| 摘要 |
PURPOSE:To relatively easily improve the safety and reliability of a robot not only when teaching operations are made to the robot but also when the robot is operated, by providing a device which specifies and stores the safe operating area of the robot, robot attitude monitoring device, and safety processor. CONSTITUTION:Safe operating areas are taught to a robot main body 20 by actually operating the main body 20 by using a controller 21 and teaching box 24. The main body 20 is composed of plural joints and each joint is driven by a DC servomotor 26. A rotary encoder 27 generates a signal of, for example, 1,000 pulses while the main shaft of the motor 26 makes one turn and the pulse signal is counted at a counter 32. The counted value is read in the controller 21 by a joint angle reading section 33 and the angle position of each joint is detected. A robot position and direction monitoring section 35 compares the position and direction of the front end of the robot main body 20 thus detected and calculated with the safe operating areas stored in a storage section 31 and informs a safety processing section 36 of the result. Therefore, the robot can be operated safely. |
