TWI715318B - Automated apparatus and safety device thereof - Google Patents

Abstract

A safety device for being disposed at a movable part of an automated apparatus and signally connected with a controller of the automatic apparatus. The safety device includes a contact sensor and a module. The contact sensor is for sensing a contact event of the safety device and outputting a contact signal. The module includes a first input terminal, a second input terminal and an output terminal. The first input terminal is signally connected with the contact sensor for receiving the contact signal. The second input terminal is signally connected with the output terminal and is capable of being signally connected with the output terminal of another safety device. The output terminal is signally connected with the first input terminal for outputting an output signal when the first input terminal receives the contact signal. The controller alters the movement status of the movable part of the automated apparatus when receiving the output signal from the output terminal.

Description

Automation equipment and its safety device

The invention relates to a safety device for automatic equipment, in particular to a safety device for automatic equipment for detecting collisions.

With the development of automation equipment, the safety of automation equipment has also received attention. For example, due to close work with operators on the production line, the safety mechanism of collaboration robots has become an important issue. For this reason, the International Standards Organization has published ISO/TS 15066 in recent years, setting further safety specifications for collaborative robots in robotic devices.

The contact detection mechanism is one of the safety mechanisms of automated equipment. With the addition of a contact detection mechanism, automated equipment can make emergency response when a contact event is detected. For example, please refer to Figure 1. A conventional automatic device 1 with a contact detection mechanism is a collaborative robot, including a controller 11, a movable member 12, multiple contact detectors 13, and multiple connected contacts. The signal line 14 of the detector 13 and the controller 11. The movable component is a movable manipulator arm of the collaborative robot, which can perform rotational movement under the control of the controller. When the contact detector 13 detects a contact event, the controller 11 knows the contact event through the signal line 14, and changes the motion state of the movable member 12, for example, stops the rotation motion immediately to prevent the motion of the collaborative robot 1 from harming the collaboration Of operating staff.

In the above-mentioned conventional technology, since the multiple touch detectors are connected to the controller via signal lines, some of the signal lines are longer and may be pulled by movable components or operators. In addition, the controller needs to provide multiple input ports. These make the configuration of the overall safety mechanism more complicated and increase the risk of failure of the safety mechanism.

In view of this, the purpose of the present invention is to provide a safety device that simplifies the configuration of the overall safety mechanism to reduce the risk of failure of the safety mechanism.

In order to achieve the above-mentioned purpose, the safety device proposed by the present invention is used in the movable component of the automation equipment and connected with the controller signal of the automation equipment. The safety device includes a contact detector and a module. The contact detector is used to detect a contact event of the safety device and output a contact signal. The module includes a first input terminal, a second input terminal and an output terminal. The first input terminal is connected with the contact detector signal for receiving the contact signal. The second input terminal is signal-connected with the output terminal, and can be signal-connected to the output terminal of another safety device. The output terminal is connected with the first input terminal signal, and is used for outputting an output signal when the first input terminal receives the contact signal. After the controller receives the output signal from the output terminal, it changes the motion state of the movable component of the automation equipment.

The present invention also provides an automation equipment, which includes a controller, a movable member signal-connected to the controller, and a plurality of the aforementioned safety devices. Each of the safety devices is connected in series with a signal line, the output of one safety device is connected to the controller signal, and the output signal of the other safety device is connected to the second input of the next safety device. The controller changes the motion state of the movable member after receiving the output signal from the output terminal of one of the multiple safety devices.

In one embodiment, the contact detector of the security device includes two film layers, two electrode layers, at least one sensing layer, and a gap layer. The two film layers have a first inner surface and a second inner surface opposite to each other. The two electrode layers are respectively disposed on the first inner surface and the second inner surface, and the two electrode layers are separated A gap. The sensing layer is arranged on the two electrode layers. The gap layer is arranged between the two film layers to maintain a gap between the two electrode layers.

In one embodiment, the safety device further includes an indicator element which is connected to the module signal and acts when the output terminal outputs the output signal. The indicator element can be a light emitting element, and the safety device module can further include two parallel output switches connected in series between the first input terminal and the indicator element.

In one embodiment, the second input terminal is short-circuited by a loop. The output signal is a conduction/non-conduction signal. The motion state includes a stopped state.

In an embodiment, the safety device module further includes two parallel judging circuits and two parallel output switches. The two parallel judging circuits are connected with the first input signal for judging whether the contact signal is greater than a threshold value, and when the contact signal is greater than the threshold value, a judgment signal is output. Two parallel output switches are connected in series between the two parallel judging circuits and the output end, and the judging signal is output from the output end as an output signal.

In one embodiment, the automation equipment further includes an intermediate device, which is connected in series between the safety device and the controller, and includes two parallel output switches, which receive the output signal and output the output signal to the controller.

In summary, since the safety devices can be connected to each other by signal lines, only one safety device, such as the safety device closest to the controller, can be connected to the controller, so the overall length of the signal line can be shortened. And the configuration is simple, which reduces the risk of failure of the overall safety mechanism.

1: Automation equipment

11: Controller

12: movable member

13: Contact detector

14: Signal line

2: Automation equipment

21: Controller

22: movable member

23a: safety device

231a: Contact detector

232a: Module

233a: first input

234a: second input

235a: output

236a: indicator element

23b: safety device

231b: Contact detector

232b: Module

233b: first input

234b: second input

235b: output

236b: indicator element

24a: signal line

24b: signal line

31: Membrane

31a: first inner surface

31b: second inner surface

32: Electrode layer

33: Sensing layer

34: gap layer

G: gap

51: judgment circuit

52: output switch

53: output switch

6: Intermediate device

61: output switch

62: Monitoring components

63: Reset switch

Figure 1 shows a conventional automated device with a contact detection mechanism.

Figure 2 shows an automation device with a safety device according to an embodiment of the invention.

Figure 3 shows the functional blocks of two security devices and their connection methods in an embodiment of the invention.

Figure 4 shows the structure of a touch detector according to an embodiment of the invention.

Figure 5 shows the functional block of the security device module according to an embodiment of the invention.

Figure 6 shows another embodiment of the present invention, which further includes an intermediate device.

In order to fully understand the purpose, features and effects of the present invention, the following specific embodiments are used in conjunction with the accompanying drawings to give a detailed description of the present invention. The description is as follows.

Please refer to Figure 2, according to an embodiment of the present invention, the automation equipment 2 includes a controller 21, a movable member 22, two safety devices 23a and 23b, a first signal line 24a connecting the safety devices 23a and 23b, and a connection The safety device 23b and the signal line 24b of the controller 21. The movable component is a movable mechanical arm, which can be rotated according to the control of the controller.

In this embodiment, the safety devices 23a and 23b are not connected to the controller 21 via signal lines, as in the prior art. The direct signal connection object of the safety device 23a is the safety device 23b, not the controller 21. Of the two safety devices, only the direct signal connection object of the safety device 23b is the controller 21. Based on this configuration, the safety device 23a only needs to be connected to another safety device 23b that is approaching, and does not need to be directly connected to the remote controller 21. Connected to the controller 21 is the safety device 23b closest to the controller 21. In this way, the overall length of the signal line can be shortened, reducing the risk of failure of the signal line being pulled. In addition, the controller 21 only needs one signal port to connect all the security devices, which reduces the complexity of the security device configuration.

Please refer to FIG. 3, the safety device 23a includes a contact detector 231a, a module 232a, and an indicator element 236a. The module 232a includes a first input terminal 233a, a second input terminal 234a, and an output terminal 235a. The safety device 23b includes a contact detector 231b, a module 232b, and a Indicator element 236b. The module 232b includes a first input terminal 233b, a second input terminal 234b, and an output terminal 235b.

The first input terminal 233a of the module 232a is signally connected to the contact detector 231a, the second input terminal 234a is short-circuited in a loop to simulate the second input terminal 234a is connected to another safety device, and the output terminal 235a is connected to the signal line 24a . The first input terminal 233b of the module 232b is signally connected to the contact detector 231b, the second input terminal 234b is connected to the signal line 24a, and the output terminal 235b is connected to the signal line 24b.

When the contact detector 231a of the safety device 23a is touched, it outputs a contact signal to the first input terminal 233a, and then the output terminal 235a of the module 232a outputs an output signal to the signal line 24a, and transmits it to the safety through the signal line 24a The second input terminal 234b of the device 23b. After the second input terminal 234b receives the output signal from the signal line 24a, the output terminal 235b of the module 232b also outputs an output signal to the signal line 24b, so that the controller 21 receives the output signal.

After the controller 21 receives the output signal, it changes the motion state of the movable member 22 of the automation equipment 2. For example, originally the movable member 22 is rotating from top to bottom. When the contact detector 231a of the safety device 23a is touched, the controller 21 receiving the output signal immediately stops the movement of the movable member 22 to ensure automation 2. The safety of operators or other objects nearby.

When the contact detector 231a of the safety device 23a is touched and outputs an output signal, the module 232a also activates the indicating element 236a at the same time to let the operator know that the safety device 23a is touched. In this embodiment, the indicating element 236a may be a light emitting device. The indicating element 236a can also be other types such as a buzzer, etc., and is not limited to a light-emitting device.

When the contact detector 231b of the safety device 23b is touched, it outputs a signal to the first input terminal 233b, and then the output terminal 235b of the module 232b outputs an output signal to the signal line 24b, so that The controller 21 receives the output signal. Similarly, after the controller 21 receives the output signal, it changes the movement state of the movable member 22 of the automation equipment 2 to ensure the safety of personnel and equipment.

Similarly, when the contact detector 231b of the safety device 23b is touched and outputs an output signal, the module 232b also activates the indicating element 236b at the same time to let the operator know that the safety device 23b is touched. In this embodiment, the indicating element 236b may be a light-emitting device, or other such as a buzzer.

Please refer to FIG. 4. In this embodiment, the contact detector 231 a and the contact detector 231 b have the same structure, and both include two film layers 31, two electrode layers 32, two sensing layers 33 and a gap layer 34. The two film layers 31 can be made of soft material and have a first inner surface 31a and a second inner surface 31b opposite to each other. The two electrode layers 32 are respectively disposed on the first inner surface 31a and the second inner surface 31b, and the two electrodes There is a gap G between the layers 32. The second sensing layer 33 may be a pressure sensitive material (Pressure Sensitive Material) including a conductive material, and is formed on the second electrode layer 32 by coating or printing. The gap layer 34 is disposed between the two film layers 31 to maintain a gap between the two electrode layers 32. When the film layer 31 is contacted, the distance between the two electrode layers 32 becomes shorter, the pressure-sensitive material of the sensing layer 33 is pressed, and the conductive material in the pressure-sensitive material contacts, forming a conductive path between the two electrode layers 32 To output the signal.

Please refer to FIG. 5. In this embodiment, the modules 232a and 232b have the same design, and both include two parallel judging circuits 51, two parallel output switches 52, and two parallel output switches 53. The judgment circuit 51 receives the contact signal input from the contact detector 231a through the first input terminal 233a, and when the contact signal is greater than a threshold, outputs a judgment signal to the output switch 52 and the output switch 53. The output switch 52 outputs the judgment signal as an output signal from the output terminal 235a. The output switch 53 uses this signal to actuate the indicating element 236a. The judgment circuit 51, the output switch 52 and the output switch 53 all adopt two The parallel redundant circuit design concept ensures that the operation of the entire safety device will not fail.

In this embodiment, the output signal is an on/off signal, which is not a complex signal, such as a signal carrying communication packet data. In the modules 232a and 232b, components required for numerical calculations, such as processors or memory, are not used. Therefore, the safety device 23a or 23b is not prone to failure. In addition, when the safety device 23a or 23b is touched, the controller 21 can immediately change the motion state of the automation device 2. This design greatly improves the response speed of the safety device and ensures that the operation of the entire safety device will not fail.

In addition, the number of safety devices of this embodiment can be increased. If you want to add a safety device in addition to the safety devices 23a and 23b, you only need to connect the new safety device in series between the safety devices 23a and 23b with a signal line. That is, the output terminal 235a of the safety device 23a is changed to the second input terminal of the newly added safety device, and the second input terminal 234b of the safety device 23b is changed to the output terminal of the newly added safety device. In a similar way, more safety devices can be connected in series, and multiple safety devices can be connected in series with each other. The output of one safety device is connected to the controller signal, and the output signal of the other safety device is connected to the second input of the next safety device. end.

Please refer to FIG. 6. In another embodiment, the signal line 24 b can be connected to an intermediate device 6 first, and then to the controller 21. In other words, the intermediate device 6 is connected in series between the output end of the safety device 23b and the controller, and the safety device 23b is indirectly connected to the controller 21 through the intermediate device 6.

The intermediate device 6 may include two sets of parallel output switches 61, monitoring elements 62 and reset switches 63. The two sets of output switches 61 receive the output signal and output to the controller 21, and adopt the redundant circuit design concept of the two in parallel to ensure that the operation will not fail. In addition, in this embodiment, the output switch 61 is connected to the emergency stop switch of the controller 21. Since the emergency stop switch of the controller 21 requires two sets of inputs, the output is open The switch 61 provides two sets of outputs to ensure safety and avoid false triggering of the emergency stop switch. The monitoring element 62 can be a contact, which can be connected to, for example, a light-emitting element or a buzzer, which is turned off under normal conditions, and will be activated when there is no power supply due to an abnormality such as a disconnection, such as lighting or buzzing. Remind the operator of abnormal conditions. The reset switch 63 can also be a contact, which can be connected to a physical switch. When the safety device 23a or 23b is touched, the movement state of the automation equipment 2 is changed, such as stopped, to facilitate the operator to restore the movement state before the change use.

According to the above-mentioned embodiment of the present invention, the safety devices can be connected to each other by a signal line, and only one safety device, such as the safety device closest to the controller, can be connected to the controller by a signal line. Therefore, the overall length of the signal line can be shortened, and the configuration is simple, which reduces the risk of failure of the overall safety mechanism.

The present invention has been disclosed in a preferred embodiment above, but those skilled in the art should understand that the embodiment is only used to describe the present invention and should not be construed as limiting the scope of the present invention. It should be noted that all changes and substitutions equivalent to this embodiment should be included in the scope of the present invention. Therefore, the protection scope of the present invention should be defined by the scope of the patent application.

23a: safety device

231a: Contact detector

232a: Module

233a: first input

234a: second input

235a: output

236a: indicator element

23b: safety device

231b: Contact detector

232b: Module

233b: first input

234b: second input

235b: output

236b: indicator element

24a: signal line

24b: signal line

Claims (21)

A safety device is used to set a movable member of an automation equipment and is connected to a controller signal of the automation equipment. The safety device includes: a contact detector for detecting a contact of the safety device Event, and output a contact signal; and a module, including: a first input terminal connected to the contact detector signal for receiving the contact signal, an output terminal connected to the first input terminal signal, It is used to output an output signal when the first input terminal receives the contact signal, and a second input terminal, which is connected to the output terminal signal and can signal the output terminal of another safety device, wherein the controller is After receiving the output signal of the output terminal, the movement state of the movable component of the automation equipment is changed. The security device according to claim 1, wherein the contact detector comprises: two film layers having a first inner surface and a second inner surface opposite to each other; and two electrode layers are respectively disposed on the first inner surface and On the second inner surface with a gap between the two electrode layers; at least one sensing layer is disposed on at least one of the two electrode layers; and a gap layer is disposed between the two film layers to Keep the gap between the two electrode layers. The security device according to claim 2, wherein the at least one sensing layer includes a pressure-sensitive material covering one of the two electrode layers, and the pressure-sensitive material contains at least one conductive substance. The safety device according to claim 1, further comprising: an indicator element, which is connected with the module signal and acts when the output terminal outputs the output signal. The security device according to claim 4, wherein the indicator element is a light emitting element. The safety device according to claim 4, wherein the module further includes: two parallel output switches connected in series between the first input terminal and the indicator element. The safety device according to claim 1, wherein the second input terminal is short-circuited by a loop. The safety device according to claim 1, wherein the output signal is a conduction/non-conduction signal. The safety device according to claim 1, wherein the motion state includes a stopped state. The safety device according to claim 1, wherein the module further includes: two parallel judging circuits connected to the first input signal for judging whether the contact signal is greater than a threshold, and when the contact signal is greater than At the threshold, a judgment signal is output; and two parallel output switches are connected in series between the two parallel judgment circuits and the output terminal, and the judgment signal is output from the output terminal as the output signal. An automation equipment includes: a controller; a movable member whose signal is connected to the controller; a plurality of safety devices, wherein each of the plurality of safety devices includes: a contact detector for detecting a safety device Contact event and output a contact signal, and a module, including: a first input terminal connected with the contact detector signal for receiving the contact signal, an output terminal connected with the first input terminal signal, Used for outputting an output signal when the first input terminal receives the contact signal, and a second input terminal, which is connected to the output terminal signal and can signal the output of another safety device among the plurality of safety devices The multiple safety devices are connected in series with each other in sequence, the output of one safety device is connected to the controller signal, and the output signal of the other safety device is connected to the second input of the next safety device, and the controller is connected to After receiving the output signal of the output terminal of one of the plurality of safety devices, the movement state of the movable component of the automation equipment is changed. The automation equipment according to claim 11, wherein the contact detector of each of the plurality of safety devices includes: two film layers having a first inner surface and a second inner surface opposite to each other; Two electrode layers are respectively arranged on the first inner surface and the second inner surface with a gap between the two electrode layers; at least one sensing layer is arranged on at least one of the two electrode layers; and one The gap layer is arranged between the two film layers to maintain the gap between the two electrode layers. The automation device according to claim 12, wherein the at least one sensing layer includes a pressure-sensitive material covering one of the two electrode layers, and the pressure-sensitive material contains at least one conductive substance. The automation equipment according to claim 11, wherein each of the plurality of safety devices further includes: an indicator element connected with the module signal and activated when the output terminal outputs the output signal. The automation equipment according to claim 14, wherein the indicator element is a light emitting element. The automation equipment according to claim 14, wherein the module of each of the plurality of safety devices further includes: two parallel output switches connected in series between the first input terminal and the indicator element. The automation equipment according to claim 11, wherein the second input terminal of one of the plurality of safety devices is short-circuited by a loop. The automation equipment according to claim 11, wherein the output signal is a conduction/non-conduction signal. The automation device according to claim 11, wherein the motion state includes a stopped state. The automation equipment according to claim 11, wherein each of the plurality of safety device modules further includes: two parallel judging circuits connected to the first input signal to judge whether the contact signal is greater than a threshold, and When the contact signal is greater than the threshold, output a judgment signal; and two parallel output switches, which are connected in series between the two parallel judgment circuits and the output terminal, and use the judgment signal as the output signal from the output端 output. The automation equipment according to claim 11, further comprising: an intermediate device connected in series between the plurality of safety devices and the controller, including two sets of parallel output switches, which receive the output signal and output the output signal to The controller.

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