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WO2021114223A1 - 自动化设备及其安全装置 - Google Patents

自动化设备及其安全装置 Download PDF

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Publication number
WO2021114223A1
WO2021114223A1 PCT/CN2019/125118 CN2019125118W WO2021114223A1 WO 2021114223 A1 WO2021114223 A1 WO 2021114223A1 CN 2019125118 W CN2019125118 W CN 2019125118W WO 2021114223 A1 WO2021114223 A1 WO 2021114223A1
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WO
WIPO (PCT)
Prior art keywords
output
signal
contact
input terminal
controller
Prior art date
Application number
PCT/CN2019/125118
Other languages
English (en)
French (fr)
Inventor
苏瑞尧
刘昌和
卢元立
郑世明
Original Assignee
原见精机股份有限公司
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 原见精机股份有限公司 filed Critical 原见精机股份有限公司
Priority to CN201980102944.0A priority Critical patent/CN114786891A/zh
Priority to US17/784,676 priority patent/US20230294289A1/en
Priority to PCT/CN2019/125118 priority patent/WO2021114223A1/zh
Publication of WO2021114223A1 publication Critical patent/WO2021114223A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/066—Redundant equipment
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/148—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using capacitive technology
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40625—Tactile sensor

Definitions

  • the invention relates to a safety device for automatic equipment, in particular to a safety device for automatic equipment for detecting collisions.
  • 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.
  • An existing automation device 1 with a contact detection mechanism is a collaborative robot, which includes a controller 11, a movable member 12, a plurality of contact detectors 13, and a plurality of connected contact detections.
  • the movable component is the movable manipulator arm of the collaborative robot, which can perform rotational movement under the control of the controller.
  • the controller 11 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 robotic arm 12, such as stopping the rotation motion in real time, so as to prevent the motion of the collaborative robot 1 from harming the collaboration Of operating staff.
  • the multiple contact detectors are connected to the controller via signal wires, some of the signal wires are long and may be pulled by movable components or operators.
  • 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.
  • the purpose of the present invention is to provide a safety device that simplifies the configuration of the overall safety mechanism so as to reduce the failure risk of the safety mechanism.
  • the safety device proposed by the present invention is used to be installed in a movable component of an automation equipment, and to communicate with the controller of the automation equipment.
  • the safety device includes a contact detector and a module.
  • the contact detector is used to detect the 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 communicatively connected with the contact detector for receiving the contact signal.
  • the second input terminal is communicatively connected with the output terminal, and can be communicatively connected to the output terminal of another safety device.
  • the output terminal is communicatively connected with the first input terminal, and is used for outputting an output signal when the first input terminal receives a 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 device, which includes a controller, a movable member signal-connected to the controller, and a plurality of the above-mentioned safety devices.
  • the safety devices are serially connected with each other by signal lines, and the output end of one safety device is communicatively connected with the controller, and the output end of the other safety device is communicatively connected to the second input end of the next safety device.
  • the controller changes the movement state of the movable member after receiving the output signal of one of the multiple safety devices.
  • 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 opposite first and second inner surfaces.
  • the two electrode layers are respectively arranged on the first inner surface and the second inner surface, and there is a gap between the two electrode layers.
  • 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.
  • the safety device further includes an indicator component, which is communicatively connected with the module and acts when the output terminal outputs an output signal.
  • the indicating component may be a light-emitting component, and the module of the safety device may further include two parallel output switches connected in series between the first input terminal and the indicating component.
  • the second input terminal is short-circuited by a loop.
  • the output signal is a conduction/non-conduction signal.
  • the motion state includes the stopped state.
  • the module of the safety device further includes two parallel judging circuits and two parallel output switches.
  • the two parallel judging circuits are communicatively connected with the first input terminal for judging whether the contact signal is greater than a threshold, and when the contact signal is greater than the threshold, the judging signal is output.
  • Two parallel output switches are connected in series between the two parallel judging circuits and the output end, and the judgment signal is output from the output end as an output signal.
  • 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.
  • the safety devices can be connected to each other by signal wires, only one safety device, such as the output end of the safety device closest to the controller, can be connected to the controller, so the overall length of the signal wire can be shortened, and The configuration is simple, which reduces the risk of failure of the overall safety mechanism.
  • Figure 1 shows an existing automated device with a contact detection mechanism.
  • Fig. 2 shows an automation device with a safety device according to an embodiment of the present invention.
  • Figure 3 shows a functional block diagram of two security devices and their connection methods in an embodiment of the present invention.
  • FIG. 4 shows the structure of a touch detector according to an embodiment of the invention.
  • FIG. 5 shows a functional block diagram of the modules of the security device according to an embodiment of the present invention.
  • Fig. 6 shows another embodiment according to the present invention, which further includes an intermediate device.
  • 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 safety device connected 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.
  • the safety devices 23a and 23b are not connected to the controller 21 by signal wires as in the prior art.
  • the direct signal connection object of the safety device 23a is the safety device 23b, not the controller 21.
  • the controller 21 only the direct signal connection object of the safety device 23b is the controller 21.
  • 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, which reduces the risk of failure of the signal line due to being pulled.
  • the controller 21 only needs one signal port to connect all the safety devices, which reduces the complexity of the safety device configuration.
  • the safety device 23a includes a contact detector 231a, a module 232a, and an indicating component 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 an indicating component 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 communicatively connected with the contact detector 231a, the second input terminal 234a is cyclically short-circuited so as to simulate that 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 communicatively 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.
  • the contact detector 231a of the safety device 23a 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 device 23b through the signal line 24a The second input terminal 234b. 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 the output signal to the signal line 24b, so that the controller 21 receives the output signal.
  • the controller 21 After the controller 21 receives the output signal, it changes the movement state of the movable member 22 of the automation device 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 the safety of automation equipment 2, operators or other objects nearby.
  • the module 232a When the contact detector 231a of the safety device 23a is touched and outputs an output signal, the module 232a also activates the indicating component 236a at the same time to let the operator know that the safety device 23a is touched.
  • the indicating component 236a may be a light emitting device.
  • the indicating component 236a can also be other types such as a buzzer, etc., and is not limited to a light-emitting device.
  • the contact detector 231b of the safety device 23b 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.
  • the module 232b also activates the indicating component 236b at the same time to let the operator know that the safety device 23b is touched.
  • the indicating component 236b may be a light-emitting device, or other such as a buzzer.
  • the contact detector 231a and the contact detector 231b 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.
  • the electrode layers 32 are separated by a gap G.
  • the two sensing layers 33 may be pressure-sensitive materials including conductive materials, and are formed on the two electrode layers 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.
  • 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 Time, thereby outputting a signal.
  • 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 the 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 component 236a.
  • the judgment circuit 51, the output switch 52, and the output switch 53 all adopt a redundant circuit design concept in which the two are connected in parallel to ensure that the operation of the entire safety device will not fail.
  • the output signal is an on/off signal, which is not a complex signal, such as a signal carrying communication packet data.
  • the 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.
  • 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.
  • 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 in communication, and the output of the other safety device is connected to the second input of the next safety device. end.
  • the signal line 24 b may be connected to the intermediate device 6 first, and then to the controller 21.
  • the intermediate device 6 is connected in series between the output terminal 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 parallel output switches 61, a monitoring component 62 and a reset switch 63. Two sets of output switches 61 receive the output signals and output them to the controller 21, and adopt a redundant circuit design concept in which the two are connected in parallel to ensure that the operation will not fail.
  • 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 switch 61 provides two sets of outputs to ensure safety and avoid false triggering of the emergency stop switch.
  • the monitoring component 62 can be a contact, which can be connected to, for example, a light-emitting component or a buzzer.
  • the reset switch 63 can also be a contact, which can be connected to a physical switch.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Push-Button Switches (AREA)
  • Manipulator (AREA)

Abstract

一种安全装置（23a，23b），用于设置在自动化设备（2）的可动构件（22），且与自动化设备（2）的控制器（21）通信连接，安全装置（23a，23b）包括接触侦测器（231a，231b）以及模块（232a，232b），接触侦测器（231a，231b）用于侦测安全装置（23a，23b）的接触事件，并输出接触信号，模块（232a，232b）包括第一输入端（233a，233b）、第二输入端（234a，234b）以及输出端（235a，235b），第一输入端（233a，233b）与接触侦测器（231a，231b）通信连接，用于接收接触信号，第二输入端（234a，234b）与输出端（235a，235b）通信连接，且能够通信连接另一安全装置（23a，23b）的输出端（235a，235b），输出端（235a，235b）则与第一输入端（233a，233b）通信连接，用于在第一输入端（233a，233b）接收接触信号时，输出输出信号，控制器（21）于接收到输出端（235a，235b）的输出信号后，改变自动化设备（2）的可动构件（22）的运动状态。

Description

自动化设备及其安全装置 技术领域
本发明是关于一种自动化设备的安全装置，尤其是一种侦测碰撞的自动化设备安全装置。
背景技术
随着自动化设备的发展，自动化设备的安全性问题也受到关注。例如，由于在生产在线会与作业人员近距离作业，协作机器人(collaboration robots)的安全机制成为重要课题。国际标准化组织为此于近年发表了ISO/TS 15066，针对机器人装置中的协作机器人制定了进一步的安全性规范。
接触侦测机制是自动化设备的安全机制的其中一种。增设接触侦测机制之后，自动化设备即可在侦测到接触事件时，做出紧急应变的处理。例如，请参考图1，一种现有的具备接触侦测机制的自动化设备1为协作机器人，包括控制器11、可动构件12、多个接触侦测器13、以及多条连接接触侦测器13与控制器11的信号线14。可动构件为协作机器人的可动机械手臂，其可依控制器的控制进行旋转运动。当接触侦测器13侦测到接触事件时，控制器11通过信号线14知悉此接触事件，并改变机器手臂12的运动状态，例如实时停止旋转运动，以防止协作机器人1的运动伤害到协作的作业人员。
发明内容
上述的现有技术中，由于多个接触侦测器是分别以信号线连接到控制器，因此部分信号线较长，可能被可动构件或操作人员拉扯。此外，控制器需提供多个输入埠。这些造成整体安全机制的配置较复杂，升高了安全机制失效的风险。
有鉴于此，本发明的目的为提出一种安全装置，其简化整体安全机制的配置，以降低安全机制的失效风险。
为达上述目的，本发明所提出的安全装置用于设置在自动化设备的可动构件，且与自动化设备的控制器通信连接。安全装置包括接触侦测器以及模块。接触侦测器用于侦测安全装置的接触事件，并输出接触信号。模块包括 第一输入端、第二输入端以及输出端。第一输入端与接触侦测器通信连接，用于接收接触信号。第二输入端与输出端通信连接，且能够通信连接另一安全装置的输出端。输出端则与第一输入端通信连接，用于在第一输入端接收接触信号时，输出输出信号。控制器于接收到输出端的输出信号后，改变自动化设备的可动构件的运动状态。
本发明亦提出一种自动化设备，其包括控制器、信号连接控制器的可动构件、以及多个上述的安全装置。各该安全装置彼此以信号线依序串联，其中一个安全装置的输出端与该控制器通信连接，其它安全装置的输出端通信连接下一个安全装置的第二输入端。控制器于接收到多个安全装置的其中一个安全装置的输出端的输出信号后，改变可动构件的运动状态。
在一实施例中，安全装置的接触侦测器包括两个膜层、两个电极层、至少一感应层以及间隙层。两个膜层具有相对的第一内表面与第二内表面。两个电极层分别设置于第一内表面与第二内表面上，且两个电极层之间相隔一间隙。感应层，设置于两个电极层上。间隙层设置于两个膜层之间，以使两个电极层之间保持间隙。
在一实施例中，安全装置还包括指示组件，其与模块通信连接，且于输出端输出输出信号时作动。指示组件可为发光组件，且安全装置的模块可还包括两并联的输出开关，其串联于第一输入端与指示组件之间。
在一实施例中，第二输入端以回路短路。输出信号为导通/不导通信号。运动状态则包括停止状态。
在一实施例中，安全装置的模块还包括两个并联的判断电路与两并联的输出开关。两个并联的判断电路与第一输入端通信连接，用于判断接触信号是否大于一阀值，且当接触信号大于阀值时，输出判断信号。两并联的输出开关串联于该两个并联的判断电路与输出端之间，并将判断信号作为输出信号自输出端输出。
在一实施例中，自动化设备还包括中间装置，其串联于安全装置与控制器之间，且包括两并联的输出开关，其接收输出信号并将输出信号输出到控制器。
综上所述，由于安全装置之间可以彼此以信号线连接，仅将一个安全装置，例如最接近控制器的安全装置的输出端连接控制器即可，因此信号线的 整体长度可以缩短，且配置简单，降低了整体安全机制失效的风险。
附图说明
图1显示现有的具备接触侦测机制的自动化装置。
图2显示依本发明一实施例的具备安全装置的自动化装置。
图3显示依本发明一实施例中的两个安全装置的功能方框图与其连接方式。
图4显示依本发明一实施例中的接触侦测器的结构。
图5显示依本发明一实施例中的安全装置的模块的功能方框图。
图6显示依本发明的另一实施例，其还包括中间装置。
其中，附图标记：
1     自动化设备
11    控制器
12    可动机械手臂
13    接触侦测器
14    信号线
2     自动化设备
21    控制器
22    可动机械手臂
23a   安全装置
231a  接触侦测器
232a  模块
233a  第一输入端
234a  第二输入端
235a  输出端
236a  指示组件
23b   安全装置
231b  接触侦测器
232b  模块
233b  第一输入端
234b  第二输入端
235b  输出端
236b  指示组件
24a   信号线
24b   信号线
31    膜层
31a   第一内表面
31b   第二内表面
32    电极层
33    感应层
34    间隙层
G     间隙
51    判断电路
52    输出开关
53    输出开关
6     中间装置
61    输出开关
62    监控组件
63    复位开关
具体实施方式
为充分了解本发明的目的、特征及功效，借由下述具体的实施例，并配合所附的图式，对本发明做详细说明，说明如下。
请参考图2，依本发明一实施例的自动化设备2包括控制器21、可动构件22、两个安全装置23a与23b、连接安全装置23a与23b的第一信号线24a、以及连接安全装置23b与控制器21的信号线24b。可动构件为可动机械手臂，其可依控制器的控制进行旋转运动。
在本实施例中，安全装置23a与23b并非如现有技术般，均各自以信号线 连接到控制器21。安全装置23a的直接信号连接对象是安全装置23b，并非控制器21。两个安全装置中，仅安全装置23b的直接信号连接对象是控制器21。基于此种配置，安全装置23a仅需连接至接近的另一安全装置23b即可，无须直接连接至较远的控制器21。连接到控制器21的是最接近控制器21的安全装置23b。如此信号线的整体长度可以缩短，降低了信号线被拉扯而失效的风险。此外，控制器21仅需一个信号端口即可连接所有安全装置，降低了安全装置配置的复杂度。
请参考图3，安全装置23a包括接触侦测器231a、模块232a以及指示组件236a。模块232a包括第一输入端233a、第二输入端234a与输出端235a。安全装置23b包括接触侦测器231b、模块232b以及指示组件236b。模块232b包括第一输入端233b、第二输入端234b、以及输出端235b。
模块232a的第一输入端233a与接触侦测器231a通信连接，第二输入端234a以循环短路，以便模拟第二输入端234a连接了另一个安全装置，输出端235a则连接信号线24a。模块232b的第一输入端233b与接触侦测器231b通信连接，第二输入端234b连接信号线24a，输出端235b则与连接信号线24b。
当安全装置23a的接触侦测器231a受到接触时，其输出接触信号至第一输入端233a，然后模块232a的输出端235a输出输出信号至信号线24a，并通过信号线24a传送至安全装置23b的第二输入端234b。在第二输入端234b接收到来自信号线24a的输出信号后，模块232b的输出端235b也输出输出信号至信号线24b，使控制器21收到输出信号。
控制器21收到输出信号后，即改变自动化设备2的可动构件22的运动状态。例如，原本可动构件22正在进行由上往下的旋转运动，当安全装置23a的接触侦测器231a受到接触时，收到输出信号的控制器21即立刻停止可动构件22的运动，以确保自动化设备2、旁边的操作人员或其他对象的安全性。
当安全装置23a的接触侦测器231a受到接触并且输出输出信号时，模块232a亦同时致动指示组件236a，让操作人员知道是安全装置23a被接触。在本实施例中，指示组件236a可为发光装置。指示组件236a亦可为其他例如蜂鸣器等，并不以发光装置为限。
当安全装置23b的接触侦测器231b受到接触时，其输出信号至第一输入端233b，然后模块232b的输出端235b输出一输出信号至信号线24b，使控制器 21收到输出信号。相似地，控制器21收到输出信号后，即改变自动化设备2的可动构件22的运动状态，以确保人员与设备的安全性。
相似地，当安全装置23b的接触侦测器231b受到接触并且输出输出信号时，模块232b亦同时致动指示组件236b，让操作人员知道是安全装置23b被接触。在本实施例中，指示组件236b可为发光装置，或是其他例如蜂鸣器等。
请参考图4，在本实施例中，接触侦测器231a与接触侦测器231b的结构相同，均包括两个膜层31、两个电极层32、两个感应层33以及一间隙层34。两个膜层31可为软性材质，具有相对的第一内表面31a与第二内表面31b，两个电极层32则分别设置于第一内表面31a与第二内表面31b上，且两个电极层32之间相隔一间隙G。两个感应层33可为包括导电材料的压敏材料(Pressure Sensitive Material)，并以涂布或印刷的方式形成于两个电极层32上。间隙层34设置于两个膜层31之间，以使两个电极层32之间保持间隙。当膜层31被接触时，两个电极层32之间的距离变短，感应层33的压敏材料受到压力，使压敏材料内的导电材料接触，形成导电通路于两个电极层32之间，从而输出信号。
请参考图5，在本实施例中，模块232a与232b的设计相同，均包括两个并联的判断电路51、两个并联的输出开关52、以及两个并联的输出开关53。判断电路51接收来自接触侦测器231a通过第一输入端233a输入的接触信号，并在接触信号大于一阀值时，输出判断信号至输出开关52与输出开关53。输出开关52将该判断信号作为输出信号自输出端235a输出。输出开关53则以此信号致动指示组件236a。判断电路51、输出开关52与输出开关53均采用两者并联的冗余电路(redundancy circuit)设计概念，确保整个安全装置的运作不会失效。
在本实施例中，输出信号为导通/不导通信号(on/off signal)，并非复杂信号，例如携带通信封包数据的信号等。在模块232a与232b中，亦未运用进行数值运算所需的组件，例如处理器或内存等。因此安全装置23a或23b不容易故障。此外，当安全装置23a或23b被触摸时，控制器21可以立刻改变自动化设备2的运动状态。此种设计大幅提升了安全装置的反应速度，并且确保了确保整个安全装置的运作不会失效。
此外，本实施例的安全装置数量可以增加。若欲在安全装置23a与23b之外再增加安全装置，只需以信号线将新增的安全装置串联在安全装置23a与23b之间。亦即，将安全装置23a的输出端235a改接到新增安全装置的第二输入端， 并将安全装置23b的第二输入端234b改接到新增安全装置的输出端即可。类似的方法可串联更多个安全装置，让多个安全装置彼此依序串联，其中一个安全装置的输出端与控制器通信连接，其它安全装置的输出端通信连接下一个安全装置的第二输入端。
请参考图6，在另一实施例中，信号线24b可先连接到中间装置6，再连接到控制器21。换言之，中间装置6是串联于安全装置23b的输出端与控制器之间，安全装置23b是通过中间装置6间接连接控制器21。
中间装置6可包括两组并联的输出开关61、监控组件62以及复位开关63。两组输出开关61接收输出信号并输出到控制器21，并采取两者并联的冗余电路设计概念，确保运作不会失效。此外，在本实施例中，输出开关61连接控制器21的急停开关。由于控制器21的急停开关需要两组输入，因此输出开关61提供两组输出，以确保安全性，可避免错误地触发急停开关。监控组件62可为接点，可连接至例如发光组件或蜂鸣器，正常状况下关闭，当发生断路等异常导致无电源时则致动，例如亮灯或发出蜂鸣，借此提醒操作人员有异常状况发生。复位开关63亦可为接点，其可连接到实体开关，当安全装置23a或23b被触摸导致自动化设备2的运动状态被改变，例如被停止时，方便操作人员回复改变前的运动状态用。
依上述本发明的实施例，安全装置之间可以彼此以信号线连接，可选择仅将一个安全装置，例如最接近控制器的安全装置，以信号线连接控制器即可。因此信号线的整体长度可以缩短，且配置简单，降低了整体安全机制失效的风险。
本发明在上文中已以较佳实施例说明，然本领域的技术人员应理解的是，该实施例仅用于描绘本发明，而不应解读为限制本发明的范围。应注意的是，举凡与该实施例等效的变化与置换，均应设为涵盖于本发明的范围内。因此，本发明的保护范围当以权利要求书所界定的范围为准。

Claims (21)

  1. 一种安全装置，用于设置在自动化设备的可动构件，且与该自动化设备的控制器通信连接，该安全装置包括：
    接触侦测器，用于侦测该安全装置的接触事件，并输出接触信号；以及
    模块，包括：
    第一输入端，与该接触侦测器通信连接，用于接收该接触信号，
    输出端，与该第一输入端通信连接，用于在该第一输入端接收该接触信号时，输出输出信号，以及
    第二输入端，与该输出端通信连接，且能够通信连接另一安全装置的输出端，
    其中该控制器于接收到该输出端的输出信号后，改变该自动化设备的该可动构件的运动状态。
  2. 如权利要求1所述的安全装置，其中该接触侦测器包括：
    两个膜层，具有相对的第一内表面与第二内表面；
    两个电极层，分别设置于该第一内表面与该第二内表面上，且该两个电极层之间相隔一间隙；
    至少一感应层，设置于该两个电极层的至少一者上；以及
    间隙层，设置于该两个膜层之间，以使该两个电极层之间保持该间隙。
  3. 如权利要求2所述的安全装置，其中该至少一感应层包括覆盖在该两个电极层其中之一上的压敏材料，该压敏材料内包含至少一导电物质。
  4. 如权利要求1所述的安全装置，还包括：
    指示组件，其与该模块通信连接，且于该输出端输出该输出信号时作动。
  5. 如权利要求4所述的安全装置，其中该指示组件为发光组件。
  6. 如权利要求4所述的安全装置，其中该模块还包括：
    两并联的输出开关，串联于该第一输入端与该指示组件之间。
  7. 如权利要求1所述的安全装置，其中该第二输入端以回路短路。
  8. 如权利要求1所述的安全装置，其中该输出信号为导通/不导通信号。
  9. 如权利要求1所述的安全装置，其中该运动状态包括停止状态。
  10. 如权利要求1所述的安全装置，其中该模块还包括：
    两个并联的判断电路，与该第一输入端通信连接，用于判断该接触信号是否大于一阀值，且当该接触信号大于该阀值时，输出判断信号；以及
    两并联的输出开关，其串联于该两个并联的判断电路与该输出端之间，并将该判断信号作为该输出信号自该输出端输出。
  11. 一种自动化设备，包括：
    控制器；
    可动构件，其通信连接该控制器；
    多个安全装置，其中各该多个安全装置包括：
    接触侦测器，用于侦测该安全装置的一接触事件，并输出接触信号，以及
    模块，包括：
    第一输入端，与该接触侦测器通信连接，用于接收该接触信号，
    输出端，与第一输入端通信连接，用于在该第一输入端接收该接触信号时，输出输出信号，以及
    第二输入端，与该输出端通信连接，且能够通信连接该多个安全装置中的另一安全装置的输出端，
    其中，
    该多个安全装置彼此依序串联，其中一个安全装置的输出端与该控制器通信连接，其它安全装置的输出端通信连接下一个安全装置的第二输入端，且
    该控制器于接收到该多个安全装置的其中一个安全装置的该输出端的输出信号后，改变该自动化设备的该可动构件的运动状态。
  12. 如权利要求11所述的自动化设备，其中各该多个安全装置的该接触侦测器包括：
    两个膜层，具有相对的第一内表面与第二内表面；
    两个电极层，分别设置于该第一内表面与该第二内表面上，且该两个电极层之间相隔一间隙；
    至少一感应层，设置于该两个电极层的至少一者上；以及
    间隙层，设置于该两个膜层之间，以使该两个电极层之间保持该间隙。
  13. 如权利要求12所述的自动化设备，其中该至少一感应层包括覆盖在该两个电极层其中之一上的压敏材料，该压敏材料内包含至少一导电物质。
  14. 如权利要求11所述的自动化设备，其中各该多个安全装置还包括：
    指示组件，其与该模块通信连接，且于该输出端输出该输出信号时作动。
  15. 如权利要求14所述的自动化设备，其中该指示组件为发光组件。
  16. 如权利要求14所述的自动化设备，其中各该多个安全装置的该模块还包括：
    两并联的输出开关，串联于该第一输入端与该指示组件之间。
  17. 如权利要求11所述的自动化设备，其中各该多个安全装置的其中一个安全装置的该第二输入端以回路短路。
  18. 如权利要求11所述的自动化设备，其中该输出信号为导通/不导通信号。
  19. 如权利要求11所述的自动化设备，其中该运动状态包括停止状态。
  20. 如权利要求11所述的自动化设备，其中各该多个安全装置的模块还包括：
    两个并联的判断电路，与该第一输入端通信连接，以判断该接触信号是否大于一阀值，且当该接触信号大于该阀值时，输出判断信号；以及
    两并联的输出开关，其串联于该两个并联的判断电路与该输出端之间，并将该判断信号作为该输出信号自该输出端输出。
  21. 如权利要求11所述的自动化设备，还包括：
    中间装置，串联于该多个安全装置与控制器之间，包括两组并联的输出开关，其接收该输出信号并将该输出信号输出到该控制器。
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