CONTROLLER FOR LIMITING SPEED OF ROBOT CONSTITUENT MEMBER

To provide a robot controller that restricts an impact on an operator when the operator is caught by robot components during operation.SOLUTION: A controller 4 comprises: a stop command part 47 which stops operation of a robot 1 when an operator contacts the robot 1; and a speed limit part 51 which...

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Bibliographic Details
Main Authors YAMAMOTO TOMOYUKI, OYAMA TAKUMI
Format Patent
LanguageEnglish
Japanese
Published 25.04.2019
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:To provide a robot controller that restricts an impact on an operator when the operator is caught by robot components during operation.SOLUTION: A controller 4 comprises: a stop command part 47 which stops operation of a robot 1 when an operator contacts the robot 1; and a speed limit part 51 which limits operation speed of a constituent member driven by a drive shaft. A variable calculated from a position on the drive shaft, and a range of the variable in a state when an operator becomes caught by the robot 1, are predetermined. The speed limit part 51 acquires the variable from an output of a position detector 18, and controls the operation speed of the constituent member to become equal to or lower than a predetermined speed limit in the case that the variable falls within the predetermined range.SELECTED DRAWING: Figure 2 【課題】ロボットの構成部品の動作により作業者が挟まれたときに、作業者への影響を抑制するロボットの制御装置を提供する。【解決手段】制御装置4は、人がロボット１に接触した時にロボット１の動作を停止させる停止指令部４７と、駆動軸にて駆動される構成部材の動作速度を制限する速度制限部５１とを備える。駆動軸における位置から算出される変数と、ロボット１に人が挟まれる状態になる時の変数の範囲とが予め定められている。速度制限部５１は、位置検出器１８の出力から変数を取得し、変数が上記範囲内である場合に構成部材の動作速度を予め定められた制限速度以下に制御する。【選択図】図２
Bibliography:Application Number: JP20170195325