JPS59118392A - Load detector - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] This relates to a load detection device for safety measures that detects when a person gets on the robot and stops the robot. There are examples of attaching safety devices and examples of attaching safety devices to the surrounding area.

Most of the conventional safety measures for the surrounding area, which is the object of the present invention, have been to create a sense of security around the robot's work area and to prevent people from inadvertently entering the area. However, this method is somewhat insufficient in terms of safety if the robot is surrounded by a fence with ropes, etc., as there is room for people to get in, and if it is made into a cage-like fence, it will be difficult to supply, eject parts, etc. In addition to being difficult to perform maintenance work, there were also drawbacks such as the need to rebuild a new turret if the layout of peripheral equipment was changed.

In addition, as a way to compensate for the above-mentioned drawbacks, a method can be considered in which when a person enters the robot's work area, this is detected by an electric or optical sensor and the robot is stopped. Detecting human intrusion over the entire working area using optical methods, such as using a TV monitor, generally has the disadvantage of being expensive.

On the other hand, as a low-cost way to detect human intrusion, it is possible to install tape switches 1 all around the work area 2 as shown in Figure 1, but this method alone is not sufficient for safety. In addition, if the tape is spread over the entire area, there will be a large number of tape switch cords 3, and their processing becomes a problem, so it can be easily adapted to the layout of the robot's work floor, and it can reliably prevent people from entering the work area. The load detection devices are arranged in four rows, and when a load is applied, they scatter and detect each other, and this is made into a rectangular module structure so that the devices can be easily added. A practical explanation will be given in which load detection devices are laid out in a matrix pattern of an arbitrary shape on the work floor so that it can correspond to any layout.

As shown in FIG.
In order to cover the entire floor with room for people to enter, it has a rectangular structure with modularized load detectors and functions, as shown in Figure 3.

The structure and function of the present invention will be explained with reference to FIGS. 3 to 11. The structure of the present invention is shown in FIG.
A pair of conductors 12 were made to have a conductive structure and were arranged in parallel with a slight interval. This was then covered with a flexible insulator 13 in the form of a sandwich. As a result, the terminals 14-a and 14-b of the pair of conductors are normally in a non-current state, but when a load is applied to the insulator 16, it bends, bringing the pair of conductors 12 into contact and energizing. become a state. That is, if a pair of terminals 14 are connected to the stop terminal 18 of the robot control device 5 as shown in FIG. 8, when a person gets on the device 11, it will be detected and the robot 10 will be stopped. can be done. Since this device 11 is used by connecting a plurality of devices as will be described later, it is possible to detect a person wherever the person is riding.

In the present invention, in order to easily expand and contract the load detection area, as shown in FIG.
All of the connection terminals 14 of 2 are made of the same shape as a common terminal, and when multiple devices 11 are combined, a connecting pin 15 is inserted between each of the common terminals as shown in FIG. 6 to ensure continuity. did.

Note that the connecting pin 15 has a spring structure 16 at the middle portion of the pin to accommodate misalignment of the two sets of terminals 14. Also, as shown in Figure 7, empty terminals are covered with insulating blind pins (17).
Insert it to be safe.

In addition, in order to mechanically connect the device 11, a fastening hole 2o is provided as shown in FIGS. 9 and 11.
By inserting a fastening fitting 21 having a shape, the fastening can be performed in a detachable manner.

In the present invention, the structure of the conductor 12 is one leaf spring as shown in FIG. 9, but as shown in FIG. The load detection devices can be connected in any matrix pattern, making it possible to reliably detect human intrusion throughout the robot's work area, ensuring human safety. In addition, economical effects were obtained, such as being able to easily accommodate changes in the arrangement of peripheral devices and eliminating the need for re-engineering.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing an example of a human intrusion detection method according to the prior art, FIG. 2 is an explanatory diagram showing human intrusion detection according to an embodiment of the present invention, and FIG. 3 is an explanatory diagram showing an example of a human intrusion detection method according to an embodiment of the present invention. A perspective view showing
4, 5, 6, 7, and 11 are cross-sectional views of FIG. 3, FIG. 8 is an explanatory diagram showing electrical connections of an embodiment of the present invention, and FIG. 9 10 is a plan view of a load detection section according to an embodiment of the present invention, and FIG. 10 is a perspective view showing the same configuration. 5... Robot, 12... Conductor, 16.
...Insulator, 14...Connection terminal, 15...
・Connection pin/, 21... Fastening metal fittings. Figure 3/4 Figure 4 Figure S Figure 6 Figure 4 Figure 7 Figure 8'

Claims (1)

[Claims] 1. A pair of conductors is placed between a pair of insulators with a gap between them, and when a cart is applied to the insulators, the pair of conductors connect due to the deflection of the cart, and the presence or absence of load is detected. 1. A load detection device characterized in that each conductor is provided with a terminal that can be freely connected to the outside.