EP0096830A2
Expired / Lapsed
EP
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Safety system for robot
Assignee: Hitachi Ltd
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Filing: 1983-06-07
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Granted: —
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Expires: 2003-06-07
Abstract
Abstract A safety system for industrial robots has a photoelectric detection means (9, 9a-9d) having a field of vision covering the area of reach of the robot. The data concerning the sight obtained through the photo-electric detection means in each of predetermined operation positions is compared with the data concerning the normal or correct sight 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 found during the comparison.
Inventors
- 👤 Akira Tsuchihashi
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-26 13:10
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/06; B25J19/02; B25J19/021; B25J19/023; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/406; G05B19/4061; G05B2219/00; G05B2219/30; G05B2219/49; G05B2219/49157
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
177 words
In an industrial robot of playback type in which the successive positions of the position control object portion, as well as various signals, are memorized through teaching, a safety system characterized by comprising: a plurality of photoelectric detecting means (9; 9a - 9d) having different detection areas within a predetermined zone containing at least a part of said robot; a memory means (8) for storing the detection data delivered by said photoelectric detection means (9; 9a - 9d) in each of the positions corresponding to successive steps in the teaching; and a means (3, 4, 5) for reading, in each step of the playback operation, the detection date of the corresponding step from said memory means and for comparing the thus read out detection data with the detection data obtained in the present step in the course of the playback operation; wherein the movement of said position control object portion of the robot to the position corresponding to the next step of playback operation is prohibited when the difference obtained through the comparision exceeds a predetermined level.
Claim 2
Dependent Claim
177 words
In an industrial robot of playback type in which the successive positions of the position control object portion, as well as various signals, are memorized through teaching, a safety system characterized by comprising: a plurality of photoelectric detecting means (9; 9a - 9d) having different detection areas within a predetermined zone containing at least a part of said robot; a memory means (8) for storing the detection data delivered by said photoelectric detection means (9; 9a - 9d) in each of the positions corresponding to successive steps in the teaching; and a means (3, 4, 5) for reading, in each step of the playback operation, the detection date of the corresponding step from said memory means and for comparing the thus read out detection data with the detection data obtained in the present step in the course of the playback operation; wherein the movement of said position control object portion of the robot to the position corresponding to the next step of playback operation is prohibited when the difference obtained through the comparision exceeds a predetermined level.
Claim 3
Dependent Claim
174 words
A safety system for industrial robot in which the positions to be taken by a position control object portion of said robot are stored, said safety system comprising; a photoelectric detection means (9a - 9d) having a detection area covering the region of reach of said robot; a memory means (8) adapted to store the data derived from said photoelectric detection means in each of positions corresponding to respective steps of said position control object portion; and means (3, 4, 5) for reading, in each of the positions of said position control object portion during the operation of said robot in the automatic operation mode, the detection data from said memory means and for comparing the read out detection date with the detection data obtained in the present position through said photo- electric detection means (9a - 9d); wherein the movement of said position control object portion to the operating position corresponding to the next step of operation is prohibited depending on the result of the comparison between these two kinds of detection data.
Claim 4
Dependent Claim
174 words
A safety system for industrial robot in which the positions to be taken by a position control object portion of said robot are stored, said safety system comprising; a photoelectric detection means (9a - 9d) having a detection area covering the region of reach of said robot; a memory means (8) adapted to store the data derived from said photoelectric detection means in each of positions corresponding to respective steps of said position control object portion; and means (3, 4, 5) for reading, in each of the positions of said position control object portion during the operation of said robot in the automatic operation mode, the detection data from said memory means and for comparing the read out detection date with the detection data obtained in the present position through said photo- electric detection means (9a - 9d); wherein the movement of said position control object portion to the operating position corresponding to the next step of operation is prohibited depending on the result of the comparison between these two kinds of detection data.
Claim 5
Dependent Claim
20 words
A safety system for industrial robot according to claim 2, wherein said photoelectric detection means (9) includes a TV camera.
Claim 6
Dependent Claim
24 words
A safety system for industrial robot according to claim 3, wherein said TV camera is mounted on the movable part (P) of said robot.
References Cited (Backward Citations)
No citation records indexed.
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