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    • 41. 发明授权
    • Robotic manipulator including a failure detecting circuit for
prohibiting a movable section from being driven
    • 机器人操纵器包括用于禁止可动部分被驱动的故障检测电路
    • US5404290A
    • 1995-04-04
    • US165888
    • 1993-12-14
    • Akira TsuchihashiYoshishige NakazawaYasushi WatanabeImazawa KanjiKazuyuki Watanabe
    • Akira TsuchihashiYoshishige NakazawaYasushi WatanabeImazawa KanjiKazuyuki Watanabe
    • B25J19/06B25J9/16B25J9/18G05B9/02G05B19/18G05B19/42G05B19/427G05D3/00G05D3/12G06F15/46
    • G05B19/425B25J9/1674G05B19/427
    • A safety operation system for a manipulator is provided with a first operation section. The first operation section has a first movable section, and outputs a first operation signal representing the position and angle of the first movable section. A failure detecting section detects failure of the first operation section on the basis of the first operation signal, and outputs a detection signal. When failure of the first operation section is not detected, a conversion section converts the first operation signal into a control signal. A second operation section has a second movable section which moves in accordance with movement of the first movable section, and outputs a second operation signal generated in accordance with movement of the second movable section. A comparison section compares the control signal with the second operation signal, and outputs a deviation signal used for opening the second movable section. A management section receives the detection signal, and supplies the comparison section with a signal for making deviation signal zero, thereby prohibiting the second movable section from being driven. A display section displays data on the failure of the first operation section and/or data on the current position of the first movable section, on the basis of a signal output from the management section.
    • 机械手的安全操作系统具有第一操作部。 第一操作部具有第一可动部,输出表示第一可动部的位置和角度的第一操作信号。 故障检测部根据第一操作信号检测第一操作部的故障,并输出检测信号。 当未检测到第一操作部分的故障时,转换部分将第一操作信号转换为控制信号。 第二操作部分具有根据第一可移动部分的移动而移动的第二可移动部分,并且输出根据第二可动部分的移动产生的第二操作信号。 比较部分将控制信号与第二操作信号进行比较,并输出用于打开第二可动部分的偏差信号。 管理部分接收检测信号,并向比较部分提供用于使偏差信号为零的信号,从而禁止第二可动部分被驱动。 显示部分基于从管理部分输出的信号,显示第一操作部分的故障和/或关于第一可移动部分的当前位置的数据的数据。