JPS60192199A - Safety device for industrial equipment - 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] [Technical Field of the Invention] The present invention is directed to automatically traveling on a traveling rail in factory equipment, such as an automatic guided vehicle or a traveling robot. The present invention relates to industrial machines such as automatic guided vehicles such as "r'f* unloading" of loaded items at each workbench, and traveling robots that automatically move assembled parts during the production process. This relates to a safety device that ensures the safety of industrial machinery by stopping industrial machinery when there is a worker (intruder) in the operating area of the machine.

[Prior art]

Conventionally, the presence or absence of workers in the running or operating area of this type of industrial machinery has been detected using obstacle detectors using ultrasonic waves or infrared rays, but There are many machines, materials, etc. in the surrounding area, and since the surrounding conditions of an automated guided vehicle or a mobile robot change dramatically while it is in motion, it is difficult to reliably detect intrusion by workers (intruders). It is extremely difficult to do so.

[Summary of the invention]

This invention was made with attention to this point, and the ultrasonic wave generated during normal operation when there is no worker (intruder) in the travel area or operating area of industrial machinery, that is, automatic guided vehicles or traveling robots. To provide a safety device for an industrial machine in which a normal reflection pattern is stored and the industrial machine is brought to an emergency stop only when an abnormal reflection pattern different from the ultrasonic reflection pattern is received.

[Embodiments of the invention]

Figures 1 to 6 all show one embodiment of the present invention, with Figure 1 being a partial plan view of factory equipment, Figure 2 being a block diagram of the safety device according to the present invention, and Figure 6 being a partial plan view of factory equipment. is an explanatory diagram of the operation of the ultrasonic reflecting butter 7.

In Figure 1, (1) is the running rail in the factory equipment (2)
) is an industrial machine such as an automatic guided vehicle or a traveling robot that travels on an unmanned guided vehicle (1), and this industrial machine (1) is equipped with a machine (1a), etc. for carrying out a predetermined work. (6
a) to (6f) are workbenches or placed materials placed in the factory equipment, (4) is a worker (intruder) who has entered the operating range of the industrial machine (1), and utXi is the work table or mounting material placed in the factory equipment. 1
), each of which is equipped with a timing pulse generator (5) that generates a predetermined timing pulse, as shown in FIG. , an ultrasonic transmitter (6) that emits ultrasonic waves in a predetermined direction, and an ultrasonic receiver that receives reflected ultrasonic waves that are reflected when the ultrasonic waves emitted from the ultrasonic transmitter (6) hit an object. the current value detected by the position detector (7) and the position detector (8) is stored via the current value counter (9);
Furthermore, there is a memory αri for storing the normal ultrasonic reflection pattern received by the ultrasonic receiver (7) in a normal state, that is, when there is no intruder (4), and this memory uOK6.
Compare the normally memorized ultrasonic normal reflection pattern with the abnormal ultrasonic reflection pattern when an intruder (4) enters the industrial machine while it is running or operating, and if the patterns are different, A window comparator αη that outputs a signal to emergency stop the industrial machine, and a changeover switch (2) that operates “on” when storing the normal ultrasonic reflection pattern in the memory αQ when there is no intruder (4). It is composed of.

Since the safety device for industrial machinery of the present invention is configured as described above, as shown in FIG. The normal reflection pattern (3) is memorized in the memo v (10), and the position where the intruder (4) has entered while the industrial machine is running or operating [the position where the intruder (4) is located in Fig. 1]
The abnormal ultrasonic reflection pattern (Y) in [B)] and the normal ultrasonic reflection pattern (A) are compared using a window comparator α.
It is possible to output a signal to emergency stop the industrial machine only when the patterns are different.

〔Effect of the invention〕

As described above, according to the present invention, the normal ultrasonic reflection pattern when there is no intruder in the running or operating area of the industrial machine is stored in the memory and compared with the abnormal ultrasonic reflection pattern when there is no intruder. Since the industrial machine is made to make an emergency stop only when the patterns are different from each other, there are a large number of machines or materials around the factory equipment, and when the industrial machine is running, the surrounding situation is Reliably detects intrusion by workers (intruders) even if the situation changes rapidly.
This has an excellent effect of preventing personal accidents.

[Brief explanation of the drawing]

Figures 1 to 6 all show one embodiment of the present invention, with Figure 1 being a partial plan view of factory equipment, Figure 2 being a block diagram showing the safety device of this invention, and Figure 6 is an explanatory diagram of the operation of an ultrasonic reflection pattern. In the diagram, (1) is industrial machinery, (2) is safety equipment, and (2)
is the running rail, (4) is the worker (intruder), ('') is the timing pulse generator, (6) is the ultrasonic transmitter, (7
) is the ultrasonic receiver, (8) is the position detector, (9) is the current value color/reference, QOti memory, αρ is the window comparator, (6) is the changeover switch, flash is the ultrasonic normal pattern, (
Y) is ultrasonic sleeve 1 is IU-,. h 1,-humbling fumon・
・−・ − indicates the same part. Representative Patent Attorney Sanro Kimura Procedural Amendment (Spontaneous) April 10, 1985 To the Commissioner of the Japan Patent Office 1, Indication of the case Patent Application No. 1983-46396 2, Title of invention Safety device for industrial machinery 3, Amendment Representative Hitoshi Katayama Department 4, Agent 54-0 Subject of amendment 6, Contents of amendment (1) Amend "unforeseen" in line 7 of page 6 of the specification to "unforeseen". (2) In Figure 2 of the drawings, the reference numeral 12 and its drawn cotton are corrected as shown in the attached drawing. that's all

Claims (3)

[Claims] (1) If an intruder occurs within the running or operating area of industrial machinery, the normal ultrasonic reflection pattern received by the ultrasonic receiver is stored in memory, and the intruder enters while the industrial machine is running or operating. 1. A safety device for industrial machinery, characterized in that the industrial machinery is stopped only when the abnormal reflection patterns of ultrasonic waves are compared with each other using a comparator, and the patterns are different. (2) A safety device for an industrial machine according to claim 1, wherein the industrial machine is an automatic guided vehicle or a traveling robot. (3) The industry according to claim 1, wherein the safety device includes a timing pulse generator, an ultrasonic transmitter, an ultrasonic receiver, a memory, and a window comparator. Machine safety equipment.