SAFETY DEVICE FOR THE SAFE USE OF INDUSTRIAL APPARATUSES AND ROBOTS, AND CONTROL METHOD FOR REALTIME VERIFICATION OF THE KINEMATIC STATE VALUES OF A ROBOTIZED APPARATUS

摘要

A safety device (1) for the safe use of industrial apparatuses and robots, includes a movable structure (2), or robot, composed of rigid bodies (3) which are mutually articulated and provided with movers (4) for moving them with respect to each other, the movers (4) being managed by a control and management system (5) for the movement of the movable structure (2) according to a series of nominal kinematic state values. Inertial sensors (6) are applied to at least one of the rigid bodies (3) to make additional measurements of the kinematic state values of the movable structure (2) independently of the movers (4) and are functionally associated with at least one safety module (7) which is connected to the control and management system (5) to verify the congruity between the kinematic state values measured by the inertial sensors (6) and conditioned and integrated over time by a processing module (8) and an algorithm for integrating the inertial signal to estimate the spatial kinematic status of the rigid bodies (3) over time and the actual kinematic state values of the movable structure (2) measured by the control and management system (5). A processing module (8) for processing the signal originating from the inertial sensors (6) is functionally connected to the inertial sensor means (6) and is functionally connected to the safety module (7).