Safety system and method for a robot

• US 4,490,660 A
• Filed: 06/07/1983
• Issued: 12/25/1984
• Est. Priority Date: 06/07/1982
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Tsuchihashi, Akira
• Primary Examiner(s): Dobeck, B.
• Application Number:
  US06/501,993
• Time in Patent Office: 567 Days
• Field of Search: 250/561, 250/222.1, 250/222.2, 250/215, 901/3, 901/23, 901/43, 901/49, 364/184, 364/513, 318/563, 318/565, 318/568, 318/640
• US Class Current: 700/255
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/49157 Limitation, collision, interference, forbidden zones, avoid obstacles

Abstract

A safety system and method for industrial robots includes a detection arrangement having a detection field covering the area of reach or operation of the robot. Detection data obtained through the detecting arrangement in each of predetermined operation positions of the robot is compared with the detection data indicative of the normal or correct detection field in the same operation position. The movement of the robot to the next operation position is prohibited when a difference of a level exceeding a predetermined level is obtained during the comparison.

Claims

1. In an industrial robot of the playback type having a position control object portion for moving to successive positions in accordance with successive steps as taught in a teaching mode, a safety system comprising detecting means having a detecting field of view containing at least a part of the robot and providing detection data indicative of the detected field of view, memory means for storing detection data of the detecting means at least in selected ones of the successive positions corresponding to the successive steps in the teaching mode, means for reading, at least in selected steps of the playback operation, the detection data of a corresponding step from the memory means and for comparing the read-out detection data with present detection data from the detecting means obtained in the present step during the playback operation, and means responsive to the comparing means for controlling further movement of the robot.

2. A safety system according to claim 1, wherein the controlling means includes means for prohibiting the movement of the position control object portion of the robot to the successive position corresponding to the next step of the playback operation when the comparing means provides a difference of comparison exceeding a predetermined level, the memory means storing the detection data in each of the successive positions, and the reading means reading out the detection data in each step of the playback operation.

3. A safety system according to claim 2, wherein the controlling means enables movement of the position control object portion of the robot to the successive position corresponding to the next step of the playback operation when the comparing means provides a difference of comparison which does not exceed the predetermined level.

4. A safety system according to claim 2, wherein the prohibiting means includes means for initiating an alarm.

5. A safety system according to claim 1, wherein the detecting means includes a plurality of photoelectric detector means having different detection areas within a predetermined field of view containing at least a part of the robot.

6. A safety system according to claim 1, wherein the detecting means includes TV camera means for providing image signals of the field of view as the detection data.

7. A safety system according to claim 6, wherein the TV camera means is mounted on a movable part of the robot.

8. A safety system for an industrial robot having a position control object portion in which successive positions to be taken by the position control object portion are stored, the safety system comprising detecting means having a detecting field of view covering the region of effective operation of the robot and providing detection data indicative of the detected field of view, memory means for storing the detection data from the detecting means at least in selected positions corresponding to respective successive positions of the position control object portion, means for reading at least in selected positions of the position control object portion during operation of the robot in an automatic operation mode, the detection data stored in the memory means and for comparing the read-out detection data corresponding to the present position of the position control object portion with detection data provided by the detecting means of the present position of the position control object portion, and means responsive to the comparing means for controlling further positioning of the position control object portion in accordance therewith.

9. A safety system according to claim 8, wherein the controlling means includes means for prohibiting the movement of the position control object portion to the next successive portion in accordance with the results of the comparing means, the memory means storing the detection data in each of the successive positions, and the reading means reading out the detection data in each position in the automatic operation mode.

10. A safety system according to claim 9, wherein the prohibiting means prohibits movement of the position control object portion when the comparing means provides a difference of comparison exceeding a predetermined level.

11. A safety system according to claim 9, wherein the prohibiting means includes means for initiating an alarm.

12. A safety system according to claim 10, wherein the controlling means enables movement of the position control object portion when the comparing means provides a difference of comparison which does not exceed the predetermined level.

13. A safety system according to claim 8, wherein the detecting means includes photoelectric detector means.

14. A safety system according to claim 8, wherein the detection means includes TV camera means providing image signals as the detection data.

15. A safety system according to claim 14, wherein the TV camera means is mounted on a movable part of the robot.

16. A safety method for preventing accidents during automatic operation of an industrial robot having a position control object portion in which successive positions to be taken by the position control object portion are stored, the method comprising the steps of detecting in a detection field of view covering the region of effective operation of the robot and providing detection data in accordance therewith, storing detection data for at least selected ones of the positions corresponding to the respective successive positions to be taken by the position control object portion, reading out the stored data for at least selected ones of the successive positions of the position control object portion during operation of the robot in an automatic operation mode, comparing the read-out detection data corresponding to the present position of the position control object portion with detection data of the present position of the position control object portion, and controlling the movement of the position control object portion in accordance with the results of the comparison so as to avoid accidents when persons and objects are improperly placed within the effective operation region of the robot.

17. A safety method according to claim 16, wherein the step of controlling includes prohibiting the movement of the position control object portion of the robot to the position corresponding to the next successive position of operation when the results of comparison is a difference exceeding a predetermined level, the step of storing includes storing detection data for each position, and the step of reading includes reading out the stored data for each of the successive positions.

18. A method according to claim 17, wherein the step of controlling includes enabling movement of the position control object portion when the results of comparison is a difference which does not exceed the predetermined level, and the step of prohibiting includes the initiating and alarm.

19. A safety method according to claim 17, wherein the step of detecting includes providing a plurality of photoelectric detectors having detection areas containing at least a part of the robot.

20. A safety method according to claim 17, wherein the step of detecting includes providing a TV camera mounted on a part of the robot for providing image signals as the detection data.