JPS61100396A - Safety device for industrial robot - 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 The present invention relates to a partial configuration of an industrial robot, and more particularly to a safety device for preventing contact accidents of a working moving arm of a robot.

Industrial robots that have been used in the past have some safety measures in place, and if the working arm of the robot comes into contact with something while it is moving, it will automatically stop. However, this is true if a force greater than the robot's driving force is applied, for example, a force greater than the transmission force of a sliding clutch, or a force greater than the drive motor's driving force is applied. Many things would not stop without it.

Therefore, although not fatal, workers were constantly exposed to danger and there were many accidents that resulted in injuries. Furthermore, even when the robot's moving animation came into contact with an object, the impact force was strong in conventional systems, often causing damage to the robot itself or its peripheral equipment.

In addition, safety measures for robots during operation include thorough safety education, protective wall devices, and photoelectric sensors, but none of these are measures to prevent danger from direct contact. There was a desire for a safety measure that would be effective, especially during times of cheating.

Light-Dish-9 The present invention is to instantly stop the movement of the working arm of an industrial robot with a slight contact force when an external force is applied to the tip of the working arm while it is moving. The purpose is to provide a direct contact safety device that can

The present invention detects contact of the movable arm with an object by a sensor facing a movable slide plate provided at the tip of the working movable arm of an industrial robot, and instantly changes the movement of the arm. This is a safety device for industrial robots designed to stop the movable slide plate, which is normally held at a neutral position by a click device or springs, and in the case of a click device, the contact force can be adjusted by adjusting the click holding force. Anger level can be adjusted.

Sulu Gai Hereinafter, the present invention will be specifically explained with reference to Examples.

Figure 1 is an explanatory plan view of an orthogonal coordinate type industrial robot.
2 is a schematic external perspective view of the industrial robot shown in FIG. 1. FIG.

In the figure, reference numeral 1 denotes a frame to which a fixed arm 2 of the robot is attached, and a movable arm 3 can move in the direction of arrow X along this fixed arm by an internal mechanism (not shown). The movable arm 3 is provided with a chuck mount 4, and this chuck mount 4
can move along the moving arm 3 in the direction of arrow Y.

Therefore, by attaching the robot's work tools and jigs to the chuck mount, the robot can freely move back and forth and left and right on the mount to perform predetermined tasks. Note that the two-dot chain line in FIG. 1 indicates the moving state of the robot's moving arm 3 and the chunk mounting base 4.

Reference numeral 5 denotes a safety device attached to the tip of the movable arm 3, which automatically stops the robot when the movable arm 3 moves in the X direction, that is, left and right and comes into contact with an object.

3 to 5 are drawings showing the details of the safety device 5. FIG. 3 is a partially sectional front view of the safety device 5 provided at the tip of the moving arm 3, and FIG. 4 is a diagram showing the details of the safety device 5. AA sectional view, and FIG. 5 is a partial sectional side view in FIG. 3. Reference numeral 6 denotes a slide plate attached to a mounting plate 7 provided at the tip of the movable arm 3. As will be described later, when the movable arm 3 comes into contact with an object due to movement in the left and right direction, this is detected and the robot moves. This is to stop the

The above-mentioned mounting plate 7 is fixed to the tip of the movable arm 3 with a plurality of mounting screws 16, and two slide shafts 10 and 10 are fitted into the mounting plate 7 in parallel with the X-axis direction. 8
is held by.

Further, at both ends of the slide shaft 100, the slide plates 6 bent into a substantially U-shape are fixed to the slide shaft by retaining rings 9.

The part indicated by B is a click device part provided on the mounting plate 7, which has a click ball 11, a spring 12, and a set screw 13. By falling down, the slide plate 6 is normally held at the center position.

A magnetic proximity switch I4 is attached to the lower surface of the attachment Fi7, and is connected to a robot control circuit (not shown) via a lead wire 17. Reference numeral 15 denotes a magnet for the magnetic proximity switch, which is provided on the back side of the slide plate 6 so as to face the magnetic proximity switch 14 (see FIG. 5).

In this embodiment, the slide plate 6 is attached to the mounting plate 7 via the slide shaft 10, but it is also possible to omit the mounting plate itself and attach the slide plate directly to the tip of the arm 3. .

The operation of the embodiment of the present invention will be explained below.

If the moving arm 3 of the robot is moving in the X-axis direction and the slide plate 6 comes into contact with a person or object due to an operator error or robot malfunction, that is, if the slide plate 6 comes into contact with a person or object, When a force is applied to the slide plate 6, the slide plate 6, which has been positioned at the center by the click positioning device, is de-clicked and moves in the opposite direction to the contact direction. This is because the slide plate 6 moves in the direction perpendicular to the plane of the paper in FIG. It is detected, a signal is sent to the robot's control circuit, and the robot immediately stops. The magnetic proximity switch used here may be a limit switch having a general contact switch, or may be an eddy current proximity switch or an air sensor.

Further, the force with which the slide plate 6 of the movable arm is de-clicked when it comes into contact with an object can be arbitrarily set by adjusting the set screw that presses the spring 12 of the click device B.

Furthermore, it goes without saying that the number of slide shafts supporting the slide @6 and the number of click devices can be changed depending on the shape and size of the moving arm of the robot.

6 shows another embodiment of the present invention, in which the click device of the first embodiment shown in FIGS. 3 to 5 is omitted and the slide plate 6 is moved to the neutral position by a spring 19. It is possible to achieve the same purpose as the above-mentioned embodiment.

FIG. 7 shows the first embodiment in which the safety device 5 in the Y-axis direction is attached to the chuck mount, and the other configurations and functions are completely the same as in the first embodiment.

FIG. 8 shows an example in which a safety device 5 is provided on the movable arm 18 of a horizontally articulated robot instead of a Cartesian coordinate robot, which achieves the same purpose as the first embodiment. be.

The present invention has the above-described configuration, so that when an external force is applied to the tip of the moving arm of an industrial robot or the chuck mounting base, etc.
It is able to instantly stop the movement of the robot with a small amount of force upon contact, especially when teaching when operating the robot, and when working with the robot close to the face while moving it. This is particularly effective as a safety device against direct contact accidents in such cases.

[Brief explanation of drawings]

Figure 1 is an explanatory plan view of an orthogonal coordinate type industrial robot.
FIG. 2 is a schematic external perspective view of the industrial cobo 7) shown in FIG. 1. Figure 3 is a partially sectional front view of the safety device, and Figure 4 is a front view of the safety device.
AA sectional view in the figure. FIG. 5 is a partially sectional side view of FIG. 3. FIG. 6 is a partial sectional view of a safety device showing another embodiment of the present invention, FIG. 7 is an example of use of the safety device provided on the chuck mount in the first embodiment, and FIG. This is an example of how a safety device is attached to a horizontally articulated robot. ■... Frame 2...Fixed base 3...Moving arm 4...Chuck mounting base 5...Safety device 6... ...Slide board B...Click i! 14...Magnetic proximity switch 19...Spring No. 1 Fig. 2 Fig. 3 Fig. 4 Fig. 5 Procedural correction spontaneous writing> 1. Indication of the case 1982 Patent Application No. 219488 2, Name of the invention Industrial robot safety device 3, Person making the amendment Relationship to the case Patent applicant Address 2-43-2 Hatagaya, Shibuya-ku, Tokyo Name Name (037) Olympus Optical Industry Co., Ltd. President and Director Satoshi Shimoyama Dept. 4, Agent 7 Contents of amendment is corrected as "teaching".

Claims (8)

[Claims] (1) A safety device for an industrial robot, characterized by having a proximity switch disposed opposite to a slide plate provided at the tip of a working moving arm of the industrial robot. (2) The safety device for an industrial robot according to claim 1, wherein the slide plate is held at a neutral position by a click device. (3) The safety device for an industrial robot according to claim 1 or 2, wherein the click device is capable of adjusting the holding force. (4) The safety device for an industrial robot according to claim 1, wherein the slide plate is held in a neutral position by a spring. (5) The safety device for an industrial robot according to claim 1, wherein the working moving arm has a chuck mounting base that moves in a direction perpendicular to the moving direction of the working arm. (6) The safety device for an industrial robot according to claim 5, wherein the slide plate provided at the tip of the chuck mount has a proximity switch arranged oppositely. (7) The slide plate installed at the tip of the chuck mount is
The safety device for an industrial robot according to claim 5 or 6, wherein the safety device is held in a neutral position by a click device. (8) The slide plate installed at the tip of the chuck mount is
A safety device for an industrial robot according to claim 5 or 6, wherein the safety device is held in a neutral position by a spring.