JP7410726B2 - ロボットの対人保護装置 - Google Patents
ロボットの対人保護装置 Download PDFInfo
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- JP7410726B2 JP7410726B2 JP2020003533A JP2020003533A JP7410726B2 JP 7410726 B2 JP7410726 B2 JP 7410726B2 JP 2020003533 A JP2020003533 A JP 2020003533A JP 2020003533 A JP2020003533 A JP 2020003533A JP 7410726 B2 JP7410726 B2 JP 7410726B2
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
Description
2 作業者
3、7 ウェアラブル装置
4、4a、4b 検知電極
5、5a、5b 計測器
6 制御器
10 ロボット本体
12a、12b、12c、12d アーム
15 上衣
16 ベース
17 交流電圧付加装置
18、22 (交流電圧付加装置の)電極
19 (交流電圧付加装置の)1/4電気長のグランド電極
Claims (5)
- ロボットとそのロボットの周囲で作業する作業者とが接近したときに、前記ロボットに作業者との接触を回避するための動作をさせるロボットの対人保護装置において、
前記作業者の上衣に装着され、その作業者の体表面近傍に人体の有する静電界よりも大きな絶対値の正負に変動する交流電界を付与するウェアラブル装置と、前記ロボットに設けられる検知電極と、前記検知電極における電圧を計測する計測器とを備え、前記ウェアラブル装置は、交流電圧付加装置と、その交流電圧付加装置に接続される電極とで前記作業者に交流電圧を付加して、作業者の人体を帯電させるものであり、前記ロボットと作業者との接近により前記検知電極の電圧が高くなると、前記計測器で計測した電圧値に基づいてロボットの制御器へ信号を送りロボットの動作を制御することを特徴とするロボットの対人保護装置。 - 前記計測器と交流電圧付加装置の少なくとも一方に、前記交流電圧付加装置が作業者に付加する交流電圧の周波数の1/4電気長を有する配線からなるグランド電極が接続されていることを特徴とする請求項1に記載のロボットの対人保護装置。
- 前記交流電圧付加装置が作業者に付加する交流電圧が3Vrms~10Vrmsであることを特徴とする請求項1または2に記載のロボットの対人保護装置。
- 前記ロボットが作業者との共同作業を行う協働ロボットであることを特徴とする請求項
1乃至3のいずれかに記載のロボットの対人保護装置。 - 前記作業者が1台のロボットの周囲に複数配置され、各作業者に装着される交流電圧付加装置が互いに異なる周波数の交流電圧を付加するものであり、前記計測器でそれぞれの周波数の電圧を計測することを特徴とする請求項1乃至4のいずれかに記載のロボットの対人保護装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020003533A JP7410726B2 (ja) | 2020-01-14 | 2020-01-14 | ロボットの対人保護装置 |
PCT/JP2021/000491 WO2021145281A1 (ja) | 2020-01-14 | 2021-01-08 | ロボットの対人保護装置 |
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JP2020003533A JP7410726B2 (ja) | 2020-01-14 | 2020-01-14 | ロボットの対人保護装置 |
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JP2021109288A JP2021109288A (ja) | 2021-08-02 |
JP7410726B2 true JP7410726B2 (ja) | 2024-01-10 |
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JP (1) | JP7410726B2 (ja) |
WO (1) | WO2021145281A1 (ja) |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008085750A (ja) | 2006-09-28 | 2008-04-10 | Nippon Dempa Kogyo Co Ltd | 高周波伝送変換回路 |
JP2008514050A (ja) | 2004-09-14 | 2008-05-01 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 過電圧保護デバイス並びに無線周波数受信器及びそのようなデバイスを有する無線周波数識別タグ |
JP2010130268A (ja) | 2008-11-27 | 2010-06-10 | Mazda Motor Corp | 自動車の電波受信機 |
JP4938118B2 (ja) | 2010-08-17 | 2012-05-23 | ファナック株式会社 | 人間協調ロボットシステム |
US20140309918A1 (en) | 2013-04-10 | 2014-10-16 | Diesel Tech Industries Ltd. | Method and system for reducing the risk of a moving machine colliding with personnel or an object |
US20180122218A1 (en) | 2016-10-28 | 2018-05-03 | Brian Shanley | Proximity alarm system and method of operating same |
JP2019089165A (ja) | 2017-11-15 | 2019-06-13 | セイコーエプソン株式会社 | センサー、およびロボット |
JP2019171538A (ja) | 2018-03-29 | 2019-10-10 | ファナック株式会社 | 協働ロボットの制御装置及び制御方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BE757583A (fr) * | 1969-10-15 | 1971-04-15 | Dow Chemical Co | Sels d'hydroxyarylpolymethylene sulfonium et produits en derivant |
WO2020013322A1 (ja) * | 2018-07-13 | 2020-01-16 | Ntn株式会社 | ロボットの対人保護装置 |
JP2020049595A (ja) * | 2018-09-27 | 2020-04-02 | Ntn株式会社 | ロボットの対人保護装置 |
-
2020
- 2020-01-14 JP JP2020003533A patent/JP7410726B2/ja active Active
-
2021
- 2021-01-08 WO PCT/JP2021/000491 patent/WO2021145281A1/ja active Application Filing
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008514050A (ja) | 2004-09-14 | 2008-05-01 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 過電圧保護デバイス並びに無線周波数受信器及びそのようなデバイスを有する無線周波数識別タグ |
JP2008085750A (ja) | 2006-09-28 | 2008-04-10 | Nippon Dempa Kogyo Co Ltd | 高周波伝送変換回路 |
JP2010130268A (ja) | 2008-11-27 | 2010-06-10 | Mazda Motor Corp | 自動車の電波受信機 |
JP4938118B2 (ja) | 2010-08-17 | 2012-05-23 | ファナック株式会社 | 人間協調ロボットシステム |
US20140309918A1 (en) | 2013-04-10 | 2014-10-16 | Diesel Tech Industries Ltd. | Method and system for reducing the risk of a moving machine colliding with personnel or an object |
US20180122218A1 (en) | 2016-10-28 | 2018-05-03 | Brian Shanley | Proximity alarm system and method of operating same |
JP2019089165A (ja) | 2017-11-15 | 2019-06-13 | セイコーエプソン株式会社 | センサー、およびロボット |
JP2019171538A (ja) | 2018-03-29 | 2019-10-10 | ファナック株式会社 | 協働ロボットの制御装置及び制御方法 |
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Publication number | Publication date |
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JP2021109288A (ja) | 2021-08-02 |
WO2021145281A1 (ja) | 2021-07-22 |
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