JPH07241790A - Robot collision preventing method - Google Patents

Abstract

PURPOSE:To provide a robot collision preventing method allowing the collision avoidance of a robot with an obstruction to be carried out by the autonomous action of the robot or even at the time of putting the robot in action by manual operation. CONSTITUTION:Plural contactless proximity distance sensors 1-6 are fitted in the center axis direction and in the right-angled direction to the center axis direction of a hand 10 mounted to the tip of an articulated robot. When the robot is put in action, the tip shaft of the hand 10 is rotated by the control of a robot controller 30 so that the direction of the proximity distance sensor in the moving direction of the hand 10 is parallel to a path, and the distance between the hand 10 and an obstruction detected by the proximity distance sensor changed in the direction is monitored. In the case of getting close to the specified distance or less, the action of the robot is stopped, and an alarm is sounded.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for preventing collision of a robot, in which the robot can detect the distance to a work object or an obstacle and prevent collision.

In an extreme environment such as a space environment or a nuclear power plant, human work is dangerous and requires robot work. Considering the certainty and safety of the work, it is desirable that the robot perform the work automatically or autonomously. In this case, it is desirable that the robot detect the collision with the work target or obstacle and prevent the collision in advance. It is rare.

[0003]

2. Description of the Related Art Remote control is the mainstream of conventional robot work. When an obstacle is present, an emergency stop can be determined by an operator using a camera image and a force output applied to the robot at the time of a collision. I was going.

[0004]

However, surveillance using a camera image does not provide a clear sense of distance and has a blind spot. In a space environment, there is a problem such as a time delay due to a long distance, and a collision occurs. There is a problem that is difficult to prevent.

An object of the present invention is to provide a method for preventing collision of a robot, which can avoid collision with an obstacle of the robot even when the robot autonomously operates or manually operates the robot. There is.

[0006]

FIG. 1 shows the principle of the present invention. As shown in FIG. 1, a plurality of non-contact type proximity distance sensors 1 to 6 are attached in the central axis direction of a hand 10 attached to the tip of an articulated robot and in each direction perpendicular to the central axis direction, and the robot is attached. Is operated, the hand 10 is controlled by the controller 30 which controls the robot.
The distance between the hand 10 and the obstacle detected by the proximity distance sensor that rotates the tip axis of the hand 10 so that the orientation of the proximity distance sensor in the moving direction of Is monitored, and when the robot is approached within a predetermined distance, the operation of the robot is stopped and an alarm is issued.

Alternatively, in the central axis direction of the hand 10 attached to the tip of the articulated robot, the direction of distance detection can be changed from the central axis direction to the direction perpendicular to the central axis direction via a rotating mechanism. When a plurality of non-contact type proximity distance sensors with rotation mechanisms 50 to 52 are attached and the robot operates, the proximity distance sensor in the moving direction of the hand 10 is controlled by the controller 30 that controls the robot. The distance between the hand 10 and the obstacle detected by the proximity distance sensor whose direction is changed by rotating the tip axis of the hand 10 and the rotation mechanism if necessary so that the direction of the hand becomes parallel to the path. The robot is monitored, and when the distance is shorter than a predetermined distance, the operation of the robot is stopped and an alarm is issued.

When the robot having the hand 10 to which the non-contact type proximity distance sensors 1 to 6 or the non-contact type proximity distance sensors 50 to 52 with the rotation mechanism are attached is manually operated via the controller 30, the controller 30 is operated. When the distance between the hand 10 and the obstacle detected by the proximity distance sensor whose direction is changed so as to be parallel to the route by control approaches a predetermined distance or less, the controller 30 gives a warning. To do.

[0009]

According to the present invention, a plurality of non-contact type proximity distance sensors 1 to 6 are provided in the central axis direction of the hand 10 attached to the tip of the articulated robot and in the direction perpendicular to the central axis direction.
When the robot is operated, the controller 30 for controlling the robot controls the robot so that the direction of the proximity distance sensor in the moving direction of the hand 10 is parallel to the path. The tip axis of the hand 10 is rotated, and the distance between the hand 10 and the obstacle detected by the proximity distance sensor whose direction is changed is monitored, and when the distance is less than a predetermined distance, the operation of the robot is stopped. Along with this, an alarm is issued, so that the robot can autonomously avoid a collision with an obstacle.

Further, in the central axis direction of the hand 10 attached to the tip of the multi-joint type robot, the direction of distance detection can be changed from the central axis direction to the direction perpendicular to the central axis direction via a rotating mechanism. When a plurality of non-contact type proximity distance sensors with rotation mechanisms 50 to 52 are attached, when the robot operates, the controller 30 that controls the robot controls the proximity of the hand 10 in the moving direction. Between the hand 10 and the obstacle, the tip axis of the hand 10 and the rotation mechanism, if necessary, are rotated so that the direction of the distance sensor is parallel to the path, and the proximity distance sensor whose direction is changed detects the distance. The distance is monitored, and when the distance is shorter than a predetermined distance, the operation of the robot is stopped and an alarm is issued, so that the robot can autonomously avoid the collision with the obstacle.

When the robot having the hand 10 to which the non-contact type proximity distance sensors 1 to 6 or the non-contact type proximity distance sensors 50 to 52 with a rotating mechanism are attached is manually operated via the controller 30, the controller 30 is operated. When the distance between the hand 10 and the obstacle detected by the proximity distance sensor whose direction is changed so as to be parallel to the route under control approaches a predetermined distance or less, the controller 30 issues an alarm. When is issued, the operator stops the operation of the robot.

Therefore, even in the case of manual operation, it is possible to avoid collision with an obstacle.

[0013]

FIG. 2 is a diagram showing a robot hand having a non-contact type proximity distance sensor according to an embodiment of the present invention, and FIG. 3 is a robot hand having a non-contact type proximity distance sensor with a rotation mechanism according to an embodiment of the present invention. FIG. 4 is a system configuration diagram of the robot of the embodiment of the present invention.

Explaining the mounting of the non-contact type proximity distance sensor such as an ultrasonic distance sensor or a laser optical distance sensor in the embodiment of the present invention, the first method is as shown in FIG. Three non-contact type proximity distance sensors 1 to 3 are attached at equal distances in parallel to the axial direction, and three non-contact type proximity distance sensors 4 to 4 are equidistant in the direction orthogonal to the central axis direction.
Attach 6.

In the second method, as shown in FIG. 3, the non-contact type proximity distance sensor 7 or 8 or 9 (9 is on the back side of the drawing and not shown) is mounted on the mounting plate 20 having the gear 43. , The rotation of the motor 41, through the gear 42 and the gear 43 attached to the motor 41, the attachment plate 20 to which the non-contact type proximity distance sensor 7 or 8 or 9 is attached,
The non-contact type proximity distance sensors 50 to 52 (52 are on the back side of the drawing and not shown) with a rotating mechanism having a rotating mechanism that can be changed from the central axis direction of 0 to the direction perpendicular to the central axis direction. 1 parallel to the central axis of 10 and 1
Install at 20 degree intervals.

Hand 1 attached by the first and second methods
0 is mounted on the tip of a 6-axis articulated robot as shown in FIG. When using the hand 10 shown in FIG. 2 under the control of the controller 30 of FIG. 4, the hand of the hand 10 is controlled so that the direction of the proximity distance sensor in the moving direction of the hand 10 is parallel to the route under the control of the controller 30. 1
The distance between the hand 10 and the obstacle detected by the proximity distance sensor whose direction is changed by rotating the rotation axis of the wrist joint 60 of 0 is monitored, and when the distance is less than a predetermined distance, the operation of the robot. Stops and issues an alarm.

Therefore, the robot can autonomously avoid a collision with an obstacle. When using the hand 10 shown in FIG. 3 under the control of the controller 30 of FIG. 4, the controller 30 controls the direction of the proximity distance sensor in the moving direction of the hand 10 to be parallel to the route.
Between the hand 10 and the obstacle which rotates the rotation axis of the joint 60 of the wrist of the hand 10 and the rotation mechanism of the non-contact type proximity distance sensor with a rotation mechanism if necessary, and detects by the proximity distance sensor whose orientation is changed. The distance is monitored, and when the distance is shorter than a predetermined distance, the operation of the robot is stopped and an alarm is issued, so that the robot can autonomously avoid a collision with an obstacle.

When the robot hand 10 shown in FIGS. 2 and 3 is used to give an instruction to the controller 30 from the console 40 of FIG. 4 to manually operate the robot, the controller 30 is controlled in the same manner as described above. Hand 10
The direction of the non-contact type proximity distance sensor close to the moving direction of is changed so as to be parallel to the path, and the distance between the hand 10 and the obstacle detected by the changed non-contact type proximity distance sensor is monitored, When approaching a predetermined distance or less, the controller 30 issues an alarm from the speaker 31, so that the operator operates the console 40 at this time to stop the operation of the robot.

Therefore, even in the case of manual operation, it is possible to avoid collision with an obstacle.

[0020]

As described above in detail, according to the present invention, the collision avoidance of the robot with the obstacle can be performed even when the robot autonomously operates or manually operates the robot. There is.

[Brief description of drawings]

FIG. 1 is a principle diagram of the present invention,

FIG. 2 is a diagram showing a robot hand having a non-contact type proximity distance sensor according to an embodiment of the present invention,

FIG. 3 is a diagram showing a robot hand having a non-contact type proximity distance sensor with a rotation mechanism according to an embodiment of the present invention,

FIG. 4 is a system configuration diagram of a robot according to an embodiment of the present invention.

[Explanation of symbols]

 1 to 9 are non-contact type proximity sensors, 10 is a hand, 20 is a mounting plate, 30 is a controller, 31 is a speaker, 40 is a console, 41 is a motor, 42 and 43 are gears, and 50 and 51 are with a rotation mechanism. A non-contact type proximity distance sensor, 60 indicates a joint.

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location G05B 19/18

Claims (3)

[Claims] 1. A plurality of non-contact type proximity distance sensors (1 to 6) are attached in a central axis direction of a hand (10) attached to the tip of an articulated robot and in a direction perpendicular to the central axis direction. When the robot operates, the controller (30) for controlling the robot controls the hand (10) so that the direction of the proximity sensor in the moving direction is parallel to the path. Rotate the tip axis of (10),
Moreover, the distance between the hand (10) and the obstacle detected by the proximity distance sensor whose direction is changed is monitored, and when the distance is less than a predetermined distance, the operation of the robot is stopped and an alarm is issued. A method for preventing collision of a robot, which is characterized by the above. 2. The distance detection direction from the central axis direction to the direction perpendicular to the central axis direction of the hand (10) attached to the tip of the articulated robot via a rotation mechanism in the central axis direction. A plurality of non-contact type proximity distance sensors (50 to 52) with a rotating mechanism that can be changed to a robot are attached, and a controller (3) that controls the robot when the robot operates.
0) so that the direction of the non-contact type proximity distance sensor with a rotation mechanism in the moving direction of the hand (10) is parallel to the path, and the tip axis of the hand (10) and the rotation mechanism if necessary The distance between the hand (10) and the obstacle detected by the proximity distance sensor that has rotated and changed its direction is monitored, and when the distance is less than a predetermined distance, the operation of the robot is stopped and an alarm is issued. A method for preventing a collision of a robot characterized by being emitted. 3. When the robot according to any one of claims 1 and 2 is manually operated through the controller (30), the robot is controlled by the controller (30) so that its orientation is changed so as to be parallel to the path. A robot characterized in that the controller (30) issues an alarm when the distance between the hand (10) and the obstacle detected by the contact type proximity distance sensor approaches a predetermined distance or less. Collision prevention method.