JP2587584Y2 - Safety device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device, and more specifically, a detection member is provided on a pillar or the like on the boundary of a dangerous area such as a gantry robot, for example, when a worker or an object enters the pillar. The present invention relates to a safety device for stopping a robot.

[0002]

2. Description of the Related Art Conventionally, for example, the axis speed of a robot in a robot apparatus is about 100 m / min to 200 m / min, and the mass of an arm of the robot is about 100 kg to 1 ton.
The inertia force is enormous, and the shape of the arm part is complicated, and the danger is great. At present, robots operating in a wide range (5 m or more) are increasing. For example, there is a gantry type robot, which is supported by a plurality of columns and is movable right and left and back and forth. However, it is easy to allow a person to enter a robot movable area surrounded by the columns. For this reason, measures have been taken as a safety measure to prevent workers from entering the area by fencing the area.

[0003]

By the way, the above-mentioned conventional robot is provided with a robot arm having a large force, so that there is a high danger and the worker cannot work with peace of mind. Therefore, safety measures such as intrusion prevention during operation are indispensable.For example, gantry type robots are surrounded by fences to prevent workers from entering,
In many cases, it is necessary to put workers, material transporters, and the like in this danger area, and in order to make this possible, it is sometimes necessary to provide a fence with a large entrance and a large entrance. When a worker goes inside and performs work or maintenance, there is a problem that the fence and the entrance / exit of the fence hinder the work. Also, it is better for the material loading / unloading entrance to be large for work, but it is better for safety measures to be small.
There were also problems such as restrictions on the loading of materials, and sometimes the need to rebuild fences.

Further, since a robot having a large inertial force cannot be stopped suddenly, there is a possibility that an operator may step into a danger area before stopping completely, and it is recognized that the operator steps on the danger area only after stopping. No recognition of approaching the area is given. That is, there is nothing that makes the worker recognize that he is approaching the area where the safety device operates. Once the safety device has been activated, several steps are taken until it is activated again, and a reduction in work efficiency is unavoidable.

An object of the present invention is to provide a safety device operation area divided into a plurality of stages in order to improve the above-mentioned problems, and to use this operation area to decelerate the machine or to issue or stop any warning. Another object of the present invention is to provide a safety device in which it is determined that there is a person in a danger area so that the machine cannot be started from the outside, safety and security are improved, and a braking distance for stopping the machine is shortened.

[0006]

SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, the present invention provides a safety device provided with a detection member for detecting the intrusion of a person or an object into a dangerous area. Intrusion direction recognition for detecting an intrusion direction based on the detection order of the outer detection member and the inner detection member provided with an outer detection member and an inner detection member in order to detect stepwise intrusion of the detection member with a time lag. This is a configuration provided with a device.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. Note that this embodiment is directed to a punch press as an example of a machine, and a safety device for a robot that loads and unloads a product to and from the punch press will be described.
It is not limited to this model.

Referring to FIG. 6, a plate processing apparatus 1 includes a product unloading robot 3 as a product sorting apparatus and a punch press 5 as a processing machine. This punch press 5
Is provided with a fixed work table 7, and above the work table 7, a plate material W which is a workpiece is provided.
6, a carriage base 9 having a clamper (not shown) movable in the left-right direction (X-axis direction) in FIG. 6 is provided movably in the front-rear direction (Y-axis direction) in FIG. Accordingly, the plate material W is moved and positioned to the processing position by moving the clamp and the carriage base 9 in the X-axis and Y-axis directions.

A robot body frame 11 projects from both sides of the portal frame 5A of the punch press 5 above the work table 7, and the other end is supported by a column 13, respectively. The robot body frame 11 is connected to the portal frame 5A of the punch press 5 via a vibration absorbing material such as rubber or urethane.
And a support member 15 for mounting a detection member described later is vertically provided on the portal frame 5A of the punch press 5.

Inside the robot body frame 11, a pair of parallel X-axis linear shafts 17 and an X-axis timing belt (not shown) or a pair of parallel Y-axis linear shafts 19 are provided.
And a Y-axis timing belt (not shown) are provided orthogonal to each other. A Y-axis guide 21 is provided between the X-axis linear shafts 17, and an X-axis guide 23 is mounted between the Y-axis linear shafts 19. It is movable.

Further, a slider unit 25 is mounted at the intersection of the X-axis guide 23 and the Y-axis guide 21. The slider unit 25 is provided with a Z-axis 29 for vertically moving a robot hand 27 for lifting the work W. .

With the above configuration, the Z-axis 29 provided on the slider unit 25 by gripping the product with the robot hand 27
Is raised and lowered, and the slider unit 25 is appropriately moved to X,
The product is carried out by moving in the Y-axis direction.

A support 1 for supporting the robot body frame 11
The 3 and the support member 15 are provided with a plurality of detection members 35 as detection devices which are members constituting a safety device. Although the safety device having the above configuration is provided on both sides of the punch press 5, since the left and right sides have exactly the same configuration, the following description will be given of the safety device provided on the right side of the punch press 5. Referring to FIGS. 1 and 2, a light beam projector 37 a, which is a light source, is provided as a detection member 35 in a proper position of a support 13 and a support member 15 that support the robot body frame 11.
37b, light receivers 39a and 39b, and a reflecting member 41 for reflecting the light are provided.

As shown in FIG. 2, for example, the details of the reflection member 41 are notched at about 45 degrees, and an outer reflection member 43 such as a mirror is provided on the surfaces 13a and 15a of the support 13 and the support member 15, for example. An inner reflecting member 45 is provided in parallel with the upper surface of the outer reflecting member 43. Further, a plurality of adjustment screws 47 for adjusting the reflection direction of the outer reflection member 43 and the inner reflection member 45 are provided.

[0015] With this configuration, referring to FIG. 1, light L _A emitted from the beam projector 37a is a detection member 35 provided on the outer side of the support member 15, a dotted line and black arrows in the diagram of FIG 1 As shown, the light beam is bent by the outer reflection member 43, which is the reflection member 41 provided on the support 13, and goes around the outside, and enters the outside light receiver 39a. The inner light projector 37b provided on the support member 15
More output light beam L _B is around the inner being bent by the inner reflector 45, it has entered the inside of the light receiving unit 39 b.

With the configuration described above, the operation of the safety device is as follows.
7b and the light receiving unit 39a, 39b by are enclosed the working range of the robot in the ray L _A and the light L _B, when the light beam L _A person or an object is cut off by invasion, the moving speed of the robot, such as x % Down. Instead of slowing down,
A warning light and a sound may be transmitted to urge the worker to respond, or these may be used in combination. However, when the cut off light L _B is to always stop the movement of the robot or the like.

[0017] This means that when a heavy load is conveyed, the inertia of the robot increases, the sliding distance until the robot stops, and the risk of contact with humans increases. Therefore, through the light beam L _B immediately around the outside of the stop area, through the beams L _A constituting the warning area at a somewhat distance, light L _A, L _B
Those which attained worker improved safety to recognize the approach of the stop area is an internal enclosed by light L _B there is ensured a deceleration of the robot operating speed by blocking. In the explanatory diagram of the embodiment, the distance between the light rays L _A and L _B is set relatively short. However, it is conceivable that the warning area may be widened by further increasing the distance.

When the arm hanging down from the slider unit 25 is near the outside of the column 13, an overstroke limit switch (not shown) is set to a position inside the normal position so that a distance that does not cause a collision at a walking speed of a person is required. May need to be done. The deceleration limit switch (not shown) is connected to the X-axis and Y-axis linear shafts 81,
It may also be necessary to provide deceleration on both sides of 85.

The range in which the slider unit 25 can actually move is further inside than the range in which the slider unit 25 can physically move, and is controlled by software. That is, the slider unit 25, the robot unit, the transfer material, and the like are set to be slightly narrow so as not to come into contact with the surrounding frame, the support, and the like. This is a substantial operating range of the slider unit 25, and it is desirable that the detecting member 35 of the detecting device is provided outside the range and a stop region is set.

In addition, the light L
_A, the procedure of blocking L _B, grasped by using a mechanism for counting the cutoff number, it is when to avoid the risk to start the robot in a state in which Tome' person to stop area or warning area.

Further, by using the light beam projectors 37a and 37b and the light beam receivers 39a and 39b, counting is performed to determine which person or object has entered or exited, and it is determined whether or not the person is in the danger area. To be unable to start.

[0022] Therefore, while the light beam L _B is extinct stop at beam photodetector 39 b, and configured to have fallen servo power apply direct brake, also start, restart button placed work area of the robot Desirably not.

Next, a description will be given of a person counting pattern by the light rays L _A and L _B.

Referring to FIGS. 3, 4 and 5, FIG.
Shows a case where a person has passed the light rays L _A and L _B.
The count pattern at this time controls the count 1 when the vehicle enters the stop area T from the outside of the warning area K of the person. That is, light rays L _A connecting beam projector 37a and a light receiving device 39a when the light beam L _A person passing by will slow down the travel of the robot becomes OFF state, further when passing the light beam L _B the beam projector 37b and the light receiving unit 39b light L _B connecting the travel of the robot turned OFF stops and controls the count +1.

[0025] Then, if a person passes the light rays L _A than L _B, the robot's already state that has been stopped, but the beam projector 37b and the light receiving unit 3 and past the beam L _B is people
Light L _B connecting 9b is turned OFF, the ON state when exiting a person than light L _B. Then the light beam L _A connecting beam projector 37a and the light projector 39a past the light L _A person becomes OFF state, further human is control count -1 in the ON state when exiting the light L _A.
Therefore, the setting is made so that the robot can be restarted when it becomes ± 0 by the count 1 and the count −1.

[0026] In addition, if the spacing of the light beam L _A and L _B is wide, people go into completely in between, then the light beam L _{when A} is once turned OFF, whether the person was inside came out, yet another since people can not be recognized or entered, as much as possible light L _a, the interval between the L _B is a degree that does not turn people in between it is desirable. If you want to spread the warning area at the other hand, it is possible by providing a plurality of light rays L _A. In this case, or by increasing the deceleration enough to block the more inner light L _A, may be issued a stronger warning. These rays L _A and L _B are all O
When the state becomes N, the robot can be started.

FIG. 4 shows a case where a person crosses the light beam L _B past the light beam L _A and turns back from the warning area K without entering the stop area T. That is, a person from outside receives the light beam L _A
Beyond the light L _A connecting beam projector 37a and the light projector 39a is decelerated running of the robot becomes OFF state, and further cut off the light beam L _B, when a person stops, connecting the beam projector 37b and the light receiving unit 39b light L _B stops the robot turns OFF. At this time, if a person turns back without completely entering the stop area T, that is, the light beam L _B
There will be light L _A is OFF state again remains OFF, happens when a person comes to L _A outside the ON state, the light beam L _A, is L _B ON
When the state is reached, control of count 0 is not performed, and the robot can be started.

[0028] FIG. 5 shows a case where a person has returned again to the outside from its position blocking the light beam L _A. That is, light rays L _A connecting beam projector 37a and a light receiving unit 39a that blocks the light beam L _A contains the human from outside slows the travel of the robot turns OFF. When a person from the state returns back to the outside, even light L _B is once light L _A without becoming OFF becomes ON state, in this case returns to the normal speed from the deceleration is not to be stopped.

The above three patterns are basic movements. However, in the case where the widths of the light beams L _A and L _B are narrow, there are cases where many others enter while the light beams continue to be blocked. In this case, the cutoff time is limited and, for example, a timer is added. If the time set by the timer is exceeded, even if the count is 1 or -1 as shown in FIG. 3, it is necessary to provide a sign that confirms that there is no person in the stop area T. Required.

With the configuration and operation described above, the light beam L
_A, it detects the intrusion of human or object by L _B, light rays L _A
Blocked by allowed deceleration traveling of the robot, it is possible to improve the comfort and worker safety by stopping a robot by blocking the light beam L _B. In addition, it is possible to determine whether or not there is a person in the dangerous area,
Recognizes the penetration direction of the blocking signal person or thing that has entered by the procedure of _A and L _B, you can control the start of the robot by counting.

FIG. 7 shows a second embodiment as another embodiment. That is, the difference from the first embodiment, by providing the light beam L _A and the light L _B by several examples, optionally provided light L _A1 and the light L _A2 and light L _B1 and beam L _B2, light L _A warning area K exists between _A2 and the light beam L _B1 , and the light beam L _B2
Inside is a stop area.

According to the above configuration, the warning area K is widened, and the worker M1 once enters and exits the warning area K, or the worker M1 stays within the warning area K.
It is possible to determine whether 2 has entered further. Further, the number of persons in the warning area K and the number of persons in the stop area T can be counted more accurately. For this reason, the effect can exhibit the same effect as the first embodiment.

FIG. 8 shows a third embodiment, which is different from the first embodiment in that the light projectors 37a, 37b and the light projectors 39a, 39b, which are the detecting members 35, are provided independently. Is a point. For example, a configuration is provided between the individual columns 13 and the reflection member 41 is not used. Therefore, since the individual has and a light L _A and the light L _B can count more accurately be human from multiple directions can penetrate, the effect exerts the same effect as in the first embodiment be able to.

FIG. 9 shows a fourth embodiment, which is an embodiment for the stop area T of the polygonal shape, and differs only in the arrangement of the detection member 35 for the polygonal shape.
The effect can exhibit the same effect as the first embodiment.

The reflecting member 41 provided in each of the above-mentioned embodiments is not provided on the column 13, but may be provided separately.

FIG. 10 shows a fifth embodiment.
The difference from the first embodiment is that a mat having a sensing function is employed as the detecting member 35 of the detecting device. Except that a mat is used, the processing machine 5 and the product unloading robot 3 will be described in the same example, and the detailed structure and movement will be the same as those in the first embodiment.

A safety device which is a main part of the present embodiment will be described. Referring to FIG. 10, a range indicated by hatching in the right direction in the figure outside the support 13 that supports the robot body frame 11 of the plate material processing apparatus 1 is a deceleration mat as the detection member 35, and a warning is issued. Area K. Inside the deceleration mat, a range indicated by oblique lines of right flow and left flow in the drawing is a stop mat as the detection member 35 and is a stop area T.

The deceleration mat and the stopping mat are provided with a sensing member. The sensing member is a known technology, for example, a device in which a piezoelectric element is embedded in the mat to detect the pressure, or a large number of small switches are provided on the mat. It is a means to spread. In the deceleration mat, for example, the traveling speed of the robot is reduced to 50%. Note that the area of the warning area K needs to be set to a width that does not allow the user to easily step over in consideration of the stride length of a person.

As an operation of the above configuration, as shown in FIG. 11, this pattern is a pattern when a person steps on the deceleration mat from the outside, enters the stop mat, and goes out of the stop mat through the deceleration mat to the outside. Is shown.

That is, when a person steps on the deceleration mat from the outside, a deceleration signal is generated by the sensing member embedded in the deceleration mat, and the transfer of the robot is decelerated by x%. Further, when a person enters the inside of the stop mat, the sensing member embedded in the stop mat operates to generate a stop signal to stop the transfer of the robot. When the end of the work in the stop area T goes outside through the deceleration mat from the stop mat, the sensing members of the deceleration mat and the stop mat are turned off, so that the robot can be restarted.

FIG. 11 shows an example of a pattern, but the present invention is also applicable to the three patterns described in the first embodiment.

With the structure and operation described above, the invasion of a person is detected by the deceleration mat 137, the traveling of the robot is decelerated, and the robot is stopped by the stop mat 139. Safety and security can be improved. In addition, the other effects can be the same as those of the first embodiment, and the braking distance to stop can be reduced. Furthermore, the work can be performed efficiently because the space around the robot is largely empty. In the case of this embodiment, the counting function is possible as in the other embodiments. However, if a mat is laid in an area where a person can enter, the counting function is not required. By the way, 1m /
If the shaft speed is (MAX) at a shaft speed of sec and the time constant is 150 msec, the stopping distance is 1 m / sec × 0.15 = 0.
If the traveling speed of the robot is reduced to 50% in the warning area such as the mat or the light beam detection at the place of 15 m, 0.5 × 0.15 = 0.075 m, and the braking distance is naturally reduced to 50%. Become.

The present invention is not limited to the embodiments described above, but can be implemented in other forms by making appropriate changes. For example, beam-type safety devices and mat-type safety devices can be used for articulated robots to build pillars at the boundaries of danger areas,
By using the mat, it can be used, and it is also possible to provide a warning area K in two stages outside the stop area T and control the deceleration amounts differently. Furthermore, light and mat type safety devices can be provided on one or both sides of the machine.

[0044]

As will be understood from the above description of the embodiment, in the present invention, the outer detecting member and the inner detecting member are provided so as to detect the intrusion of a person or an object into the dangerous area step by step with a time lag. A detection member is provided, and an intrusion direction recognition device for recognizing the intrusion direction based on the detection order of the outer detection member and the inner detection member is provided, so that the inner detection member intrudes sequentially from the outer detection member. Is detected, it can be recognized as the direction of intrusion into the danger area, and conversely, if it is detected in order from the inner detection member to the outer detection member, it can be recognized as the direction to exit the danger area. .

Therefore, by recognizing the direction of intrusion, it is possible to control, for example, the motion of a robot or the like to be decelerated in the first stage detection, to stop the motion in the next detection, or to be able to restart. Safety can be improved.

[Brief description of the drawings]

FIG. 1 is a plan view showing a main part of the invention and showing a safety device.

FIG. 2 is an enlarged front view of a part viewed from an arrow II in FIG.

FIG. 3 is an operation explanatory view of the present invention.

FIG. 4 is an operation explanatory view of the present invention.

FIG. 5 is an operation explanatory view of the present invention.

FIG. 6 is an explanatory perspective view showing a plate processing apparatus according to an embodiment of the present invention;

FIG. 7 is an explanatory plan view showing a second embodiment of the safety device of the present invention.

FIG. 8 is an explanatory plan view showing a third embodiment of the safety device of the present invention.

FIG. 9 is an explanatory plan view showing a fourth embodiment of the safety device of the present invention.

FIG. 10 is a perspective view showing a fifth embodiment of the safety device according to the present invention.

11 is an operation explanatory view in FIG.

[Explanation of symbols]

 35 Detection member

Claims (1)

(57) [Scope of request for utility model registration] 1. A safety device provided with a detection member for detecting the intrusion of a person or an object into a danger area, wherein an outer detection member is provided to detect the intrusion of a person or an object into the danger area stepwise with a time lag. And an inner detection member, and an intrusion direction recognizing device for recognizing an intrusion direction based on the detection order of the outer detection member and the inner detection member.