JP4261528B2 - Safety device for automatic mechanical system - Google Patents

Description

  The present invention performs an operation on a target object in a plurality of work areas using an automatic machine such as a robot, for example, while an operator supplies a target object to each work area from a preparation area adjacent to each work area. The present invention relates to a safety device for ensuring the safety of an operator in an automatic machine system configured as described above.

  For example, when working on an object using an automatic machine such as a robot, a work area for performing work by the automatic machine is provided near the automatic machine, and the object is prepared in a preparation area adjacent to the work area. In many cases, the system is configured so that the worker supplies the object to each work area. In such a system, the operator must take care not to enter the work area during operation of the automatic machine, but carelessly, the work by the automatic machine may enter the work area being executed. Sometimes.

Therefore, conventionally, in order to ensure the safety of the worker, every time the worker enters the work area, the operation of the automatic machine is automatically stopped, and the operation is resumed after the worker leaves the work area. The method was widely adopted. However, this method is inefficient because the operation is frequently stopped to supply the object. Also, instead of supplying the object by the worker, there is a method of supplying the object to each work area using a turntable, a slider, etc., but an extra facility is required for the turntable, the slider and its control. There was a problem.
In addition, there exists patent document 1 as an example of a related prior art disclosure.

Japanese Patent Application Laid-Open No. 5-146777

  As described above, in the conventional technique, the system must be stopped every time the object is supplied, which causes a reduction in equipment operation rate and a reduction in productivity. In addition, when a turntable or a slider is used for supplying an object, they cannot be said to be cheap, so the problem of increased equipment costs cannot be ignored. Accordingly, an object of the present invention is to overcome the drawbacks of the prior art in a system that performs an automatic machine operation on an object supplied to a work area, and reduces the equipment operation rate and productivity with inexpensive means. An object of the present invention is to enable an operator to safely supply an object without causing a decrease.

  The present invention first sets a plurality of work areas in which work on an object is performed by an automatic machine, while supplying the object from a plurality of preparation areas, and detects entry of an operator or an automatic machine into these work areas. The above-mentioned problem is solved by providing a means for detecting the means and ensuring safety while allowing an operator to enter a work area in which work on an object is not performed by an automatic machine.

According to the first aspect of the present invention (Claim 1), an installation area of an automatic machine, and a plurality of work areas adjacent to the installation area and in which the automatic machine enters and performs work on an object, A safety device for an automatic machine system provided with a preparation area adjacent to each work area and for preparing an object to be supplied to each work area by an operator, between each of the work areas and the preparation area. A first detection unit that is arranged and detects an operator's entry into each of the work areas, a determination unit that determines a work area in which work by the automatic machine is being performed, and a first corresponding to any one of the work areas Only when the detection means detects that an operator has entered the work area by the first detection means, the work area is determined to be a work area in which work by the automatic machine is being executed by the discrimination means. and means for stopping the automatic machine, It is determined that the operation by the automatic machine is being executed by the second detection means that is disposed between the installation area and each work area, and detects the operator's entry into the installation area, and the determination means. the second detection means corresponding to the working area except for the working area, if the operator that it has intrusions into the installation region from the work area is detected, Ru is and means for stopping the automatic machine.

Furthermore, according to the second aspect of the present invention (Claim 2), an installation area of an automatic machine, and a plurality of operations that are adjacent to the installation area and in which the automatic machine enters and operates on an object. A safety device of an automatic machine system provided with an area and a preparation area adjacent to each work area for preparing an object to be supplied by the worker to each work area. Corresponding to any one of the work areas, a first detection means for detecting entry of the worker into each of the work areas, a means for discriminating a work area in which work by the automatic machine is being performed, respectively. the first detecting means, when the operator in the work area is detected to have penetrated, if the work area is the work by the automatic machine is determined to be a work area for executing by said discrimination means As long as means for stopping the automatic machine A second detection means that is disposed between the installation area and each work area, and detects at least one of an operator entering the installation area and an entry of the work machine into each work area; and the discrimination means wherein the second detection means work by automatic machine corresponds to the working area except for the work area is determined to be running, the operator has intrusions into the installation area from the same working area, and, the automatic by If work by machine the automatic machine in the working region other than the determined work area to be running after the detection of at least one of the invaded, Ru is and means for stopping the automatic machine.

  Also in these first and second modes, a means for outputting a notification signal for notifying the work area where the operator is invading by the operation of the operator, and the automatic machine receiving the notification signal causes the operator to enter the operator. It is preferable to provide means for controlling the automatic machine so as not to enter the work area inside.

Further, according to the third aspect of the present invention (Claim 4 ), an installation area of the automatic machine, and a plurality of work areas adjacent to the installation area and in which the automatic machine enters and performs work on the object, Arranged between each work area and the preparation area in a safety device of an automatic machine system provided with a preparation area adjacent to each work area and where an operator prepares an object to be supplied to each work area First detection means for detecting an operator's entry into each of the work areas, means for determining a work area in which work by the automatic machine is being performed, and first detection corresponding to any of the work areas by means, in the case where the operator in the work area is detected that has entered only if the working area work by the automatic machine is determined to be a work area for executing by said discriminating means, wherein Means for stopping the automatic machine; A second detection means disposed between the installation area and each work area for detecting an operator's entry into the installation area and an entry of the work machine into each work area; by the second detection means work corresponding to the work area other than the determined work area as being in execution by, the automatic machine when it is detected that the operator has entered invasion into the installation area from the same work area A means for stopping, a means for outputting a notification signal for notifying a work area where a worker is invading by an operator's operation, and a notification signal indicating that the worker is invading; you have entered the work area in the penetration Ru is and means the automatic machine is stopped when it is detected by the second detection means corresponding to the working area.

In any one of the first to third aspects, display or notification is performed so that the operator can recognize the work area in which the work by the automatic machine is determined to be performed by the determination unit. It is preferable that display / notification means for performing at least one of them is provided. The display / notification means may be a lamp and / or a buzzer, for example. Also, typically Ru robot is used as the automatic machine. A safety fence can be used as the first detection means. A photoelectric sensor can be used as the second detection means.

  According to the present invention, in a system that performs an automatic machine operation on an object supplied to a work area, an object by an operator can be obtained by an inexpensive means without causing a decrease in equipment operation rate or a decrease in productivity. It will be possible to supply goods safely. In other words, the facility operation rate can be improved by supplying the work object without stopping the system. In addition, a dedicated supply device such as a turntable and a slider is not necessary, and the cost can be reduced. Furthermore, the safety of the worker is ensured by controlling so that an automatic machine (for example, a robot) does not enter the area where the worker is working, and by stopping the equipment instantaneously even in the event of the entry.

  FIG. 1 is a diagram showing an overview of the overall layout of an automatic machine system to which a safety device according to an embodiment of the present invention is applied. FIG. 2 is included in the overall layout shown in FIG. The relevant parts are extracted and simplified in a block diagram. FIG. 3 is a diagram showing a connection relationship between each part of the system and a control device (here, a robot controller) of the system. Hereinafter, embodiments will be described with reference to these drawings. In the present embodiment, the automatic machine is a robot and the case where the work is gripping / conveying the work will be described. However, another automatic machine (for example, using a movable machining head) that performs other work on the object is described. A machine tool for machining a workpiece).

  First, referring to FIG. 1, a robot RB is installed in a robot installation area, work areas are prepared on both left and right sides thereof, and a work area on the left side (hereinafter also referred to as work area 1) is accommodated in a work container CN1. A work (not shown) is taken out by the robot RB, and a work (not shown) contained in the work container CN2 is taken out in the work area on the right side (hereinafter also referred to as work area 2). The robot RB sequentially grips the work in the work container CN1 or CN2 with a hand (not shown), conveys it onto the slider SL, and places it on the slider SL. The slider SL sends the placed work to a work area (not shown) for the next process.

  In this example, it is assumed that the take-out work in these two work areas 1 and 2 is programmed to be performed alternately. For example, when the work picking work for the work container CN1 proceeds and the work container CN1 becomes empty, the process shifts to the work picking work in the work container CN2. Further, when the work picking work for the work container CN2 progresses and the work container CN2 becomes empty, the process shifts to the work picking work in the work container CN1.

  Work supply areas AR1 and AR2 (not shown in FIG. 1) are prepared adjacent to the work areas 1 and 2, and the boundary between the work areas 1 and 2 corresponding to the work supply areas AR1 and AR2. Are provided with a safety fence 1 and a safety fence 2 indicated by symbols SF1 and SF2. In response to the above-mentioned alternating work by the robot RB, the emptied work container CN1 or CN2 is replaced with another work container in which the work is accommodated.

  In the following description, the reference CN1 represents a work container placed in the work area 1 on the left side of the robot RB in FIGS. 1 and 2 regardless of whether or not the container individual has been replaced, and the reference CN2 represents FIGS. 2 represents a work container placed in the work area 2 on the right side of the robot RB.

  In order to supply the work area to the empty work area in this way, when necessary, the worker opens the safety fence 1 or the safety fence 2 and enters one of the work areas, so that the work container CN1 or CN2 Perform replacement work. In order to ensure the safety of the worker when the worker enters the work area, the photoelectric sensor 1 (PS1), the photoelectric sensor 2 (PS2), the work supply switch / lamp box 1 (BX1), the work supply switch, A lamp box 2 (BX2) is provided and is connected to a robot controller (not shown in FIGS. 1 and 2) together with the safety fence 1 (SF1) and the safety fence 2 (SF2) as shown in FIG. Operation control for ensuring the safety of these elements will be described later.

Besides the above configuration, as shown in FIG. 1, the safety fence 3 directly operator to the robot R B is opened when accessing (code SF3; in FIG. 2描示shown) are provided, a conveyor CV or A safety fence 4 (reference numeral SF4; not shown in FIG. 2) that is opened when an operator accesses the hand changer HC is provided. In the work containers CN1 and CN2, the work is stacked and accommodated in a plurality of stages, and a squeeze plate (not shown) is sandwiched between the stages. Before starting to take out the workpiece, the robot RB exchanges hands with the hand changer HC.

Then, the threshold plate is gripped and placed on the conveyor CV. Thereafter, the hand is again returned to the original position by the hand changer HC, and the take-out of the next stage work is started.
As described above, when one work container CN1 (or CN2) becomes empty, the process shifts to a work take-out operation in the other work container CN2 (or CN1).

Next, the function of each part for ensuring the safety of the worker and the control contents related to the robot controller RC will be described.
(1) About safety fence 1 (SF1) to safety fence 4 (SF4);
The robot controller RC discriminates the open / close state of each safety fence 1 (SF1) to safety fence 4 (SF4) at a predetermined short cycle (ITP), and if it is open, sets the corresponding flag to “1” and closes it. If it is in the state, the corresponding flag is set to “0”. Here, the flags of safety fence 1 (SF1) to safety fence 4 (SF4) are represented by symbols F1 to F4, respectively. For example, if only the safety fence 1 (SF1) is opened and the other safety fences are closed, F1 = 1 and F2 = F3 = F4 = 0.

(2) Regarding photoelectric sensor 1 (PS1) and photoelectric sensor 2 (PS2);
The robot controller RC determines the ON / OFF state of each photoelectric sensor 1 (PS1) and photoelectric sensor 2 (PS2) at a predetermined short cycle (ITP), and if it is ON, the corresponding flag is set to “1”. In the OFF state, the corresponding flag is set to “0”.

  Here, the flags of photoelectric sensor 1 (PS1) and photoelectric sensor 2 (PS2) are represented by symbols G1 and G2, respectively. For example, if the photoelectric sensor 1 (PS1) is in the ON state and the photoelectric sensor 2 (PS2) is in the OFF state, G1 = 1 and G2 = 0. For each photoelectric sensor 1, 2 (PS 1, PS 2), the “ON state” indicates that the robot RB has entered the corresponding work area or the worker has entered from the corresponding work area side to the installation area of the robot RB. “OFF state” indicates that the robot RB has not entered the corresponding work area, and the worker has not entered from the corresponding work area side to the installation area of the robot RB. ing.

  Therefore, the photoelectric sensor 1 (PS1) has a structure that emits a probe beam near the ceiling and emits the probe beam in a curtain shape at the boundary between each work area and the robot installation area.

(3) Work supply switch / lamp box 1 (BX1) and work supply switch / lamp box 2 (BX2);
Each work supply switch / lamp box 1 (BX1) and work supply switch / lamp box 2 (BX2) are provided with a "worker entry switch", a "worker leaving switch" and a "work ready display lamp", respectively. Yes. The worker turns on the “worker entry switch” of the corresponding work supply switch / lamp box before entering the work area, and turns on the “worker leave switch” when leaving. When one of the “worker entry switch” and the “worker leaving switch” is turned on, the other is automatically turned off (at the same time, neither the on state nor the off state).

  The robot controller RC turns on / off the “worker entry switch” and the “worker exit switch” of each work supply switch / lamp box 1, 2 (BX1, BX2) at a predetermined short cycle (ITP). And control the corresponding flag. Here, the flag representing the state of the worker entry switch / worker leaving switch of the work supply switch / lamp box 1 is W1, and the flag representing the state of the worker entry switch / worker leaving switch of the work supply switch / lamp box 2 is shown. Is W2.

  If the worker entry switch is ON (the worker leaving switch is OFF), the flag value is “1”. If the worker entry switch is OFF (the worker leaving switch is ON), the flag value is “0”. For example, if the worker turns on the worker entry switch of the work supply switch / lamp box 1 and accesses the work container CN1, W1 = 1 and W2 = 0. Thereafter, when the worker leaves and turns on the worker leaving switch of the work supply switch / lamp box 1, W1 = W2 = 0.

  The work supply indication lamps of the workpiece supply switch / lamp box 1 (BX1) and the workpiece supply switch / lamp box 2 (BX2) are controlled to be turned on / off by the robot controller RC. The details of the control will be described in the next section.

(4) Control of each part related to the stop of the system including the robot RB;
Flags R1 and R2 indicating the working state or workable state of the robot RB are set. If the robot RB is working in the work area 1, R1 = 1 and R2 = 0, and the robot RB is in the work area 2. If working, R1 = 0 and R2 = 1. While the robot is stopped, R1 = R2 = 0. In relation to this, the robot controller RC controls each part in the following manner.

  [1] The work ready display lamp of the work supply switch / lamp box 1 (BX1) is turned on when R1 = 0, and is turned off when R1 = 1. Similarly, the work ready display lamp of the work supply switch / lamp box 2 (BX2) is turned on when R2 = 0, and is turned off when R2 = 1.

[2] The robot RB is stopped as follows according to the state (value of F1, F2, G1, G2) of the safety fences 1, 2 (SF1, SF2) and the photoelectric sensors 1, 2 (PS1, PS2), R1 = R2 = 0.
(I) The output signals of the safety fence 1 (SF1) and the photoelectric sensor 2 (PS2) are “valid” when R1 = 1 and “invalid” when R1 = 0 with respect to the stop of the robot RB or the like. Is done. That is, if R1 = 1 (robot RB is working in the work area 1) and F1 = 1 or G2 = 1, the system including the robot RB is stopped in any case.

  On the other hand, if R1 = 0, the output signals of the safety fence 1 (SF1) and the photoelectric sensor 2 (PS2) are “invalid” regarding the stop of the robot RB, etc., and the robot RB, etc., regardless of the values of F1 and G2. The process to stop is not executed.

  (Ii) The output signals of the safety fence 2 (SF2) and the photoelectric sensor 1 (PS1) are “valid” when R2 = 1 and “invalid” when R2 = 0 with respect to the stop of the robot RB and the like. Is done. That is, if R2 = 1 (the robot is working in the work area 2) and F2 = 1 or G1 = 1, in any case, the system including the robot RB is stopped.

  On the other hand, if R2 = 0, the output signals of the safety fence 2 (SF2) and the photoelectric sensor 1 (PS1) are “invalid” regarding the stop of the robot RB, etc., and the robot RB regardless of the values of F2 and G1. Do not execute the process to stop others.

  By controlling (i) and (ii), as long as the worker performs work in a work area where the robot RB is not working, the worker can continue the work while avoiding danger. . If the robot RB enters the work area 1 while the worker is in the work area 1, immediately R1 = 1, the output signal of the safety fence 1 (SF1) is “valid”, and F1 is “1”. As long as there is, the robot RB and others stop immediately.

  Similarly, if the robot RB enters the work area 2 when the worker is in the work area 2, immediately R2 = 1, the output signal of the safety fence 2 (SF2) is “valid”, and F2 is “ As long as the value is “1”, the robot RB and others stop immediately.

  [3] However, in this embodiment, as long as the worker enters the work area by turning on the “worker entry switch” of the corresponding work supply switch / lamp box 1 or 2 as follows, The RB is prohibited from entering the work area. Therefore, unless the robot RB actually tries to enter the work area where the worker is present, the worker forgets to turn on the “worker entry switch” or the robot RB performs an abnormal operation. Does not occur.

  That is, in the robot controller RC, flags Q1 and Q2 are set for each work area so that the "work permission state" is "1" and the "work non-permission state" is "0", the work supply switch / lamp box 1, 2 is controlled as follows according to the ON / OFF state of the “worker entry switch”.

  (A) If the “worker entry switch” of the work supply switch / lamp box 1 (BX1) is in the ON state, Q1 = 0, and if it is in the OFF state, Q1 = 1.

  (B) If the “worker entry switch” of the work supply switch / lamp box 2 (BX2) is in the ON state, Q2 = 0, and if it is in the OFF state, Q2 = 1. The control of (A) and (B) prevents the robot RB from entering the work area where the worker is present.

  [4] The output signals of safety fences 3 and 4 (SF3 and SF4) are always valid. That is, if one of F3 and F4 becomes 1 (opening of the fence), the robot RB and others are immediately stopped.

Finally, the way of operation of the safety device in the present embodiment will be described in accordance with one actual work procedure.
First, it is assumed that the robot RB is taking out a work from the work container 2 (CN2) in the work area 2. In this case, the safety fence 2 (SF2) and the photoelectric sensor 1 (PS1) become effective, and when the safety fence 2 (SF2) is opened or the photoelectric sensor 1 (PS1) is blocked, the robot RB and other equipment are stopped.

  On the other hand, since the safety fence 1 (SF1) and the photoelectric sensor 2 (PS2) are invalid, the robot RB can take out the work while blocking the photoelectric sensor 2 (PS2). Moreover, even if the operator opens the safety fence 1, the work container 1 (CN1) can be replaced without stopping the equipment. The robot RB notifies the outside that work is being performed in the work container 2 (CN2), and the work availability display lamp of the work supply switch / lamp box 2 (BX2) for the worker is thereby turned off. ing. Further, since the robot RB is not working in the work container 1 (CN1), the work ready lamp of the work supply switch / lamp box 1 (BX1) is lit.

  The operator sees the work indicator lamp on the work supply switch / lamp box 1 (BX1) lit, and replaces the work container 1 (CN1) without stopping the equipment even if the safety fence 1 (SF1) is opened. Recognize that is possible.

  Similarly, when the work supply switch / lamp box 2 (BX2) is turned off, the safety fence 2 (SF2) is valid, and if the safety fence 2 (SF2) is opened, the equipment is stopped. Recognize that When the worker performs the work of replacing the work container 1 (CN1), the work area entry switch of the work supply switch / lamp box 1 (CN1) is operated to be turned on.

  As a result, the work enable signal W1 in the work area 1 for the robot RB is turned OFF (W = 0), and even when the robot finishes the work of the work container 2 (CN2) during the exchange work, the work area 1 side It will be in a standby state without operating. When the worker finishes the work replacement of the work container 1 (CN1), the worker operates the work area exit switch of the work supply switch / lamp box 1 (BX) to turn it on (the work area entry switch is in the off state). . As a result, the take-out work enabling signal W1 of the container 1 (CN1) with respect to the robot RB is turned ON (W1 = 1), and the robot RB can operate toward the work container 1 (CN1).

  The operation when the robot RB is taking out from the work container 1 (CN1) is basically the same as that described above, although the operation of each device is reversed.

  Further, even if the automatic machine is other than a robot, as long as the automatic machine enters the work area and performs a work on the object, it can be explained again that a safety device similar to the above embodiment can be configured. Absent.

  Furthermore, a work availability notification buzzer may be used instead of or in addition to the work availability display lamp in the above embodiment. In this case, it is preferable that lighting of the work enable display lamp corresponds to “buzzer off” and extinguishing corresponds to “buzzer on” (in order to provide a warning effect with a buzzer sound).

It is the figure which showed the outline | summary of the whole arrangement | positioning of the automatic machine system to which the safety device which concerns on embodiment of this invention is applied. The part relevant to the present invention is extracted from the overall arrangement shown in FIG. 1, and is simplified and depicted in a block diagram. It is the figure which showed the connection relation of each part of a system, and the control apparatus (robot controller) of a system.

Explanation of symbols

AR1 Work supply area 1
AR2 Work supply area 2
BX1 Work supply switch / lamp box 1
BX2 Work supply switch / lamp box 2
CN1 Work container 1
CN2 Work container 2
CV conveyor HC Hand changer PS1 Photoelectric sensor 1
PS2 Photoelectric sensor 2
RB Robot SF1 Safety fence 1
SF2 Safety fence 2
SF3 Safety fence 3
SF4 Safety fence 4
SL slider

Claims (9)

Installation area of an automatic machine, a plurality of work areas adjacent to the installation area, in which the automatic machine enters and performs work on an object, and an operator supplies the work areas adjacent to each work area A safety device for an automatic machine system provided with a preparation area for preparing an object to be processed,
First detection means arranged between each of the work areas and the preparation area, and detecting an entry of an operator into each of the work areas;
Discrimination means for discriminating a work area in which work by the automatic machine is being performed;
When the first detection means corresponding to any one of the work areas detects that an operator has entered the work area , the work area is a work area in which work by the automatic machine is being executed by the determination means. Means for stopping the automatic machine only when it is determined that
Second detection means arranged between the installation area and each work area, respectively, for detecting an operator's entry into the installation area;
Wherein the second detection means corresponding to the working area except for the working area of the work by the automatic machine is determined to be running by discrimination means, operator intrusion was it detected from the working area into the installation region A safety device for an automatic machine system, comprising: means for stopping the automatic machine when the automatic machine system is stopped. An installation area of an automatic machine, a plurality of work areas adjacent to the installation area where the automatic machine enters and performs work on an object, and an operator adjacent to each work area supplies the work area. A safety device for an automatic machine system provided with a preparation area for preparing an object,
First detection means arranged between each of the work areas and the preparation area, and detecting an entry of an operator into each of the work areas;
Means for determining a work area in which work by the automatic machine is being performed;
The first detecting means corresponding to one of the working area, if the worker in the work area is detected to have penetrated, the working area of the working by the automatic machine the work area by the discriminating means executes Means for stopping the automatic machine only when it is determined that
A second detection means that is arranged between the installation area and each work area, and detects at least one of an operator's entry into the installation area and an entry into the work area of the work machine;
Wherein the second detection means corresponding to the working area except for the working area of the work by the automatic machine is determined to be running by discrimination means, that the operator has entered invasion from the work area to the installation region, and And a means for stopping the automatic machine when at least one of the intrusion of the automatic machine into a work area other than the work area determined as being performed by the automatic machine is detected. Automatic machine system safety device characterized by. Means for outputting a notification signal for notifying the work area where the worker is invading by the operation of the worker;
Wherein the automatic machine receiving said notification signal and means for controlling the automatic machine so as not to invade into the working area in the operator intrusion, according to claim 1 or claim 2 Safety device for automatic mechanical system. An installation area of an automatic machine, a plurality of work areas adjacent to the installation area where the automatic machine enters and performs work on an object, and an operator adjacent to each work area supplies the work area. A safety device for an automatic machine system provided with a preparation area for preparing an object,
First detection means arranged between each of the work areas and the preparation area, and detecting an entry of an operator into each of the work areas;
Means for determining a work area in which work by the automatic machine is being performed;
The first detecting means corresponding to one of the working area, if the worker in the work area is detected to have penetrated, the working area of the working by the automatic machine the work area by the discriminating means executes Means for stopping the automatic machine only when it is determined that
A second detection means arranged between the installation area and each work area, for detecting an operator's entry into the installation area and the work machine into each work area;
By the second detection means corresponding to the working area except for the working area of the work by the automatic machine is determined to be running by said determining means detects that the operator has entered invasion from the work area to the installation region Means for stopping the automatic machine when
Means for outputting a notification signal for notifying the work area where the worker is invading by the operation of the worker;
When the notification signal indicating that the worker is invading is received and the second detecting means corresponding to the work area detects that the automatic machine has entered the work area where the worker has entered, the automatic A safety device for an automatic machine system, comprising: means for stopping the machine. Characterized by comprising display / notification means for performing at least one of display and notification so that an operator can recognize a work area determined by the determination means that work by the automatic machine is being executed, safety device for an automatic machine system according to any one of claims 1 to 4. The safety device for an automatic machine system according to claim 5, wherein the display / notification means is a lamp and / or a buzzer.   The safety device for an automatic machine system according to any one of claims 1 to 6, wherein the automatic machine is a robot.   The safety device for an automatic machine system according to any one of claims 1 to 7, wherein the first detection means is a safety fence.   The safety device for an automatic machine system according to any one of claims 1 to 8, wherein the second detection means is a photoelectric sensor.

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