Operations sequence monitoring method, involves processing operations, in which robot and operator achieve tasks according to program and robot moves within common workspace

摘要

The method involves processing a sequence of operations, in which a robot and an operator (2) work on a task according to a program. The robot is moved towards the operator to reach a working space used by them as a common workspace. The operations are interrupted if prescribed tasks are not executed according to the program and the movements of the robot are interrupted if a defined safety distance is not maintained between the robot and the operator. The operational sequences are as follows : (a) processing, whereby the robot and the worker solve according to plan the given task; (b) machine motion moves required by the robot are determined which approach the worker, in to enter the shared work space; (c) interrupted processing, whereby the robot and the worker do not solve the given task of work according to plan; and (d) disturbed machine motion, whereby a defined safety distance margin between the worker and robot is not met. The categories above are classified and a clearly perceptible sound is assigned as follows : (a) a steady sound; (b) a dynamic sound; (c) a repeating noise; and (d) a repeating alarming noise. An independent claim is also included for an arrangement for monitoring a sequence of operations in a man-machine system, the arrangement including an image processing system (BV) assigned to the work space of the man-machine system and connected with a data-processing system (DVA) including a data memory for sounds (DSPS), with a controller (ST) for the robot (R) and a sound output device, such as a loudspeaker (L). .