JPS6062482A - Control system of safety speed of robot - Google Patents
Control system of safety speed of robotInfo
- Publication number
- JPS6062482A JPS6062482A JP16029183A JP16029183A JPS6062482A JP S6062482 A JPS6062482 A JP S6062482A JP 16029183 A JP16029183 A JP 16029183A JP 16029183 A JP16029183 A JP 16029183A JP S6062482 A JPS6062482 A JP S6062482A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- speed
- switch
- drive speed
- driven
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
産業上の利用分野ど従来技術
本発明は、プログラムに従って一定の０１作、処理、加
工を行う自動機械、１”なわち、Ｕボットの安全速度制
御方式に関する。DETAILED DESCRIPTION OF THE INVENTION BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safe speed control method for an automatic machine, 1", that is, a U-bot, which performs certain operations, processing, and machining according to a program.
ロボットは自動的に動作し、イのアーム等を大きく移動
させるため、ロボッ１への動作中に人間がロボツ１〜に
近寄るとロボッ１〜の可動部月に」：って怪我をさせら
れる可能性がある。そのため、従）ＩＦ。Since the robot operates automatically and moves its arm, etc. over a large distance, if a human approaches Robot 1~ while it is moving towards Robot 1~, the moving parts of Robot 1~ may cause injury. There is sex. Therefore, IF.
からロボット周辺に危険領域を設り、この危険領域にロ
ボッ１へ稼動中は立ち入り禁止にしたり安肴〉柵を設け
、該安全柵が聞かれるど１］ボットの（１：動を停止さ
せたりしていた。まｊこ、教示モードにＪ３いては、あ
まりにも早い速度でロボッ１〜が稼動覆−ると危険であ
るという問題があった。A dangerous area is set up around the robot, and in this dangerous area, robot 1 is prohibited from entering while it is in operation. However, when J3 was in the teaching mode, there was a problem that it would be dangerous if the robot 1~ overturned its operation at too high a speed.
発明の目的
本発明は、再生モードにおいては、設定速度が如何なる
１１１１でも特定信号が入力されると、ある上限値以下
の速度で稼！ｒ！ＩＩするようにしだロボッＩ・の安全
速度制御方式を提供することにある。Purpose of the Invention The present invention provides that in playback mode, no matter what the set speed 1111 is, when a specific signal is input, the speed is below a certain upper limit value! r! The purpose of this invention is to provide a safe speed control method for Shishida Robot I.
弁明のシミ４成
本発明は、ロボッ１〜の駆動スピードランクを選択する
スイッチと、特定の上記駆動スピードランクを記憶づる
記ＩＱ手段と、ロボッ１〜の危険領域への異物の侵入を
検出づ°る検出手段とにより、再生モード時該検用手段
から異物浸入の検出信号が出されなりれば、上記スイッ
チで設定した駆動スピードランクでロボッ１〜を駆動さ
け、検出信号が出されると、上記スイッチで設定された
駆動スピードランクと上記記憶手段で記憶された駆動ス
ピードランクを比較し、小さい方の駆動スピードランク
でロボッ１〜を駆動させるようにしたロボットの安全速
度制御方式である。The present invention includes a switch for selecting the drive speed rank of the robot 1~, a recording IQ means for memorizing the specific drive speed rank, and a device for detecting the intrusion of foreign objects into the dangerous area of the robot 1~. If a foreign matter intrusion detection signal is not outputted from the inspection unit in the regeneration mode, the robot 1~ is driven at the drive speed rank set by the above switch, and when the detection signal is output, the above-mentioned This is a safe speed control system for a robot in which the drive speed rank set by the switch is compared with the drive speed rank stored in the storage means, and the robots 1 to 1 are driven at the smaller drive speed rank.
実施例
第１図は、本発明の一実施例の制御装置のハードウェア
ブロック図で、１はロボッｌ〜を制御りる制御″ＪＡｉ
ｍの中央処理装置く以下ＣＩ） Ｕという）、２は該制
御装置全体の制御を行うプログラムを記憶覆るＲＯＭ、
３は演算処理等のための［く△〜１．４はロボッ［〜を
制御するためのプログラム及び後述のロボッ１〜の駆動
速度を四制御るためのパラメータ等を記憶する不揮発性
メモリ、５は手操作人）ｊ装置で、該手操作人力装］４
５に設けられた駆動スピードのランクを設定するオーバ
ライトス−ｒツチによってロボッ１〜の教示モード、
７１５生し一ドにおりる駆動スピードランクを）認定す
る。さらに、該手操作入力装置５から上記オーバライド
スイッチで設定しｌζ（０を規１１１１するだめのパラ
メータを人力し、不揮発１１メモリ４に記１０さけるよ
うに１．Ｔっている。６は出力インターフｘ−（ス回路
で、ロボットの各軸のり一−ボモータ回路（りに出力を
出しくいる。７は入力インターフェイス回路で、ロボッ
１〜に設けられたレンリー等からの信号を受り（いる。Embodiment FIG. 1 is a hardware block diagram of a control device according to an embodiment of the present invention.
2 is a ROM that stores a program for controlling the entire control device;
3 is a nonvolatile memory for storing a program for controlling the robot 1 for calculation processing, etc., and parameters for controlling the driving speed of the robot 1 to be described later; is a manual operator)j device, and the manual operator is
The teaching mode of the robot 1~ is set by the overwrite switch that sets the drive speed rank provided in 5.
715 The drive speed rank that falls in the first position) is certified. Furthermore, the manual input device 5 sets the parameters using the override switch, sets lζ(0), and stores them in the non-volatile memory 4. 6 is the output interface. 7 is an input interface circuit that receives signals from Renly, etc. installed on robots 1 to 1.
特に本発明の実施例では、ロボットの周囲に設けられた
危険領域に人や物等の異物が侵入したどき、信号を出Ｖ
検出手段から、例えば、危険領域に囲んだ安全柵に設け
られたリミットスイッチ等から信号を受（プるＪ：うに
なっている。なお、８はバスである。In particular, in the embodiment of the present invention, when a foreign object such as a person or object enters a dangerous area provided around the robot, a signal is emitted.
A signal is received from the detection means, for example, a limit switch provided on a safety fence surrounding the dangerous area. Note that 8 is a bus.
次に、本実施例の作動について、第２図の動作フローと
共に説明する。Next, the operation of this embodiment will be explained with reference to the operation flow shown in FIG. 2.
不揮発性メーしり４には、すでに教示モード、再生モー
ド時におけるオーバライドの上限値が記憶されている。The non-volatile memory 4 has already stored the upper limit value of the override in the teaching mode and the reproduction mode.
そこで、ロボッ１への操作者は、手操作入力装置５上の
オーバライドスイッチを操作して該ロボツｊ〜を駆動ざ
μるに最適な値に設定し、さらに、該手操作入力装置５
Ｊ：り教示モード、再生モートを設定してロボットを稼
動させることとなるが、第２図に示すように、まず、Ｃ
ＰＵ １は、現在教示モートが選択されているのか、再
生モードが選択モードがされているのか判断しくステッ
プＳ１）、教示モードであると、オーバライドスイッチ
で設定されているオーバライドの値と不揮発性メモリ４
に記載されたパラメータの（ｌ「１を比較しくステップ
Ｓ２）、小さい力の値を出力りる、Ｊ、うにする（ステ
ップＳ３ 、 Ｓ４ ）。４４ｇわら、Ａ−パライドス
イッチで設定した値の方が小さり１しぽ、該オーバライ
ドスイッチで設定しＩＣ餡のＡ−パライトの駆りＪスピ
ードランクでロボツ１〜を駆動さけるが（ステップＳ３
）、該オーバライドスイッチの設定値がパラメータにり
大きいと、パラメータの設定値でＡ−パライトの出力を
出し、そのスピードランクでロボットを駆動させる（ス
テップＳ４）。これは、教示−し−ドにお（プるＡ−パ
ライトの上限値を自動的に決めるもので、いＩＪＪ’ら
に速いスピードにオーバライドスイッチを設定【）でい
ても教示動作において危険なスピードにならないように
、その上限値が制限されるものである。Therefore, the operator of the robot 1 operates the override switch on the manual input device 5 to set the optimum value for driving the robot
J: The robot will be operated by setting the teaching mode and playback mode, but as shown in Figure 2, first
The PU 1 determines whether the teach mode is currently selected or whether the playback mode is the selection mode (step S1). If the teach mode is selected, the override value set by the override switch and the nonvolatile memory are stored in the PU 1. 4
Output the small force value (step S3, S4) of the parameter described in (1) (step S2), output the small force value (step S3, S4). If the speed is smaller than 1, set the override switch to avoid driving the robots 1 to 1 at the IC speed A-Parite drive J speed rank (step S3).
), if the set value of the override switch is larger than the parameter, the output of A-paralite is output at the set value of the parameter, and the robot is driven at that speed rank (step S4). This automatically determines the upper limit of the pull A-paraite in the teaching mode, and even if the override switch is set to a high speed in the teaching mode, dangerous speeds may occur during the teaching operation. The upper limit value is limited so that it does not occur.
なお、教示モードの速Ｉ其（最高速１臭）は再生モード
の約１／２である。Note that the speed I in the teaching mode (maximum speed 1) is about 1/2 that in the reproducing mode.
また、再生モードであると（ステップＳ１）、ＣＰＵ
１は危険領域に設りられた検出手段からの信号があるか
否か、すなわち、危険領域に人＼１）物か侵入していな
いかどうか判断しくステップＳ５）、侵入してなく安全
であるという信号（安全スイッチＯＮ＞かあれば、Ａ−
パライトスイッチで設定された設定１０“■てオーバラ
イド出）ｊが出され（ステップＳｅ）、指γスピードラ
ンクでロボツ１〜は稼動づる。また、安全スイッチがＯ
ＦＦの場合、−！Ｊなわち、人−１ｂ物が危険領域内に
侵入し安全スイッチがＯＦＦになったとぎは、ＣＰＵ
１は、オーバライドスイッチで設定された値と、不揮発
性メモリ４に記憶されたパラメータの値を比較しくステ
ップＳ７）、小さい方のオーバライドの値を出力するく
ステップＳｅ、Ｓｓ）、すなわち、オーバライドスイッ
チの設定舶の方が小さければ、そのまま該設定値で出ノ
〕し、ロボットを駆動させる〈ステップＳｅ）。しかし
、オーバライドスイッチの設定値よりもパラメータの値
の方が小さいと、パラメータの埴を出力し、ロボットを
低速度で駆動させる。これは、危険領域に人や物が侵入
し、危険な場合、パラメータで設定されたオーバライド
値を超える危険なスピードでロボットが駆動されること
を防止したもので、このＪ、うにし−Ｃ１１−記安全ス
イソヂが動作覆るや否１５安全スピードてロボツ１へが
駆動覆るようになっている。。In addition, if it is the playback mode (step S1), the CPU
Step 1 is to determine whether there is a signal from the detection means installed in the dangerous area, that is, whether there is a person or object intruding into the dangerous area.Step S5): There is no intrusion and it is safe. If there is a signal (safety switch ON>), A-
The setting 10"■ (override output) set with the para-light switch is issued (step Se), and the robots 1 to 1 start operating at the finger γ speed rank. Also, the safety switch is set to O.
For FF, -! In other words, when a person-1b object enters the danger area and the safety switch is turned off, the CPU
1 compares the value set by the override switch with the value of the parameter stored in the nonvolatile memory 4 (step S7), and outputs the smaller override value (steps Se, Ss), that is, the override switch If the set value is smaller, the set value is used as is, and the robot is driven (step Se). However, if the parameter value is smaller than the override switch setting value, the parameter value is output and the robot is driven at a low speed. This prevents the robot from being driven at a dangerous speed that exceeds the override value set by the parameter when a person or object enters the dangerous area. As soon as the safety switch is activated, the robot 1 is driven to the 15 safety speed. .
発明の効果
本発明は、上述したように、ロボツ１〜の危険領域に人
や物が侵入し危険な場合、記１０手段に記ＩＱされた特
定の駆動スピードランク以上にＬ１ホットが駆動しない
ようにしたから、安全であると」（に、危険領域に人や
物の侵入がない湯含には設定した駆動スピードランクで
ロボッ１〜は駆動するから、能率的に作業は行われる。Effects of the Invention As described above, the present invention prevents the L1 hot from being driven at a speed higher than the specific drive speed rank recorded in the IQ in the 10th means when a person or object enters the dangerous area of the robot 1. In addition, the robot 1~ will drive at the set drive speed rank when there are no people or objects entering the dangerous area, so the work will be done efficiently.
また、教示スピードにおいても、何らかの理由で危険な
早いスピードランクに駆動スピードを設定しても、記憶
装置に記憶された特定の駆動スピードランク以上にはロ
ボツ１〜は、ら１ｚ動しないｈ日ら、教示モードにおい
ても安全なロボッ１への速度制御が行われる。Also, in the teaching speed, even if the drive speed is set to a dangerously high speed rank for some reason, the robot 1 will not move above the specific drive speed rank stored in the storage device. , safe speed control of the robot 1 is performed even in the teaching mode.
第１図は、本発明の一実施例の制御装置のハードウェア
ブロック図、第２図は、同実施例の動作フローである。
１・・・中央処理装置、２・・・リードオンリーメモリ
、３・・・ランダムアクゼスメモリ、８・・・バス。
特工′Ｆ出願人
ファナック 株式会社FIG. 1 is a hardware block diagram of a control device according to an embodiment of the present invention, and FIG. 2 is an operational flowchart of the embodiment. 1... Central processing unit, 2... Read only memory, 3... Random access memory, 8... Bus. Special engineering 'F applicant FANUC Co., Ltd.
Claims (3)
スイッチど、特定の上記駆動スピードランクを記１０す
る記１０手段と、ロボットの危険領域への異物の侵入を
検出づる検出手段とにより、再生モード時該検出手段か
らの異物侵入の検出信号が出されなければ、上記スイッ
チで設定した駆動スピードランクでロボットを駆動させ
、検出信号が出されると、上記スイッチで設定された駆
動スピードランクと上記記憶手段で２旬された駆動スピ
ードランクを比較し、小ざい方の駆動スピードランクで
ロボットを駆動さけるようにしたロボットの安全速度制
御方式。(1) Switches for selecting the 15V dynamic speed ranks of robots 1 to 1 are regenerated by means for recording the specific drive speed ranks and detection means for detecting foreign objects entering into dangerous areas of the robot. In the mode, if the detecting means does not output a foreign object intrusion detection signal, the robot is driven at the drive speed rank set by the above switch, and when the detection signal is output, the robot is driven at the drive speed rank set by the switch and the A safe speed control method for a robot that compares two driving speed ranks stored in a storage means and avoids driving the robot using the smaller driving speed rank.
れた駆動スピードランクと上記記憶手段に記憶された駆
動スピードランクを比較し、小さい方の駆動スピードラ
ンつてロボッ１−４教示スピードで駆動させるようにし
／ｅ狛ム′１品求の範囲第１項記載のロボッ１−の安全
速度制御方式。(2) In the teaching mode, the drive speed rank set by the switch is compared with the drive speed rank stored in the storage means, and the robot is driven at the teaching speed of 1-4 using the smaller drive speed run. Safe speed control system for the robot 1 described in item 1.
である特許請求の範囲第１項よｌどは第２項記載のロボ
ッ１〜の安全速度制御方式。(3) The safe speed control system for the robot 1 according to claims 1 and 2, wherein the detection means is a switch installed on a safety fence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16029183A JPS6062482A (en) | 1983-09-02 | 1983-09-02 | Control system of safety speed of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16029183A JPS6062482A (en) | 1983-09-02 | 1983-09-02 | Control system of safety speed of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6062482A true JPS6062482A (en) | 1985-04-10 |
| JPH0445312B2 JPH0445312B2 (en) | 1992-07-24 |
Family
ID=15711802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16029183A Granted JPS6062482A (en) | 1983-09-02 | 1983-09-02 | Control system of safety speed of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6062482A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1990008017A1 (en) * | 1989-01-18 | 1990-07-26 | Fanuc Ltd | Method of safely operating a robot |
| WO2002098065A1 (en) * | 2001-05-31 | 2002-12-05 | Omron Corporation | Safety network system and safety slaves and safety controller and communication method and information gathering method and monitoring method in safety network system |
| US7050860B2 (en) | 2001-06-22 | 2006-05-23 | Omron Corporation | Safety network system, safety slave, and communication method |
| US7065391B2 (en) | 2002-07-18 | 2006-06-20 | Omron Corporation | Communication system, communication apparatus, and communication control method |
| US7120505B2 (en) | 2001-06-22 | 2006-10-10 | Omron Corporation | Safety network system, safety slave, and safety controller |
| JP2007283450A (en) * | 2006-04-18 | 2007-11-01 | National Institute Of Advanced Industrial & Technology | Safety device for coexistent work of human and robot |
| US7369902B2 (en) | 2001-05-31 | 2008-05-06 | Omron Corporation | Slave units and network system as well as slave unit processing method and device information collecting method |
| US7430451B2 (en) | 2001-05-31 | 2008-09-30 | Omron Corporation | Safety unit, controller system, connection method of controllers, control method of the controller system and monitor method of the controller system |
| US7472106B2 (en) | 2001-06-22 | 2008-12-30 | Omron Corporation | Safety network system and safety slave |
| DE102017101904A1 (en) | 2016-02-25 | 2017-08-31 | Fanuc Corporation | Robot system and robot control device |
| DE102018216034A1 (en) | 2017-09-27 | 2019-03-28 | Fanuc Corporation | robot system |
| JP2021094602A (en) * | 2019-12-13 | 2021-06-24 | セイコーエプソン株式会社 | Control method and robot system |
| JP2022510299A (en) * | 2018-11-30 | 2022-01-26 | イリノイ トゥール ワークス インコーポレイティド | A material testing system with a safety system that requires intentional function activation and a safety system that requires intentional function activation. |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5837701A (en) * | 1981-08-31 | 1983-03-05 | Nissan Motor Co Ltd | Safety device for robot |
-
1983
- 1983-09-02 JP JP16029183A patent/JPS6062482A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5837701A (en) * | 1981-08-31 | 1983-03-05 | Nissan Motor Co Ltd | Safety device for robot |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1990008017A1 (en) * | 1989-01-18 | 1990-07-26 | Fanuc Ltd | Method of safely operating a robot |
| WO2002098065A1 (en) * | 2001-05-31 | 2002-12-05 | Omron Corporation | Safety network system and safety slaves and safety controller and communication method and information gathering method and monitoring method in safety network system |
| US7162311B2 (en) | 2001-05-31 | 2007-01-09 | Omron Corporation | Safety network system, safety slaves unit, safety controller and communication method and information collecting method and monitoring method for the safety network system |
| US7813813B2 (en) | 2001-05-31 | 2010-10-12 | Omron Corporation | Safety unit, controller system, connection method of controllers, control method of the controller system and monitor method of the controller system |
| US7369902B2 (en) | 2001-05-31 | 2008-05-06 | Omron Corporation | Slave units and network system as well as slave unit processing method and device information collecting method |
| US7430451B2 (en) | 2001-05-31 | 2008-09-30 | Omron Corporation | Safety unit, controller system, connection method of controllers, control method of the controller system and monitor method of the controller system |
| US7472106B2 (en) | 2001-06-22 | 2008-12-30 | Omron Corporation | Safety network system and safety slave |
| US7050860B2 (en) | 2001-06-22 | 2006-05-23 | Omron Corporation | Safety network system, safety slave, and communication method |
| US7120505B2 (en) | 2001-06-22 | 2006-10-10 | Omron Corporation | Safety network system, safety slave, and safety controller |
| US7065391B2 (en) | 2002-07-18 | 2006-06-20 | Omron Corporation | Communication system, communication apparatus, and communication control method |
| JP2007283450A (en) * | 2006-04-18 | 2007-11-01 | National Institute Of Advanced Industrial & Technology | Safety device for coexistent work of human and robot |
| DE102017101904A1 (en) | 2016-02-25 | 2017-08-31 | Fanuc Corporation | Robot system and robot control device |
| DE102018216034A1 (en) | 2017-09-27 | 2019-03-28 | Fanuc Corporation | robot system |
| JP2022510299A (en) * | 2018-11-30 | 2022-01-26 | イリノイ トゥール ワークス インコーポレイティド | A material testing system with a safety system that requires intentional function activation and a safety system that requires intentional function activation. |
| JP2021094602A (en) * | 2019-12-13 | 2021-06-24 | セイコーエプソン株式会社 | Control method and robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0445312B2 (en) | 1992-07-24 |
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