WORKING SPACE MONITORING FOR AUTOMATED PROGRAMME-CONTROLLED MACHINES AND ROBOTS

摘要

The invention relates to a method and arrangements for monitoring the working space (9) of programme-controlled robots (5), or machine tools for the automated repetitive carrying out of a processing sequence on a number of essentially identical workpieces (7). First separation information is obtained using at least one separation measuring sensor (1, 2, 3, 4) in a training operation on carrying out the programmed processing sequence and reference data generated. In an automatic monitoring operation during a processing sequence second separation information is obtained using the separation measuring sensor. The second separation information is continuously used in real-time for a status monitoring with regard to the presence of a regular working space. On determination of an irregular condition for the working space the running processing sequence is interrupted and the robot or machine movement brought to a halt and/or the result of the status monitoring is signalled. Several pieces of separation information from various objects or object pieces or a defined variable position object are displayed in the reference data.