JPH01291178A - Fault detector for safety mat - Google Patents
Fault detector for safety matInfo
- Publication number
- JPH01291178A JPH01291178A JP63121312A JP12131288A JPH01291178A JP H01291178 A JPH01291178 A JP H01291178A JP 63121312 A JP63121312 A JP 63121312A JP 12131288 A JP12131288 A JP 12131288A JP H01291178 A JPH01291178 A JP H01291178A
- Authority
- JP
- Japan
- Prior art keywords
- electrode
- safety mat
- robot
- electrodes
- disconnection
- Prior art date
- 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.)
- Pending
Links
- 238000012806 monitoring device Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 238000010292 electrical insulation Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000013459 approach Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 101150073133 Cpt1a gene Proteins 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
- H01H3/14—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch adapted for operation by a part of the human body other than the hand, e.g. by foot
- H01H3/141—Cushion or mat switches
Abstract
Description
【発明の詳細な説明】
[産業上の利用分野]
この発明は、産業用ロボットの動作範囲内への作業者等
の異常接近を監視する安全マット、特に安全マットの電
極の断線を監視する安全マットの故障検出装置に関する
ものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a safety mat that monitors abnormal approach of a worker or the like to the operating range of an industrial robot, and particularly a safety mat that monitors disconnection of electrodes of the safety mat. The present invention relates to a mat failure detection device.
[従来の技術]
第2図は従来の産業用ロボットを示すもので、図中、(
1)はロボット、(2)はワーク供給コンベア、(3)
はワーク排出コンベア、(4)は加工機、(5)は安全
柵である。[Conventional technology] Figure 2 shows a conventional industrial robot.
1) is a robot, (2) is a workpiece supply conveyor, (3)
is a workpiece discharge conveyor, (4) is a processing machine, and (5) is a safety fence.
従来の産業用ロボットは上記のように構成され、ロボッ
ト(1)の動作中に作業者等が不用意にロボット(1)
に異常接近し、それにより発生する事故を未然に防止す
るため、第2図に示すようにロボット(1)の動作範囲
の外周全域に安全柵(5)あるいは安全ローブを配する
ことが法令で定められている。Conventional industrial robots are configured as described above, and a worker or the like may accidentally touch the robot (1) while the robot (1) is in operation.
In order to prevent accidents caused by abnormally approaching the robot (1), it is required by law to place a safety fence (5) or safety robe around the entire outer circumference of the robot (1)'s operating range, as shown in Figure 2. It is determined.
ところが、工場や機械配置の都合で、どうしてもその一
部が開口している場合があり、この場合には、第2図に
示すように上記開口の床面上に安全マット(6)を敷設
することで、上記目的を達成することが許容されている
。However, due to factory and machine layout, there are cases where a part of the opening is unavoidable, and in this case, a safety mat (6) is laid on the floor of the opening as shown in Figure 2. This allows the above objectives to be achieved.
第3図〜第5図は、例えば特開昭60−249081号
公報に示されている従来の安全マットを示すもので、図
中、(7)は電気的絶縁性を有するゴム等の弾性体、(
8)、(9)はこの弾性体(7)内に所要の間隙(10
)を保持して対向配置されたA電極およびB電極で、両
電極(8)、(9)は通常は弾性体(7)の弾性力で非
接触となっているとともに、安全マット(6)上に人が
乗った場合には接触して回路を閉成し、ロボット(1)
に対する停止信号および図示しない警報装置に対する駆
動信号を出力するようになっている。Figures 3 to 5 show a conventional safety mat shown in, for example, Japanese Patent Application Laid-Open No. 60-249081. ,(
8) and (9) have a required gap (10
), and the electrodes (8) and (9) are normally non-contact due to the elastic force of the elastic body (7), and the safety mat (6) If someone gets on top of it, it will make contact and close the circuit, and the robot (1)
It outputs a stop signal for the vehicle and a drive signal for an alarm device (not shown).
[発明が解決しようとする課N]
上記のような従来の安全マットでは、各電極(8)、(
9) に断線がない場合には正常に動作するが、いず
れか一方の電極(8)、(9)が断線した場合には正常
に動作せず、作業者等が動作中のロボット(1)に異常
接近して大事故になるおそれがある等の課題があった。[Problem N to be solved by the invention] In the conventional safety mat as described above, each electrode (8), (
9) If there is no disconnection in the robot (1), it will operate normally, but if either one of the electrodes (8) or (9) is disconnected, it will not operate normally, and the robot (1) There were issues such as the risk of getting abnormally close to the target and causing a major accident.
この発明は、かかる課題を解決するためになされたもの
で、安全マットの電極が断線している場合でも、ロボッ
トによる災害を未然に防止することができる安全マット
の故障検出装置を得ることを目的とする。This invention was made in order to solve this problem, and the purpose is to obtain a failure detection device for a safety mat that can prevent disasters caused by robots even if the electrodes of the safety mat are disconnected. shall be.
[課題を解決するための手段]
この発明に係る安全マットの故障検出装置は、電気絶縁
性を有する弾性体内に、所要の間隙を保持して一対の電
極を対向配置し、弾性体への荷重の負荷に伴なう両電極
の接触により、回路を閉成してロボットを停止させる安
全マットにおいて、上記回路に、各電極に微弱電流を常
時流して各電極の導通状態を監視し非導通検出時に故障
信号を出力する電極断線監視装置を接続するようにした
ものである。[Means for Solving the Problems] A failure detection device for a safety mat according to the present invention has a pair of electrodes arranged facing each other with a required gap in an elastic body having electrical insulation properties, and detects the load on the elastic body. In a safety mat that closes the circuit and stops the robot when the two electrodes come into contact with the load, a weak current is constantly passed through each electrode in the circuit to monitor the conduction state of each electrode and detect non-continuity. An electrode disconnection monitoring device that outputs a failure signal at certain times is connected.
[作用]
この発明においては、安全マットの各電極に、電極断線
監視装置により微弱電流が常時流され、各電極の導通状
態が監視される。そして、非導通゛状態となった場合に
は、電極の断線と判断して故障信号が出力される。この
ため、この故障信号によりロボットを停止したり警報装
置を駆動することにより、安全マットの電極が断線して
いる場合にも、ロボットによる災害を未然に防止するこ
とが可能となる。[Operation] In the present invention, a weak current is constantly passed through each electrode of the safety mat by an electrode disconnection monitoring device, and the conduction state of each electrode is monitored. If the electrode becomes non-conductive, it is determined that the electrode is disconnected, and a failure signal is output. Therefore, by stopping the robot or driving an alarm device based on this failure signal, it is possible to prevent a disaster caused by the robot even if the electrode of the safety mat is disconnected.
[実施例]
第1図は、この発明の一実施例を示すもので、図中、第
2図〜第5図と同一符号は同−又は相当部分を示す。(
11)はA電8i(8) とB電極(9)との導通を検
出する導通検出装置で、導通の検出により安全マット(
6)上に人が乗ったと判断してロボット(1)を停止さ
せる信号を出力する。(12)はA電極(8)に常時微
弱電流を流してA電極(8)の導通状態を監視するA電
極断線監視装置で、非導通の検出によりA電極(8)の
断線と判断して故障信号を出力する。(13)はB電極
(9)に常時微弱電流を流してB電極(9)の導通状態
を監視するB電極断線監視装置で、非導通の検出により
B電極(9)の断線と判断して故障信号を出力する。
(14)はロボット駆動装置、(15)はロボット制御
装置、(16)はマイクロコンピュータで、CPLI
(17)とROM(18)とRAM(19) とを備
えている。(20)は警報装置、(21)はI10ボー
トである。[Embodiment] FIG. 1 shows an embodiment of the present invention, and in the figure, the same reference numerals as in FIGS. 2 to 5 indicate the same or corresponding parts. (
11) is a continuity detection device that detects continuity between the A electrode 8i (8) and the B electrode (9), and the safety mat (
6) Determine that a person is on top of it and output a signal to stop the robot (1). (12) is an A electrode disconnection monitoring device that constantly flows a weak current through the A electrode (8) to monitor the conduction state of the A electrode (8), and determines that the A electrode (8) is disconnected by detecting non-continuity. Outputs a fault signal. (13) is a B electrode disconnection monitoring device that monitors the conduction state of the B electrode (9) by constantly passing a weak current through the B electrode (9), and determines that the B electrode (9) is disconnected by detecting non-continuity. Outputs a fault signal.
(14) is a robot drive device, (15) is a robot control device, (16) is a microcomputer, and CPLI
(17), ROM (18), and RAM (19). (20) is an alarm device, and (21) is an I10 boat.
上記のように構成された安全マットの故障検出装置にお
いては、各電極断線監視装置(12)、(13)から各
電極(8)、(9)に微弱電流が常時流され、各電極(
8)、(9)の導通状態が監視される。そして、いずれ
か一方または両方の電極断線監視装置(12)、(13
)が非導通を検出すると、これを断線と判断して故障信
号を出力する。この故障信号は、I10ボート(21)
を介して CPt1 (17) に送られ、CPU
(17)からは、ロボット制御装置(15)に対してロ
ボット停止信号が出力されるとともに、警報装置(20
)に対して駆動信号が出力される。これにより、電極(
8)、(9)の断線を容易に知ることができるとともに
、断線した状態で人が安全マット(6)上に乗ってロボ
ット(1)に異常接近しても、ロボット(1)が停止し
ているので、ロボット(1)による災害を未然に防止す
ることができる。In the safety mat failure detection device configured as described above, a weak current is constantly passed from each electrode disconnection monitoring device (12), (13) to each electrode (8), (9), and each electrode (
The conduction states of 8) and (9) are monitored. Then, one or both electrode disconnection monitoring devices (12), (13
) detects non-continuity, it determines this as a disconnection and outputs a failure signal. This fault signal is the I10 boat (21)
is sent to CPt1 (17) via
(17) outputs a robot stop signal to the robot control device (15), and also outputs a robot stop signal to the robot control device (15).
), a drive signal is output to the This allows the electrode (
8) and (9) can be easily detected, and even if a person gets on the safety mat (6) and approaches the robot (1) abnormally with the wire broken, the robot (1) will not stop. Therefore, disasters caused by the robot (1) can be prevented.
なお、上記実施例では、電極(8)、(9)が断線した
際に、ロボット(1)を停止させる場合を示したが、警
報装置(20)のみを作動させるようにしてもよい。In the above embodiment, the robot (1) is stopped when the electrodes (8) and (9) are disconnected, but only the alarm device (20) may be activated.
[発明の効果]
この発明は以上説明したとおり、電極断線監視装置によ
り安全マットの電極の断線を検知できるようにしている
ので、安全マットの電極が断線した場合でも、ロボット
による災害を未然に防止することができ、安全マットの
信頼性を大幅に向上させることができる等の効果がある
。[Effects of the Invention] As explained above, this invention is capable of detecting disconnection of the electrodes of the safety mat using the electrode disconnection monitoring device, so even if the electrodes of the safety mat are disconnected, accidents caused by robots can be prevented. This has the effect of greatly improving the reliability of the safety mat.
第1図はこの発明の一実施例を示す構成図、第2図は従
来の産業用ロボットを示す構成図、第3図は従来の安全
マットの構成図、第4図は従来の安全マットの通常時の
電極の状態を示す説明図、第5図は同様の導通時の電極
の状態を示す説明図である。
(1)・・・ロボット、 (5)・・・安全柵、(6)
・・・安全マット、 (7)・・・弾性体、(8)・・
・A電極、 (9)・・・B電極、(10)・・・間隙
、(12)・・・A電極断線監視装置、
(13)・・・B電極断線監視装置、(20)・・・警
報装置なお、図中、同一符号は同一または相当部分を示
す。
代理人 大 岩 増 雄
第1図
5゛林燐
7:弾A、仏
8:At肯鮮
9:8を1弘
10:間蝋
第2図
第3図
第4図
第5図Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is a block diagram showing a conventional industrial robot, Fig. 3 is a block diagram of a conventional safety mat, and Fig. 4 is a block diagram of a conventional safety mat. FIG. 5 is an explanatory diagram showing the state of the electrodes during normal operation, and FIG. 5 is a similar explanatory diagram showing the state of the electrodes during conduction. (1)...Robot, (5)...Safety fence, (6)
... Safety mat, (7) ... Elastic body, (8) ...
・A electrode, (9)...B electrode, (10)...gap, (12)...A electrode disconnection monitoring device, (13)...B electrode disconnection monitoring device, (20)...・Alarm device In the figures, the same reference numerals indicate the same or corresponding parts. Agent Masuo Oiwa Figure 1 5 Lin Rin 7: Dan A, Buddha 8: Atkensen 9: 8 1 Hiro 10: Mawari Figure 2 Figure 3 Figure 4 Figure 5
Claims (1)
一対の電極を対向配置し、弾性体への荷重の負荷に伴な
う両電極の接触により、回路を閉成してロボットを停止
させる安全マットにおいて、上記回路に各電極に微弱電
流を常時流して各電極の導通状態を監視し非導通検出時
に故障信号を出力する電極断線監視装置を接続したこと
を特徴とする安全マットの故障検出装置。A pair of electrodes is placed facing each other with a required gap in an elastic body that has electrical insulation properties, and when a load is applied to the elastic body, the contact between the two electrodes closes the circuit and stops the robot. A failure of the safety mat, characterized in that an electrode disconnection monitoring device is connected to the circuit, which monitors the conduction state of each electrode by constantly passing a weak current through each electrode, and outputs a failure signal when non-continuity is detected. Detection device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP63121312A JPH01291178A (en) | 1988-05-18 | 1988-05-18 | Fault detector for safety mat |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP63121312A JPH01291178A (en) | 1988-05-18 | 1988-05-18 | Fault detector for safety mat |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH01291178A true JPH01291178A (en) | 1989-11-22 |
Family
ID=14808126
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP63121312A Pending JPH01291178A (en) | 1988-05-18 | 1988-05-18 | Fault detector for safety mat |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH01291178A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997001773A1 (en) * | 1995-06-29 | 1997-01-16 | The Nippon Signal Co., Ltd. | Mat sensor |
JP2016024980A (en) * | 2014-07-22 | 2016-02-08 | 大阪自動電機株式會社 | Mat switch |
-
1988
- 1988-05-18 JP JP63121312A patent/JPH01291178A/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997001773A1 (en) * | 1995-06-29 | 1997-01-16 | The Nippon Signal Co., Ltd. | Mat sensor |
US5798703A (en) * | 1995-06-29 | 1998-08-25 | The Nippon Signal Co., Ltd. | Mat sensor |
JP2016024980A (en) * | 2014-07-22 | 2016-02-08 | 大阪自動電機株式會社 | Mat switch |
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