JPS63123689A - Safety device for mobile 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] [Industrial Application Field] The present invention relates to a mobile robot equipped with a manipulator, and particularly to a safety device for a mobile robot that can reliably prevent the manipulator from operating while traveling. .

[Prior Art] Conventionally, in a robot equipped with a manipulator, if a program that controls its operation is destroyed, the manipulator may go into a so-called runaway state. Therefore, a fence is placed around the installation location, that is, the maximum operating range of the manipulator, to ensure safety, and a switch is installed in a safe location outside the fence so that the robot can be brought to an emergency stop. .

On the other hand, mobile robots have been developed in which a manipulator is mounted on a self-supporting or guided trolley, and due to the functionality of such mobile robots, it is impossible to ensure safety using fences.

FIG. 2 is a block diagram showing the conventional configuration of a servo system for this type of mobile robot. This servo system is a device consisting of a controller 1, a truck driver 2, and a manipulator driver 3. In the truck driver 2, a command signal Sl (ON signal) is sent from the controller 1 that controls each part of the mobile robot to the truck driver. 4, a drive signal is supplied from the drive circuit 4 to the trolley motor 5, the trolley motor 5 is rotationally driven, and the mobile robot starts traveling toward a predetermined work station.

At this time, the speed of the truck motor 5 is detected by a speed detector 6, and the rotational position of the motor 5 is detected by a position detector 7. As a result, the position of the mobile robot from the starting point is detected.

a position deviation signal S4 which is the difference between a target position signal S2 indicating the travel path of the mobile robot supplied from the control unit 1 and a device feedback signal S3 constituted by the position detector 7;
is amplified by the amplifier 8, and then the D/A converter 9
is converted into a speed command signal (analog signal) S5. A speed deviation signal S7, which is the difference between the speed command signal S5 and the speed feedback signal S6 supplied from the speed detector 6, is supplied to the bogie drive circuit 4. In this way, so that the current position of the mobile robot matches the target position,
Its travel is constantly controlled.

Next, when the control unit 1 determines that the mobile robot has arrived at a predetermined work station, a command signal Sl (off signal) is supplied to the trolley drive circuit 4.

As a result, the supply of drive signals from the trolley drive circuit 4 to the trolley motor 5 is stopped, and the mobile robot stops at the work station. Then, the manipulator drive section 3 is driven.

This manipulator drive unit 3 also has the same configuration as the trolley drive unit 2, including a manipulator drive circuit 14, a manipulator motor 15, a speed detector 6, a position detector 17, and an amplifier 18.
, and a D/A converter 19.

At this time, a command signal S11 for controlling the on/off of the drive circuit 14 is supplied from the control section 1 to the manipulator drive circuit 14. Moreover, the target position signal S of the trolley set by the control unit l! 2 and a position feedback signal S13 supplied from the position detector 17 to the control unit 1, a position deviation signal S14 is supplied to the amplifier 18. Also, D/
A speed deviation signal S17, which is the difference between the speed command signal S15 outputted from the A converter 19 and the speed feedback signal S16 supplied from the speed detector 16, is supplied to the manipulator drive circuit 14. In this way, the operation of the manipulator is always controlled so that the operation position of the manipulator matches the target position.

[Problems to be Solved by the Invention] In the above-described conventional mobile robot, there is a risk that the manipulator may operate while the robot is running, resulting in a runaway state. In other words, while the mobile robot is running, the command signal S
Sll must always be off, but if an abnormality occurs such as destruction of the operation program stored in the control unit l, the command signal Sll will be on while the robot is running, and the manipulator will operate. There was a risk.

Furthermore, if the mobile robot runs with the manipulator running out of control, there is a risk of an industrial accident.

The present invention has been proposed in view of the above circumstances, and aims to provide a safety device for a mobile robot that can reliably prevent the manipulator from operating when the robot is running and ensure safety.

[Means for Solving the Problems] The present invention provides a mobile robot in which a manipulator is mounted on a mobile cart, which includes a cart drive circuit and a manipulator drive circuit that drive drive motors provided on the cart and the manipulator, respectively; A control means for supplying drive signals to the trolley drive circuit and the manipulator drive circuit, respectively, a speed detection means for detecting the speed of the trolley, and a determination as to whether or not the trolley is running based on a detection result of the speed detection means. The vehicle is equipped with a determining means for making a determination, and a gate means for blocking a manipulator drive signal supplied from the control means when the determining means determines that the trolley is running.

[Operation] According to the present invention, the determination means determines whether or not the trolley is running, and when it is determined that the trolley is running, the gate means closes and the manipulator drive is supplied from the control means to the manipulator drive circuit. Signal is blocked. As a result, the manipulator is reliably stopped when the bogie is running, so even if a failure such as an abnormality occurs in the control means while the bogie is running, the manipulator will not run out of control, ensuring safety. I can do it.

[Example 1] An example of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of this embodiment. Components shown in this figure that are the same as those shown in FIG. 2 are given the same reference numerals, and their explanations will be omitted. The one shown in Figure 1 is the second one.
The differences from what is shown in the figure are as follows.

■The point where the output of the speed detector 6 is supplied to the determiner 30, and a "0" signal is supplied when the truck is running, and a "1" signal is supplied when the truck is stopped, from the determiner 3G to the first input terminal of the AND gate 31. .

■The command signal S11 (the signal that turns on the manipulator drive circuit 14 is the “1” signal, and the signal that turns it off is the “0” signal) output from the control unit l is the second signal of the AND gate 31.
The point supplied to the input end.

■The output of the AND gate 31 is the manipulator drive circuit 14
point supplied to.

The operation of this embodiment will be explained below.

(2) Normal operation When the mobile robot is running, a "0" signal is supplied from the determiner 30 to the first input terminal of the AND gate 31.

At this time, a "0" signal, that is, a command signal Sll for turning off the manipulator drive circuit 14, is supplied from the control section 1 to the second input terminal of the AND gate 31. As a result, a "0" signal is supplied from the AND gate 31 to the manipulator drive circuit 14, and the manipulator maintains its non-operating state.

On the other hand, when the mobile robot is stopped, a "1" signal is supplied from the determiner 30 to the first input terminal of the AND gate. In which state, when an "l" signal, that is, a signal that turns on the manipulator drive circuit 14, is supplied from the control unit I to the second input terminal of the AND gate 3I, "1" is sent from the AND gate 31 to the manipulator drive circuit 14. A signal is supplied to drive the manipulator. This allows work to be done at the station.

■Abnormal behavior The control unit when the mobile robot is running! When an abnormality occurs in the AND gate 31 and a "1" signal is supplied from the control unit l to the second input terminal of the AND gate 31, since a "0" signal is supplied to the first input terminal, the AND gate 31 A “0” signal is supplied to the manipulator drive circuit 14 from the “0” signal.

This prevents the manipulator from being activated.

According to the above embodiment, when the mobile robot is running, even if the command signal Sll to turn on the manipulator drive circuit 14 is supplied from the control unit l, the command signal Sll is blocked by the AND gate 31, so that the manipulator is never activated. Thereby, the safety of the mobile robot can be ensured.

[Effects of the Invention] As explained above, according to the present invention, the trolley drive circuit and the manipulator drive circuit that drive the drive motors provided in the trolley and the manipulator, respectively, and the drive signals to the trolley drive circuit and the manipulator drive circuit, respectively. a speed detection means for detecting the speed of the trolley;
determining means for determining whether or not the trolley is running based on the detection result of the speed detecting means; and a manipulator drive signal supplied from the control means when the determining means determines that the trolley is running. Since the configuration includes a gate means for blocking and blocking, the following effects can be achieved.

Even if a failure occurs such as destruction of the operation program stored in the control means while the mobile robot is running, and the control means outputs a signal to turn on the manipulator drive circuit, the manipulator will be reliably stopped. Because
It is possible to prevent dangers such as a mobile robot traveling with the manipulator running out of control and causing an industrial accident, and safety can be greatly improved.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, and FIG. 2 is a block diagram showing the conventional configuration. l...control unit (control means), 4...
Bogie drive circuit, 5...Bolly motor (drive motor), 6... Speed detector (speed detection means), 14... Manipulator drive circuit, I
5...Manipulator motor (drive motor)
, 16...speed detector (speed detection means), 3
0... Judgment device (judgment means), 31...
・And gate (gate means).

Claims (1)

[Claims] In a mobile robot in which a manipulator is mounted on a mobile cart, a cart drive circuit and a manipulator drive circuit drive drive motors provided on the cart and the manipulator, respectively, and drive signals are supplied to the cart drive circuit and the manipulator drive circuit, respectively. a speed detecting means for detecting the speed of the bogie; a determining means for determining whether or not the bogie is running based on a detection result of the speed detecting means; A safety device for a mobile robot, comprising gate means for blocking a manipulator drive signal supplied from the control means when it is determined that the manipulator drive signal is inside.