation of visible light part and is higher than
The position of robot；And monitoring controller, when Sensor section, which is determined, enters operating area there are new object, monitoring control
Device is issued to robot stops request.Only when new object enters the monitor area including operating area, can just execute can
Light-exposed irradiation.Within the system, by attracting staff to pay attention to robot manipulation region with visible light, without in robot
Surrounding installs safe fence, so that reducing worker enters the case where operating area is to stop robot.
The system according to disclosed in patent document can remove physical fences from the periphery of industrial robot.However, if
The technology of patent document is applied to the system of staff and robot shared working space, then is had the following problems：Work
Personnel are difficult to interference region and determine if to work in interference region in staff in the case of certain.
The disclosure is made in view of the foregoing, and the purpose is to reduce at least one of traditional technology or multiple problems.
Summary of the invention
It is an object of the present invention to provide a kind of access control system, managerial staff member is to as work for the access control system
The access of the interference region for the working space that personnel and robot are shared.The system include limit interference region and another region it
Between boundary multiple indicator lights, be configured as open and close interference region door opening and closing member, be configured as locking and
Unlock the locking device of opening, and and control device, be configured as corresponding with the operation of the robot multiple fingers of control
Show lamp and locking device.
According to the access control system to interference region, the boundary between interference region and other regions passes through indicator light
Luminous component and/or from its emit light be indicated to staff, allow interference region by the staff be based on boundary.
In addition, due in the access control system for entering interference region, according to the operation of robot come the instruction mould of control instructions lamp
Formula and opening and closing member lock or unlock, therefore staff can whether staff can interfere based on these situations
It works in region, to avoid interference with the interference in region between robot and staff.
The present invention has the advantages that：
A kind of access control system of the invention, staff can identify interference region and can determine if to locate
In staff can work in interference region the case where.
Specific embodiment
Technical solution of the present invention is further elaborated below with reference to embodiment.
A kind of access control system, robot system are established in a system area, are had according to the system realm of the present embodiment
There is the profile of rectangular parallelepiped shape, and two spaces are essentially divided by virtual boundary (boundary plane)
Domain, they are disposed adjacently on horizontal first direction X.Although note that It is not necessary to the fence substantive in boundary installation,
But it is mounted with a low fence or label with the height for not interfering robot.One in two 3D regions is machine
The working space manually made, below, it is referred to as " robot zone ".It is in the two 3D regions the other is robot
The working space shared with worker, below, it is referred to as " chaff interferent ".In interference region, robot and worker replace work
Make.
The conveyer of conveying workpieces is along the robot zone side on the virtual end surfaces of the system realm of first area X
End face installation.In addition, being provided to end as the door that staff passes in and out interference region.The system realm of x in first area
Virtual end surfaces between interference region side on surface.Door (example for opening and closing door) opens and closes door and mentions
Supply door, it is noted that the temporary fence being readily disassembled can be provided at the virtual end surfaces of system realm, in the end of the system
It is provided with door, so that worker will not enter interference region other than door.It similarly, can also be in the virtual end surfaces of interference region
Place provides the temporary fence being readily disassembled, and virtual end surfaces horizontal vertical is in first direction X.By robot, conveying workpieces
Conveyer belt, the tool stand of tool on hand for being placed on robot etc. be mounted on the floor surface of robot zone.In addition,
The workpiece W workbench placed is mounted on the floor surface of interference region.
Robot according to the present embodiment is the industrial hinged robot with multiple joint shafts.Robot by cable with
Robot controller connection.Robot controller is configured with the computer of CPU and memory.Robot control dress
It sets and multiple operation sequences is stored in advance.Robot controller selectively executes one or more of multiple operation sequences,
And the servo motor for being supplied to each joint of robot is driven, to control the operation of robot.Some in interference region or
All be included in robot can be in opereating specification (in the range of each of robot is partially located in).
In robot system, a series of work can be executed, for example, workpiece W is transported to by robot from conveyer belt
Workbench, worker is temporarily by the workpiece W in bolt fastening to workbench, and robot executes finally tightening for bolt, and so
Afterwards, workpiece W is transported to conveyer belt from workbench by robot.In such a series of activities, robot and worker are shared dry
Disturb working space of the region as them.Therefore, by sharing the working space between worker and robot, it is possible to reduce machine
The occupied space of people.In order to avoid the interference between the worker in robot and interference region, the access management to worker is arrived
The access control system of interference region is supplied to robot system.In the following, being carried out to the access control system of interference region detailed
Description.Access control system to interference region includes multiple indicator lights, Air conduct measurement sensor, the Air conduct measurement sensor without
Contiguously detection accidents happened to object is by boundary, and is capable of the electromagnetic locking device of locking and unlocking.On door, door is detected
The door sensor and control device of opening and closing.Note that the object for passing through boundary includes a part of the object across boundary.Multiple fingers
Show lamp be arranged such that they can by by luminous component (light source) and/or from its emit light come define interference region with
Boundary between other regions.It is arranged such that worker is envisioned that the adjacent finger of connection according to multiple indicator lights of the present embodiment
Show the line (or surface) of the luminous component of lamp, and he/her can be using identification line as boundary.For example, when from positioned at interference region
The worker at center when seeing, multiple indicator lights can be arranged on four direction.According to multiple instructions of the present embodiment
Lamp include the boundary setting between interference region and the region of robot zone a pair of of indicator light and, and along virtual terminal table
Face setting a pair of of indicator light and.The system realm of grid is provided.It is previous to indicator light and defining interference region and robot
Boundary between region, below, they can be referred to as " robot indicator light and ".As long as the structure setting of the present embodiment is extremely
A few indicator light, the indicator light limit at least part on the boundary between robot zone and interference region.
The robot of indicator light sum is provided, so that worker identifies the interference region between interference region and robot zone
And/or boundary, and (operation or stopping) the case where inform robot.When seeing from the worker at the center for being located at interference region,
The robot of indicator light sum is located at robot side.In addition, when between interference region and other regions of system realm
When borderline worker sees, indicator light and be located at robot side.A pair of of indicator light limits a side on substantially U-shaped boundary
Including grid, it is properly termed as " door indicator light and ".At least one indicator light is provided, defines interference region and includes grid
At least part boundary between region other than robot zone.Be arranged gate indicator light and, so as to worker identify interference range
Domain, and inform worker to the accessibility of interference region.When seeing from the center of interference region, grid indicator light and be located at grid
Pole side.Each of indicator light includes two kinds of luminous components that vertical direction extends.Each luminous component is desirable in vertically
Side upwardly extend, at least within the scope of one, when worker/she take curved position and stance when, the two positions are all
It is visible.It is blue-light-emitting part and emitting red light part according to the two of the present embodiment kinds of luminous components.Both luminous components
May include, such as the continuously arranged red light emitting diodes of vertical direction and continuously arranged two pole of blue-light-emitting of vertical direction
Pipe, or it is arranged in the change of red light emitting diodes and blue light diode.In vertical direction naturally.Alternatively, both
Luminous component can be made of the luminescent device of at least one type, such as light emitting diode, rather than light emitting diode.
Air conduct measurement sensor according to the present embodiment is so-called " light curtain ".Air conduct measurement sensor is by floodlight unit
It is formed with photodetector unit.Floodlight unit has multiple floodlights, and multiple floodlight emits to photo detector unit
Multiple directional lights.Floodlight unit and photodetector unit are installed in a system area, so that multiple parallel rays form side
Boundary.Photodetector unit has multiple photodetectors, they receive the multiple directional lights emitted from floodlight unit respectively.
Photodetector unit is based on whether multiple photodetectors receive light, detects to be present in Air conduct measurement sensor (i.e. more
The optical path of a directional light) detecting field in object.Note that for Air conduct measurement sensor, using non-contact detection on side
The Air conduct measurement sensor of the other forms of object existing at boundary replaces light curtain.Indicator light, Air conduct measurement sensor, robot
Control device, door sensor, locking device etc. are connect with control device in a wired or wireless fashion.Control device is configured as having
There is the computer of CPU and memory, and based on the letter controlled and received from door sensor, Air conduct measurement sensor and robot
Breath, the ON/OFF and locking device of control instructions lamp and the operation of robot.Device.Note that control device and robot control
Device processed does not need physical separation, still, for example, the function of these devices may be implemented as being present in it is more in a program
A functional component.
In access control system, the side between interference region and other regions is indicated by opening all indicator lights
Boundary.In this embodiment, the circumference (four angles) of interference region is illuminated by indicator light.Therefore, interference region can be clearly by work
People's identification.In each indicator light, in principle, the illumination of emitting red light part shows and/or informs the emitting red light of " forbidding "
Partial flashing " warning ", and " illumination of the blue-light-emitting part of permission ".When robot stops (that is, at robot
When the state that can not be operated, such as when the motor power of robot is closed), allow worker to enter interference region.Therefore, when
When robot stops, the control device of access control system opens the blue-light-emitting part of all indicator lights, and makes locking device
Solution is locked a door.Therefore, worker can open door and enter interference region.When robot executes work in interference region or crosses over dry
When relating to the work of region and robot zone, forbids or worker is forbidden to enter interference region.Therefore, when robot is carrying out packet
When including the operation sequence of the work in interference region, the control device of access control system opens the emitting red light of all indicator lights
Part, and locking device is made to lock door.Therefore, worker cannot open door and not can enter interference region.Note that interference region
In the work of robot include entering at least part of work for the workpiece W that interference region is kept by robot.Work as machine
When device people executes work in robot zone, worker is allowed to enter interference region, while worker being made to touch (or attract and pay attention to).
Therefore, when it does not include the operation sequence of work in interference region that robot, which is carrying out, the control dress of access control system
The emitting red light component indicator light for making robot and flashing are set, blue-light-emitting component O is opened.Door indicator light and, and make locking device
Solution is locked a door.Therefore, worker can open door and enter interference region.Worker into interference region can observe machine by visual observation
The flashing of the emitting red light part of device people, instruction robot operating or by the lamp operated in robot zone and.Note that
When worker is present in interference region, door is stayed open.Therefore, when staff is present in interference region, door sensor inspection
Survey the aperture of door.When detecting the opening of door, control device is sent to robot controller to be indicated to be prohibited from entering interference range
The signal in domain, so that robot does not enter interference region.In addition, when detecting the opening of door, the day control device moon is to machine
People's control device sends low-speed handing signal, so that robot is run with the speed lower than normal speed.
In addition, when Air conduct measurement sensor is in the opening for detecting door, detection is across the object on boundary, control device
Stop signal is sent to robot controller, to stop robot.Therefore, when worker crosses the boundary into robot zone
When, robot can stop.
As described above, the access control system of the interference region of present embodiment is access of the white collar worker to interference region
System, which is the shared working space of worker and robot.Access control system includes multiple indicator lights, is determined
The door (opening and closing member) of the door on boundary, opening and closing interference region between adopted interference region and other regions, locking reconciliation
The locking device of lock.Door and control device control indicator light corresponding with the operation of robot and locking device.
According to access control system, the luminous component by indicator light and/or the light from its sending, by interference region and its
Boundary between his region is indicated to worker, to can identify interference region by worker based on T.His boundary.Further, since
In access control system, the indicating mode of indicator light and locking or unlocking for door are controlled according to the operation of robot, therefore
Worker can be readily determined whether worker can work at work according to these situations.Interference region, so as to avoid
The interference between worker in robot and interference region.
In addition, space can be divided into interference region and other regions by indicator light according to access control system, and
Boundary not between interference region and other regions provides substance (actual object).Therefore, substantive grid are provided with system
The case where column, is compared, and dead space is reduced, and reduces complex process when worker enters interference region, and carry object into
Enter/exit to limit the size of object when interference.Region is eased.In addition, the present embodiment access control system to dry
It disturbs in region, when robot is carrying out the operation sequence including the work in interference region, control device refers to indicator light
Show " forbidding " (that is, opening red).Luminous component, control instructions lamp and locking device make locking device lock door.
Therefore, when executing work in interference region when robot, due to indicator light instruction " forbidding " and door is locked,
So worker not can enter interference region.Therefore, worker can readily determine that it be in worker cannot in interference region work
The case where making.As a result, avoiding the interference between the worker in robot and interference region.
In addition, the present embodiment access control system into interference region, multiple indicator lights include at least one machine
People's indicator light (and), which indicates at least part on the boundary of robot zone, and robot zone is the work of robot WOR
Space.KS is dedicated and interference region and at least one indicator light (and) lamp, which indicates interference region and robot zone
At least part boundary in region in addition, the region include the grid on boundary.It does not include interference range when robot is carrying out
When the operation sequence of the work in domain, control device control instructions lamp and locking device, so that robot indicator light and instruction are " light
Push away " (that is, causing red light EM).Make partly flickering, makes an indicator light and instruction " permission " (that is, opening blue-light-emitting component), and
Unlock locking device.Therefore, when robot only executes work in robot zone, due to indicator light and instruction " permission "
And door unlocks, the accessible interference region of worker.Then, when worker enters interference region, he/her can visually be identified
Indicate " touching " indicator light and, therefore, worker can be readily determined and can work in interference region in him/her
Situation.Therefore, when robot stop when (that is, when robot be in can not operate state when, such as when robot motor electricity
When source disconnects), due to indicator light instruction " permission " and door is unlocked, the accessible robot of worker.Area of reference.Cause
This, worker can readily determine that it is in the case where worker can work in interference region.In addition, present embodiment is dry
The access control system for disturbing region further includes detecting the door sensor of the opening and closing of door.In addition, control device is configured as
The opening of the door detected based on door sensor is present in interference region to detect staff.
In addition, the present embodiment access control system into interference region, the robot zone of robot is defined as
It is adjacent with interference region, and access control system further includes the Air conduct measurement sensor that test object is present in binding.Dry
It relates between region and robot zone.In addition, control device is configured as working as when staff is present in interference region
When Air conduct measurement sensor detects that object is present in boundary, robot (robot controller) is sent by stop signal.
Therefore, when worker works in interference region, when worker enters robot zone, robot stops its operation.In addition, working as
When worker works in interference region, when robot or by robot keep workpiece W enter interference region when, robot stop
It is operated.Therefore, the interference of robot and worker are avoidable.
It in the above-described embodiments, can although each of indicator light is arranged on the four direction of interference region
One or more additional instruction lamps are arranged to surround interference region.In addition, other than indicator light, in order to be bent work
The worker of posture, it is readily seen that can be set on the floor surface of interference region with robot indicator light and it is synchronous open it is attached
Add indicator light, arrives workbench etc..
In the above-described embodiments, although " forbidding " instruction of indicator light is defined as illumination, the red of emitting red light component
" touching " instruction of luminous component flashing and " permission " as T illumination indicate.The indicating means of blue light emitting component, indicator light
It is without being limited thereto.Unlimited that is, as long as worker can be identified as the case where interference region and robot (operation or stopping)
The mode of " forbidding " instruction, " touching " instruction and " permission " instruction of indicator light processed.For example, orange luminescence can be set in indicator light
Part rather than emitting red light part, and green emitting part rather than blue-light-emitting part, and " forbidding " instruction can define
For the illumination of orange luminescence part.S, " touching " indicate orange luminescence partly flickering, and the instruction of " permission ", send out as green
The illumination of light component.In addition, for example, indicator light can further be arranged Yellow luminous component, and " touching " instruction can be by
It is defined as the illumination of Yellow luminous component.In addition, for example, the day access control system moon is additionally provided with hair other than indicator light
The alarm of audio or buzzer sound out, and alarm the case where can also notifying robot, is to worker.In addition, in above-mentioned implementation
In example, although each robot defines an interference region, multiple (here, two) robots are defined as similar
In an interference region (the day moon) of robot system b.Each interference region defines two robot zones, robot indicator light
And each of the boundary being provided between robot zone and interference region, and grid indicator light and setting are two
Side.Gate number.In addition, each robot controller in multiple robots is connect with a control device, control device quilt
Be configured to control robot indicator light and door indicator light and, and corresponding to the locking device of operation.The case where G more a robots.
For example, when all robots stop (that is, when in robot can not workable state when, such as work as machine
When the motor power of people disconnects), the control device of access control system opens blue-light-emitting PA.All indicator lights (indicate " to permit
Perhaps RTS "), and locking device solution when robot stops is made to lock a door.In addition, for example, when at least one robot is carrying out
When operation sequence including the work in interference region, the control device of access control system opens the red hair of all indicator lights
Light part (i.e. expression " forbidding ") and CA.Use locking device doors locked.In addition, for example, when all robots are being held
Capable when not including the operation sequence of the work in interference region, the control device of access control system makes the emitting red light of robot
Component indicator light and flashing (indicating)." touching ") open the blue-light-emitting part of door, indicator light and (i.e. expression " permission "),
And locking device solution is made to lock a door.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that：It still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (6)
1. it is empty to the work shared as staff and robot to be configured as managerial staff member for a kind of access control system
Between interference region access, it is characterised in that：The access control system includes：It limits between interference region and another region
Boundary multiple indicator lights；Opening and closing member is configured to open and close the door of interference region；Locking device, the locking
Device is configured to opening and closing member described in locking and unlocking；And control device, it is corresponding with the operation of robot to be configured as control
Multiple indicator lights and locking device.
2. access control system according to claim 1, it is characterised in that：Wherein, the multiple indicator light includes at least
One robot indicator light, at least one described robot indicator light be configured as limiting robot zone and robot zone it
Between boundary at least part, robot zone be robot specialized work working space and at least one instruction
Lamp, at least one described indicator light be configured as limiting the interference region and region in addition to the robot zone it
Between boundary at least part, at least part on the boundary includes the door, and wherein when the robot
In the case where executing the operation procedure for not including operation in interference region, control device controls multiple indicator lights and locking dress
It sets, robot indicator light is made to show " touching ", an indicator light is made to show " license " and locking device is made to unlock switch block.
3. access control system according to claim 1, it is characterised in that：Wherein, when the robot is carrying out packet
When including the operation sequence of the workpiece in the interference region, the control device controls the multiple indicator light and locking dress
It sets so that the multiple indicator light indicates " forbidding ", and makes locking device locking switch part.
4. access control system according to claim 1, it is characterised in that：Wherein, described when the robot stops
Control device controls the multiple indicator light and the locking device, so that the multiple indicator light instruction " permission ", and make institute
Locking device is stated to open and close component.
5. access control system according to claim 1, it is characterised in that：It further include door sensor, the door sensor
It is configured to detect the opening and closing of the door, and wherein, the control device detects institute based on the opening of the door
It states staff and is present in the interference region and detected by door sensor.
6. access control system according to claim 1, it is characterised in that：Further include by detection sensor, it is described logical
Cross the robot zone that detection sensor is configured as the working space that detection passes through as the robot specialized work
The object on the boundary between the interference region, and wherein, in the case where operator is present in interference region, by logical
When crossing detection sensor and detecting the object on boundary by robot zone and interference region, control device is sent to robot
Stop signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810624317.0A CN108921987A (en) | 2018-06-16 | 2018-06-16 | A kind of access control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810624317.0A CN108921987A (en) | 2018-06-16 | 2018-06-16 | A kind of access control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108921987A true CN108921987A (en) | 2018-11-30 |
Family
ID=64420687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810624317.0A Withdrawn CN108921987A (en) | 2018-06-16 | 2018-06-16 | A kind of access control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108921987A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331618A (en) * | 2018-12-19 | 2020-06-26 | 发那科株式会社 | Robot control device, robot control system, and robot control method |
| JP7201121B1 (en) | 2022-05-16 | 2023-01-10 | 三菱電機株式会社 | Access control system and access control device |
-
2018
- 2018-06-16 CN CN201810624317.0A patent/CN108921987A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331618A (en) * | 2018-12-19 | 2020-06-26 | 发那科株式会社 | Robot control device, robot control system, and robot control method |
| JP7201121B1 (en) | 2022-05-16 | 2023-01-10 | 三菱電機株式会社 | Access control system and access control device |
| JP2023168925A (en) * | 2022-05-16 | 2023-11-29 | 三菱電機株式会社 | Entry/exit management system and entry/exit management device |
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Application publication date: 20181130 |