JP2002283277A - Safety fence device of industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safety fence device of an industrial robot for surely securing safety of an operator even when the industrial robot to hold a stopping state makes a malfunction in a system for the operator working in a safety fence when the industrial robot stops. SOLUTION: A liftable movable protective plate is arranged between a workbench and the industrial robot for preventing an arm of the industrial robot from contacting with the operator by entering the workbench when the industrial robot stops, and the movable safety fence and the movable protective plate are made to perform mutually opposing lifting operation by a link mechanism.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety fence device for an industrial robot in a system which must work inside a safety fence.

[0002]

2. Description of the Related Art In an industrial robot, a safety fence or the like is provided to prevent a worker from entering an operation area of the industrial robot. Is protected. However, there are cases where the worker performs work replacement work or the like within the safety fence, and in this case, the worker is not protected.

FIGS. 5A and 5B show a plan view and a right side view of a system that must be operated within a safety fence.
This system consists of a safety fence device and an industrial robot, in which a movable safety fence is raised and lowered.

FIGS. 6A and 6B show a state where the movable safety fence 2 is raised, and FIGS. 7A and 7B show a state where the movable safety fence 2 is lowered.

[0005] The conventional safety fence device 1 comprises a movable safety fence 2 which can be raised and lowered, a guide mechanism 6 for the movable safety fence 2, and a drive mechanism 9 for the movable safety fence 2. The industrial robot 5 is disposed opposite to the work table 4 on which the work 3 is placed, and the safety fence device 1 is provided on the work table 4 on the side opposite to the industrial robot 5. When the movable safety fence 2 is lifted and lowered, the movable safety fence 2 is positioned near the work table 4 or moves away from the work table 4. , The worker can be prevented from working in the operation area of the industrial robot 5. In the “down” state, the movable safety fence 2 is separated from the worktable 4 and the worker can work in the operation area of the industrial robot 5.

The guide mechanism 6 of the movable safety fence 2 is composed of a guide post 11 and a sliding member 11 that comes into sliding contact with the guide post 11.
b. The guide post 11 is a pair of right and left supports erected on the gantry 7 at substantially the same width as the work table 4 and at substantially the same height as the industrial robot 5, and the movable safety fence 2 slides. It is suspended via the tool 11b.

The movable safety fence 2 has a plate shape in which the horizontal direction is substantially the same as the standing interval of the guide posts 11 and the vertical direction is substantially the same as 1/3 of the height of the guide posts 11. , For example, made of an arc light shielding plate. The movable safety fence 2 is provided with a support 8b which is connected to one end of a piston rod 8a of a cylinder 8 at an upper end on the outer side, and is provided toward the outward direction. Sliding tool 1
1b is provided facing inward.

The drive mechanism 9 of the movable safety fence 2 includes a pneumatic cylinder 8 erected on a gantry 7 and a switch box 10
And consists of The cylinder 8 has a piston rod 8a
The movable safety fence 2 is connected to one end of the piston rod 8a via a support 8b. Further, the switch box 10 is provided with a down switch 10 a and an up switch 10 b of the movable safety fence 2.

The work table 4 is large enough to place the work 3 and is set on the gantry 7 at a height substantially equal to half the height of the industrial robot 5.

In the safety fence device 1 as described above, the operator first performs the work of replacing the work 3 while the industrial robot 5 is stopped, so that the lowering switch 10a of the movable safety fence 2 is first used.
Input. When the down switch 10a is turned on, a power mechanism (not shown) of the cylinder 8 operates to operate the piston rod 8a.
Operate in the direction accommodated in the cylinder 8. When the piston rod 8a operates, the movable safety fence 2 interlocks,
It descends along the guide post 11 and moves from the state shown in FIG. 6 to the state shown in FIG.

Next, when the movable safety fence 2 is lowered, the worker starts the work for replacing the work 3 and the like, and after the work or the like is completed, the movable safety fence 2 is raised in order to raise the movable safety fence 2. The raising switch 10b of the fence 2 is turned on. When the raising switch 10b is turned on, the power mechanism of the cylinder 8 (not shown) operates, and the piston rod 8a operates in a direction of protruding outside the cylinder 8. When the piston rod 8a operates, the movable safety fence 2 moves up along the guide post 11 in conjunction with the movement, and moves from the state shown in FIG. 7 to the state shown in FIG.

[0012]

In the conventional safety fence device 1 for an industrial robot 5 shown in FIGS. 5A and 5B, while the industrial robot 5 is stopped, a worker replaces the work 3 or the like. Even if the movable safety fence 2 is lowered to perform the operation, the stopped state of the industrial robot 5 is maintained by an electric interlock or the like, and safety is secured. When a control cable or a control device (not shown) receives an electric failure such as mixing of electromagnetic noise and the like, the malfunction of the industrial robot 5 occurs, and the arm 5a of the industrial robot 5 enters the workbench 4, the worker There is a risk of contact.

An object of the present invention is to provide a safety fence device for an industrial robot that reliably protects an operator even when the industrial robot that should be kept stopped malfunctions.

[0014]

SUMMARY OF THE INVENTION The present invention relates to a safety fence device for an industrial robot having mechanical protection means.

According to a first aspect of the present invention, there is provided a movable protection plate for preventing an arm of an industrial robot from entering a work table and coming into contact with a worker while the industrial robot is stopped. The movable protection plate is located near the work table and the movable safety fence is positioned away from the work table when the worker is working. . According to the first aspect of the present invention, the movable protection plate is provided between the worktable and the industrial robot, so that the arm of the industrial robot can be prevented from entering, and the worker and the industrial robot do not come into contact with each other. Worker safety can be ensured.

According to a second aspect of the present invention, the movable safety fence and the movable protection plate perform mutually opposing lifting and lowering operations. According to the second aspect of the present invention, when the movable safety fence is lowered, the movable protection fence rises, and when the movable safety fence is raised, the movable protection fence is lowered. And do not do useless operation.

According to a third aspect of the present invention, mutually contradictory elevating operations are performed by a link mechanism. According to the third aspect of the present invention, the mutually contradictory elevating operation is performed by the mechanical link mechanism, so that the elevating operation is reliably performed.

According to a fourth aspect of the present invention, mutually opposing elevating operations are performed by controlling a driving mechanism of a movable protection plate and a driving mechanism of a movable safety fence which are further provided. . According to the fourth aspect of the present invention, the mutually opposing elevating operations are performed by controlling both driving mechanisms, so that the elevating operations are reliably performed.

[0019]

DETAILED DESCRIPTION OF THE INVENTION FIGS. 1 (A) and 1 (B) to FIG. 2 (A)
(B) shows an embodiment of a safety fence device for an industrial robot according to the present invention. In this embodiment, a movable protective plate for preventing the arm of the industrial robot from entering the work table and contacting the worker while the industrial robot is stopped is provided between the work table and the industrial robot. The movable safety fence and the movable protection plate perform mutually opposing lifting operations by a link mechanism.

Here, FIGS. 1 (A) and 1 (B) to FIG. 2 (A)
In (B), the same reference numerals are given to the same parts as the respective parts of the safety fence device of the conventional industrial robot shown in FIGS. 5 (A) and (B). FIG. 1 shows a state in which the movable safety fence 2 is raised (the movable protection plate 18 is lowered), and FIG. 2 shows a state in which the movable safety fence 2 is lowered (the movable protection plate 18 is lowered).
Indicates a raised state.

The safety fence device 13 of this embodiment comprises a movable safety fence 2 which can be raised and lowered and a guide mechanism 6 for the movable safety fence 2.
And the drive mechanism 9 of the movable safety fence 2 and the link mechanism 15
And a movable protective plate 18 which can be moved up and down. The lifting and lowering of the movable protective plate 18 is defined as the movable protective plate 18.
However, when the industrial robot 5 is stopped and is located near the work table 4 or moves away from the work table 4, it is positioned near the work table 4 in the “elevated” state and
Of the arm 5a into the worktable 4 can be prevented. In the “down” state, the movable protection plate 18 is separated from the worktable 4, and the arm 5 a can enter the worktable 4.

The guide mechanism 6 of the movable safety fence 2 includes a guide post 11 and a sliding member 11 that slides on the guide post 11.
b, 11c and a mounting seat 11a. The guide post 11 is a pair of right and left supports erected on the gantry 7 at substantially the same width as the work table 4 and at substantially the same height as the industrial robot 5, and the movable safety fence 2 slides. Utensils 11b, 1
1c. The mounting seat 11a is
The guide post 11 is provided on the work table side at substantially the same height as the work table 4. This attachment seat 11a has a link mechanism 1
5 are provided. The guide post 11 forms one link element of the link mechanism 15.

The movable safety fence 2 has a plate-like shape in which the horizontal direction is substantially the same as the standing interval of the guide posts 11 and the vertical direction is substantially the same as １ ／ of the height of the guide posts 11. , For example, made of an arc light shielding plate. The movable safety fence 2 is provided with a support 8b which is connected to one end of a piston rod 8a of a cylinder 8 at an upper end on the outer side, and is provided on the outer side. Utensil 11b,
11c are provided inward at substantially both upper and lower corners, respectively. Further, a uniaxial attachment portion 17b of the link mechanism 15 is provided at one end of the sliding tool 11c.

The drive mechanism 9 of the movable safety fence 2 includes a pneumatic cylinder 8 erected on a base 7 and a switch box 10
And consists of The cylinder 8 has a piston rod 8a
The movable safety fence 2 is connected to one end of the piston rod 8a via a support 8b. Further, the switch box 10 is provided with a down switch 10 a and an up switch 10 b of the movable safety fence 2.

The movable protection plate 18 is made of a steel plate or the like having substantially the same size as that of the movable safety fence 2. It is provided so as to be able to move up and down while being pivoted on the top and bottom. Note that the movable protection plate 18 forms one link element of the link mechanism 15.

The work table 4 is large enough to place the work 3 and is set on the gantry 7 at substantially the same height as half the height of the industrial robot 5. Furthermore, the legs 4a of the worktable 4
Shaft seat 4 of a shaft 4c for guiding the link operation on both sides of the shaft
b is provided to extend perpendicular to the link. The mounting position of the spindle seat 4b is determined by the movable protection plate 18.
Is determined in conjunction with the length of each link so that it becomes substantially vertical when it rises.

The link mechanism 15 comprises a link 16a having the guide post 11 as a link element, a link 16b, a link 16c having a movable protective plate 18 as a link element, and a link 16d. , 17c,
It is attached at 17d. The link 16b connects the uniaxial attachment portion 17b provided at one end of the slide 11c of the guide mechanism 6 to the uniaxial attachment portion 17c at the lower side of the movable protection plate 18. The link 16d connects the uniaxial attachment portion 17d provided on the mounting seat 11a of the guide post 11 with the uniaxial attachment portion 17d on the upper side surface of the movable protection plate 18. Further, a rectangular hole 16e is provided at a substantially central portion of the link 16b,
It is combined with the support shaft 4c of the support shaft seat 4b. Further, link mechanisms 15 are provided on both left and right sides of the movable safety fence 2 and the movable protection plate 18 to form a pair of link mechanisms. In addition,
The link length of the link 16b and the link 16d and the length of the rectangular hole 16e are determined in conjunction with the mounting position of the support shaft seat 4b so that the movable protective plate 18 becomes substantially vertical when the movable protective plate 18 is raised.

In the safety fence device 13 as described above, when the industrial robot 5 is stopped, the operator turns on the lowering switch 10a of the movable safety fence 2 in order to perform work such as replacing the work 3. . When the lowering switch 10a is turned on, a power mechanism of the cylinder 8 (not shown) operates to operate the piston rod 8a in a direction to be accommodated in the cylinder 8. When the piston rod 8a operates, the movable safety fence 2 moves down along the guide post 11 in conjunction with the movement, and shifts from the state shown in FIG. 1 to the state shown in FIG.

Further, at the same time when the movable safety fence 2 starts to descend, the pair of link mechanisms 15 operate, and the movable protective plate 18 which has been located below the upper surface of the work table 4 rises. From the state shown in FIG. 2 to the state shown in FIG.

The operation of the link mechanism 15 is such that when the movable safety fence 2 starts to descend, the sliding member 11c of the guide mechanism 6
Of the link 16b provided at one end of the link 16b starts linearly descending, and one end of the link 16b axially attached thereto also descends linearly. This link 16b is formed by a support hole 4c with a rectangular hole 16e.
When one end starts to descend, the rectangular hole 16e
The shaft is rotated to the left while sliding on the support shaft 4c at the portion, and the shaft attachment portion 17c at the other end is raised. When the shaft mounting portion 17c is raised, the link 16c (movable protection plate 18) which is connected to the shaft mounting portion 17c and the shaft mounting portion 17d at the other end of the link 16d is fixed to the length and rectangular shape of each link. It rises within an operation range determined by the length of the hole 16e and the mounting position of the support shaft seat 4b, and shifts from the state shown in FIG. 1 to the state shown in FIG.

Next, when the movable safety fence 2 is lowered, the worker starts the work of replacing the work 3 and the like, and after the work and the like is completed, the movable safety fence 2 is raised to raise the movable safety fence 2. The raising switch 10b of the fence 2 is turned on. When the raising switch 10b is turned on, the power mechanism of the cylinder 8 (not shown) operates, and the piston rod 8a operates in a direction of protruding outside the cylinder 8. When the piston rod 8a operates, the movable safety fence 2 moves up along the guide post 11 in conjunction with the movement, and shifts from the state shown in FIG. 2 to the state shown in FIG.

Further, at the same time when the movable safety fence 2 starts to rise, the pair of link mechanisms 15 operate, and the movable protection plate 18 near the worktable 4 is lowered, and the state shown in FIG. Move to the state shown in FIG.

The operation of the link mechanism 15 is such that when the movable safety fence 2 starts to rise, the sliding member 11c of the guide mechanism 6
The shaft attachment portion 17b provided at one end of the link 16b starts to rise linearly, and the one end of the link 16b attached here also rises linearly. This link 16b is formed by a support hole 4c with a rectangular hole 16e.
When one end starts to rise, the rectangular hole 16e
The shaft is rotated rightward while sliding with respect to the support shaft 4c, and the shaft attachment portion 17c at the other end is lowered. When the shaft-mounted portion 17c is lowered, the link 16c (movable protective plate 18) which is connected to the shaft-mounted portion 17c and the shaft-mounted portion 17d at the other end of the link 16d is fixed to the length and rectangular shape of each link. It descends within an operation range determined by the length of the hole 16e and the mounting position of the spindle seat 4b, and shifts from the state shown in FIG. 2 to the state shown in FIG.

FIGS. 3A and 3B to FIGS. 4A and 4B
Shows another embodiment of the safety fence device. In this embodiment, mutually contradictory elevating operations are performed by a drive mechanism for a movable protection plate further provided and a control device (not shown) for controlling a drive mechanism for a movable protection plate and a drive mechanism for a movable safety fence. .

Here, FIGS. 3A and 3B to FIG.
In (B), the same reference numerals are given to the same parts as the respective parts of the safety fence device of the conventional industrial robot shown in FIGS. 5 (A) and (B). FIG. 3 shows a state in which the movable safety fence 2 is raised (the movable protection plate 18 is lowered), and FIG. 4 shows a state in which the movable safety fence 2 is lowered (the movable protection plate 18 is moved).
Indicates a raised state.

The safety fence device 20 of this embodiment comprises a movable safety fence 2 that can be raised and lowered and a drive mechanism 21 for the movable safety fence 2.
And a movable protective plate 18 that can be raised and lowered, and a movable protective plate 18
Drive mechanism 22.

The drive mechanism 21 of the movable safety fence 2 is
Pneumatic cylinder 8 erected above the switch box 1
Consists of zero. Further, the switch box 10 includes a down switch 10 a and an up switch 1 of the movable safety fence 2.
0b is provided.

The drive mechanism 22 of the movable protection plate 18 is composed of a pneumatic cylinder 24 erected on the gantry 7.

In the safety fence device 20 described above, when the lowering switch 10a of the movable safety fence 2 is turned on, the power mechanism of the cylinder 8 (not shown) operates to move the piston rod 8a in the direction in which the piston rod 8a is accommodated in the cylinder 8. In operation, the movable safety fence 2 connected to one end of the piston rod 8a via the support 8b descends. At the same time, by a control device (not shown) for controlling the drive mechanism 21 and the drive mechanism 22, the power mechanism of the cylinder 24 (not shown) works to
a moves in the direction of protruding outside the cylinder 24,
The movable protection plate 18 connected to one end of the piston rod 24a via the support 24b rises, and shifts from the state shown in FIG. 3 to the state shown in FIG.

Next, when the movable safety fence 2 is lowered, the worker starts to replace the work 3 or the like, and after the work or the like is completed, the movable safety fence 2 is raised in order to raise the movable safety fence 2. The raising switch 10b of the fence 2 is turned on. When the raising switch 10b is turned on, the piston rod 8a operates in a direction protruding to the outside of the cylinder 8 by a power mechanism of the cylinder 8 (not shown) to move the piston rod 8a connected to one end of the piston rod 8a via the support 8b. The safety fence 2 rises. At the same time, by a control device (not shown) that controls the drive mechanism 21 and the drive mechanism 22, the power mechanism of the cylinder 24 (not shown) operates to move the piston rod 24a in a direction in which the piston rod 24a is housed inside the cylinder 24, and Movable protective plate 18 connected to one end via support 24b
Moves down from the state shown in FIG. 4 to the state shown in FIG.

[0041]

As described above, according to the first aspect of the present invention, it is possible to prevent the arm of the industrial robot from entering the workbench and coming into contact with the worker while the industrial robot is stopped. A movable guard plate is provided between the workbench and the industrial robot, and when the worker is working, the movable guard plate is located near the worktable and the movable safety fence is separated from the worktable. Since the arm is located, the arm of the industrial robot can be prevented from entering, and the worker can be kept safe without the worker coming into contact with the industrial robot.

According to the second aspect of the present invention, the movable safety fence and the movable protection plate perform opposing elevating operations, and when the movable safety fence is lowered, the movable protection plate rises. Conversely, when the movable safety fence rises, the movable protection fence lowers, so that the movable safety fence and the movable protection fence do not perform useless operations.

According to the third aspect of the present invention, the mutually opposing elevating operations are performed by the mechanical link mechanism, so that the mutually opposing elevating operations are reliably performed.

According to the fourth aspect of the present invention, the mutually opposing lifting and lowering operations are performed by controlling the driving mechanism of the movable protection plate and the driving mechanism of the movable safety fence. Therefore, the mutually opposing lifting and lowering operations are reliably performed.

[Brief description of the drawings]

FIGS. 1A and 1B are a front view and a right side view when a movable safety fence of a safety fence device according to the present invention is raised (movable protective plate is lowered).

FIGS. 2A and 2B are a front view and a right side view when the movable safety fence of the safety fence device according to the present invention is lowered (the movable protection plate is raised).

FIGS. 3A and 3B are a plan view and a right side view when a movable safety fence of another safety fence device according to the present invention is raised (movable protection plate is lowered).

FIGS. 4A and 4B are a plan view and a right side view when a movable safety fence of another safety fence device according to the present invention is lowered (movable protection plate is raised).

FIGS. 5A and 5B are a plan view and a right side view of a safety fence or the like in which a conventional safety fence device is installed.

FIGS. 6A and 6B are a front view and a right side view when a movable safety fence of the conventional safety fence device is raised.

7A and 7B are a front view and a right side view when a movable safety fence of a conventional safety fence device is lowered.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Safety fence device 2 Movable safety fence 3 Work 4 Work table 4a Leg 4b Support shaft seat 4c Support shaft 5 Industrial robot 5a Arm 6 Guide mechanism 7 Mounting stand 8 Cylinder 8a Piston rod 8b Supporting tool 9 Drive mechanism 10 Switch box 10a Descending Switch 10b Elevation switch 11 Guide post 11a Mounting seat 11b, 11c Sliding tool 13 Safety fence device 15 Link mechanism 16a, 16b, 16c, 16d Link 16e Rectangular hole 17a, 17b, 17c, 17d Shaft attachment portion 18 Movable protective plate 19 Work loading / unloading position 20 Safety fence device 21, 22 Drive mechanism 24 Cylinder 24a Piston rod 24b Support

Claims (4)

[Claims] An industrial robot and a work table on which a work is mounted are opposed to each other, and a movable safety fence is provided on the work table on the opposite side of the industrial robot; and a guide for the movable safety fence. A safety fence device for an industrial robot, comprising a mechanism and a drive mechanism for the movable safety fence, wherein the arm of the industrial robot enters the workbench while the industrial robot is stopped and contacts the worker. A movable protection plate is provided between the work table and the industrial robot to prevent the movable protection plate from being located near the work table while the worker is working. The movable safety fence is a safety fence device for an industrial robot that is located away from the workbench. 2. The safety fence device for an industrial robot according to claim 1, wherein the movable safety fence and the movable protection plate perform opposing elevating operations. 3. The safety fence device for an industrial robot according to claim 2, wherein the mutually opposing elevating operations are performed by a link mechanism. 4. The lifting operation, which is opposite to the above, is performed by further providing a driving mechanism for a movable protection plate, and controlling a driving mechanism for the movable protection plate and a driving mechanism for the movable safety fence. 2. The safety fence device for an industrial robot according to claim 1.