JPS60233705A - Safety device of robot - Google Patents

Safety device of robot

Info

Publication number
JPS60233705A
JPS60233705A JP8946584A JP8946584A JPS60233705A JP S60233705 A JPS60233705 A JP S60233705A JP 8946584 A JP8946584 A JP 8946584A JP 8946584 A JP8946584 A JP 8946584A JP S60233705 A JPS60233705 A JP S60233705A
Authority
JP
Japan
Prior art keywords
robots
robot
interference
interference area
kept
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
Application number
JP8946584A
Other languages
Japanese (ja)
Inventor
Hirobumi Kanbara
博文 神原
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Instruments Corp
Original Assignee
Sankyo Seiki Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sankyo Seiki Manufacturing Co Ltd filed Critical Sankyo Seiki Manufacturing Co Ltd
Priority to JP8946584A priority Critical patent/JPS60233705A/en
Publication of JPS60233705A publication Critical patent/JPS60233705A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/49Nc machine tool, till multiple
    • G05B2219/49157Limitation, collision, interference, forbidden zones, avoid obstacles

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

PURPOSE:To prevent the interference without using a memory circuit nor a special control circuit by setting a non-interference area, a semi-interference area and an interference area according to the revolving angles of two robots. CONSTITUTION:Proximity switches 11-14 are turned off when they are set opposite to notches 9 and 10 and then turned on when they are set opposite to plates 7 and 8 respectively. For instance, switches 11, 12 and 14 are kept off with a switch 13 kept on respectively. Under such conditions, an AND gate produces a signal of an H level and therefore a signal of an H level is produced at an output terminal 20 of a discriminating circuit 15. This signal is used for emergent stop of both robots. In case switches 11 and 12 are kept off with switches 13 and 14 kept off or on, an operation enable state is set since both robots have no interference to each other. As a result, an output signal of an L level is produced at the terminal 15.

Description

【発明の詳細な説明】 発明の技術分野 本発明は、2台の回動アーム式の産業用ロボットの安全
装置に関し、特にその作動領域の重複部分での干渉を防
止するための電気−機械的な装置に係る。
TECHNICAL FIELD OF THE INVENTION The present invention relates to a safety device for two rotary arm type industrial robots, and in particular to an electro-mechanical safety device for preventing interference in overlapping areas of their operating areas. related to equipment.

発明の背景 2台のロボットがワークを受け渡すように設置された場
合、それらの作動領域の一部が重複する結果となる。も
し、ロボットのアームが同時にその重複領域内に入り込
むと、それらのロボットアームが互いに衝突し合うこと
になる。したがってそのような2台の産業用のロボット
の運転に際し、安全装置が必要となる。
BACKGROUND OF THE INVENTION When two robots are installed to transfer workpieces, their operating areas end up partially overlapping. If the robot arms enter the overlap area at the same time, the robot arms will collide with each other. Therefore, safety devices are required when operating such two industrial robots.

従来技術 例えば特開昭58−126086号の公報は、干渉防止
のために、記憶回路とロジンク回路とを組合せ、干渉域
での動作を未然に防止する技術を開示している。
Prior Art For example, Japanese Patent Laid-Open No. 58-126086 discloses a technique of combining a memory circuit and a rosin circuit to prevent operation in an interference region.

しかし、このような純粋な電気的な記憶回路によると、
ノイズによって誤動作が起きやすく、暴走などの対応が
困難である。
However, according to such a purely electrical memory circuit,
Malfunctions are likely to occur due to noise, and it is difficult to deal with runaway situations.

考案の目的 したがって本発明の目的は、機械的な構成を基本とし、
記憶回路や特別な制御回路を用いないで、干渉防止作用
を得ることである。
Purpose of the invention Therefore, the purpose of the present invention is based on a mechanical structure,
The objective is to obtain an interference prevention effect without using a memory circuit or a special control circuit.

発明の概要 そこで本発明は、2台の回動アーム式のロボットの干渉
域との関連で、ロボットのアームの一回転角をアームと
共に回転するプレートおよび固定的なセンサーによって
2値信号として検出し、それらの信号の組合せ条件によ
って、運転および非常停止を判断するようにしている。
SUMMARY OF THE INVENTION Therefore, the present invention detects one rotation angle of a robot arm as a binary signal using a plate that rotates together with the arms and a fixed sensor in relation to the interference area of two rotary arm type robots. Operation and emergency stop are determined based on the combination of these signals.

発明の構成 以下、本発明の構成を図面に基づいて具体的に説明する
Configuration of the Invention Hereinafter, the configuration of the present invention will be specifically explained based on the drawings.

本発明では、第1図に示すように、2台の回動アーム式
のロボット1が作動領域の一部を重複させた状態で設け
られている。このロボット1は、固定的なフレーム2に
よって2つのアーム3.4を軸5−ζ6で回動自在に保
持している。したがって上記作動領域は、第1図に細線
および2鎖線で示すような複雑な形状となっている。
In the present invention, as shown in FIG. 1, two rotating arm type robots 1 are provided with their operating areas partially overlapping. This robot 1 has two arms 3.4 rotatably held by a fixed frame 2 around axes 5-ζ6. Therefore, the operating region has a complicated shape as shown by the thin line and double-dashed line in FIG.

この作動領域(回転角)において、両者のロボット1の
アーム3.4が互いに干渉しない範囲すなわち非干渉域
のと、一方のロボット1のアーム3.4が重複的な作動
領域にあって、他方のロボット1のアーム3.4の位置
によっては衝突する可能性のある領域すなわち準干渉域
■と、双方のロボット1のアーム3.4が共に重複領域
にあるときすなわち互いに干渉する干渉域■とに分割さ
れている。この分割は、実際の運動態様および余裕を考
慮して、決定する。
In this operating range (rotation angle), there is a range in which the arms 3.4 of both robots 1 do not interfere with each other, that is, a non-interference range, and a range in which the arms 3.4 of one robot 1 are in an overlapping operating range, and the other An area where there is a possibility of collision depending on the position of the arms 3.4 of the robots 1, i.e., a quasi-interference area (■), and an interference area (■) where the arms 3.4 of both robots 1 are in an overlapping area, i.e., where they interfere with each other. It is divided into. This division is determined in consideration of the actual motion mode and margin.

次に第2図は、それぞれのロボット1の軸5の部分を示
している。この軸5の端部に2枚のプレート7.8が取
付けられている。これらのプレート7.8は、第3図に
示すように、外径を異にしており、前記非干渉域■、準
干渉域■、干渉域■と対応する切欠き9.10をそれぞ
れ形成している。そしてこのプレート7.8は、近接ス
イッチ11.12.13.14とそれぞれ対応している
Next, FIG. 2 shows the axis 5 of each robot 1. Two plates 7.8 are attached to the ends of this shaft 5. As shown in FIG. 3, these plates 7.8 have different outer diameters and form cutouts 9.10 corresponding to the non-interference area (2), quasi-interference area (2), and interference area (2), respectively. ing. This plate 7.8 then corresponds to a proximity switch 11.12.13.14, respectively.

これらの近接スイッチ11.12.13.14は、切欠
き9.10と対応したときにオフの状態となり、プレー
ト7.8と向き合っているときに、オンの状態になる。
These proximity switches 11.12.13.14 are in the off state when corresponding to the notch 9.10 and in the on state when facing the plate 7.8.

そしてこれらの近接スイッチ1112.13.14は、
判別手段として第4図に示すような、判別回路15に接
続されている。この判別回路15は、3つのアンドゲー
ト16.17.18の入力端でそれぞれの近接スイッチ
11.12.13.14に接続されており、またこれら
の出力端は、オアゲート19の入力端に接続されており
、このオアゲート19の出力端は、判別回路15の出力
端子20となっている。
And these proximity switches 1112.13.14 are
As a discriminating means, it is connected to a discriminating circuit 15 as shown in FIG. This discrimination circuit 15 has input terminals of three AND gates 16, 17, and 18 connected to respective proximity switches 11, 12, 13, and 14, and output terminals of these terminals connected to an input terminal of an OR gate 19. The output terminal of this OR gate 19 is the output terminal 20 of the discrimination circuit 15.

発明の作用 次に上記安全装置の作用を説明する。action of invention Next, the operation of the above safety device will be explained.

一方のロボット1は、ワーク21の受け取り位WPIか
ら受け渡し位置P2まで運び、そこに置いて、再びもと
の受け砲り位置P1に戻る。また他方のロボット1は、
その受け渡し位置P2のワーク21を把持し、ワーク供
給位置P3まで運び、そこにワーク21を整列状態で並
べていく。
One robot 1 carries the workpiece 21 from the receiving position WPI to the delivery position P2, places it there, and returns to the original receiving position P1. The other robot 1 is
The workpieces 21 at the delivery position P2 are grasped, carried to the workpiece supply position P3, and the workpieces 21 are arranged there in an aligned state.

そして、上記近接スイッチ11.12.13.14のオ
ン・オフと非干渉域■、準干渉域■、および干渉域■と
の関係は、下記の表に示す通りである。
The relationship between the on/off states of the proximity switches 11, 12, 13, and 14 and the non-interference area (2), quasi-interference area (2), and interference area (2) is as shown in the table below.

また、近接スイッチ11.12.13.14のオン・オ
フ状態と、運転可能な状態および非常停止の状態は、下
記の表に示す通りである。
Further, the on/off states of the proximity switches 11, 12, 13, and 14, the operable states, and the emergency stop states are as shown in the table below.

今、オン状態では、“L”レベルが対応し、またオフ状
態では、“H”レベルが対応しているとする。例えば近
接スイッチ11.12.14がオフの状態にあり、また
近接スイッチ13がオンの状態にあると、アンドゲート
16が“H”レベルの出力信号を発生するため、判別回
路15の出力端子20に″H″レベルの信号が現れる。
Assume that the "L" level corresponds to the on state, and the "H" level corresponds to the off state. For example, when the proximity switches 11, 12, 14 are off and the proximity switch 13 is on, the AND gate 16 generates an "H" level output signal, so the output terminal 20 of the discrimination circuit 15 An "H" level signal appears.

この“H”レベルの信号は、双方のロボット1の非常停
止の信号として用いら杵る。また例えば近接スイッチ1
1.12が共にオフの状態にあり、また他の近接スイッ
チ13.14がオフまたはオンの状態にあるときは、双
方のロポッI−1について干渉がないため、運転可能な
状態に設定される。したがってこの場合に、判別回路1
5の出力端子20には“L”レベルの出力信号が現れて
いる。
This "H" level signal is used as an emergency stop signal for both robots 1. For example, proximity switch 1
When both robots 1.12 and 13.12 are off and the other proximity switches 13.14 are off or on, there is no interference with both robots I-1, so they are set to a ready-to-operate state. . Therefore, in this case, the discrimination circuit 1
An "L" level output signal appears at the output terminal 20 of No. 5.

発明の変形例 上記実施例では、回転角検出手段としてホール素子など
の近接スイッチ11,12.13.14が用いられてい
るが、この回転角検出手段は、プレート7.8に溝を形
成し、光パルスを計数する形式のもの、あるいはエンコ
ーダ形式のものまたはリミントスイッチで構成すること
もできる。また上記実施例は、アーム3の軸5にのみ回
転角検出手段を設けているが、アーム4の軸6について
も同様に設けることもできる。このようにすることによ
って、より正確な干渉判別機能が得られる。
Modifications of the Invention In the embodiments described above, proximity switches 11, 12, 13, 14 such as Hall elements are used as rotation angle detection means, but this rotation angle detection means is formed by forming grooves in the plate 7.8. , a type that counts optical pulses, an encoder type, or a rimming switch. Further, in the above embodiment, the rotation angle detection means is provided only on the shaft 5 of the arm 3, but it may be provided on the shaft 6 of the arm 4 as well. By doing so, a more accurate interference determination function can be obtained.

また判別回路15は、条件の設定によってそれに合う論
理回路として構成すべきものであるから、当然図示の実
施例に限定されない。
Further, since the determination circuit 15 should be constructed as a logic circuit that meets the conditions set, it is naturally not limited to the illustrated embodiment.

なお、プレート7.8の取付は位置は、対応の近接スイ
ッチ11.12.13.14との関係で、回転角上でず
れていてもよい。
It should be noted that the mounting position of the plate 7.8 may be offset in terms of rotational angle in relation to the corresponding proximity switch 11.12.13.14.

発明の効果 本発明では、2台のロボットの回転角によって、非干渉
域、準干渉域および干渉域が設定できるから、制御プロ
、ダラムのミスや作業者のコントロールミス、さらにロ
ボットの制御回路の暴走などによっても、ロボットどう
しの干渉すなわち衝突が未然に防止できる。またこのよ
うな干渉防止機能が簡単な機械的な構成によって行える
から、2台のロボットの設置条件に応じて、簡単に対応
が可能となる。
Effects of the Invention In the present invention, a non-interference area, a quasi-interference area, and an interference area can be set depending on the rotation angle of two robots, which prevents mistakes by control professionals and Durham, control errors by operators, and the robot control circuit. Interference or collision between robots can be prevented even if the robots run out of control. Furthermore, since such an interference prevention function can be achieved with a simple mechanical configuration, it can be easily adapted to the installation conditions of the two robots.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図は本発明のロボット装置の平面図、第2図はプレ
ートの取付は部分の側面図、第3図はプレートの位置関
係を示す平面図、第4図は判別回路のブロック線図であ
る。 1・・ロボット、2・・フレーム、3.4・・アーム、
5.6・・軸、7.8・・プレート、9.10・・切欠
き、11.12.13.14・・近接スイッチ、15・
・・判別回路、16.17.18・・アンドゲート、1
9・・・オアゲート、20・・出力端子、21・・ワー
ク。 特許出願人 株式会社三協精機製作所
Fig. 1 is a plan view of the robot device of the present invention, Fig. 2 is a side view of the mounting part of the plate, Fig. 3 is a plan view showing the positional relationship of the plates, and Fig. 4 is a block diagram of the discrimination circuit. be. 1. Robot, 2. Frame, 3.4. Arm,
5.6...Shaft, 7.8...Plate, 9.10...Notch, 11.12.13.14...Proximity switch, 15.
...Discrimination circuit, 16.17.18...And gate, 1
9...OR gate, 20...output terminal, 21...work. Patent applicant Sankyo Seiki Seisakusho Co., Ltd.

Claims (1)

【特許請求の範囲】[Claims] 2台の回動アーム式ロボットが作動領域の一部を重複さ
せて配したロボット装置に於いて、センサーと切欠きを
もつプレートとよりなる2つのアーム回転角の検出手段
をそれぞれのロボットに設け、各ロボットの2つの検出
手段のうち、一方の検出手段は、アーム非干渉域と他と
で信号切換、他方の検出手段は、アーム非干渉域および
準干渉域と他とで信号切換となるように、上記プレート
に切欠きを設け、2つのロボットの位置が双方干渉、お
よび干渉と準干渉のとき、非常停止信号を出す判別手段
を備えたロボットの安全装置。
In a robot device in which two rotary arm robots are arranged with part of their operating areas overlapping, each robot is provided with two arm rotation angle detection means consisting of a sensor and a plate with a notch. Of the two detection means of each robot, one detection means switches signals between the arm non-interference area and the other, and the other detection means switches signals between the arm non-interference area and quasi-interference area and the other. A robot safety device is provided with a notch in the plate and includes a discriminating means for issuing an emergency stop signal when the positions of two robots are mutually interfering, or interfering and quasi-interfering.
JP8946584A 1984-05-07 1984-05-07 Safety device of robot Pending JPS60233705A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8946584A JPS60233705A (en) 1984-05-07 1984-05-07 Safety device of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8946584A JPS60233705A (en) 1984-05-07 1984-05-07 Safety device of robot

Publications (1)

Publication Number Publication Date
JPS60233705A true JPS60233705A (en) 1985-11-20

Family

ID=13971454

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8946584A Pending JPS60233705A (en) 1984-05-07 1984-05-07 Safety device of robot

Country Status (1)

Country Link
JP (1) JPS60233705A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109877837A (en) * 2019-03-15 2019-06-14 珠海格力智能装备有限公司 Robot control method and device

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50124356A (en) * 1974-03-15 1975-09-30
JPS5378556A (en) * 1976-12-23 1978-07-12 Toshiba Corp Control device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50124356A (en) * 1974-03-15 1975-09-30
JPS5378556A (en) * 1976-12-23 1978-07-12 Toshiba Corp Control device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109877837A (en) * 2019-03-15 2019-06-14 珠海格力智能装备有限公司 Robot control method and device

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