Robot Arm Interlock Control Using Door Closure and Trigger Checks
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Solution Overview
Problem
Existing robot systems lack sufficient safety measures, particularly when power is turned ON, as interlocks may not operate when the cover is open, posing a risk of robot operation with potential human contact.
Innovation Solution
A robot control system with an opening/closing detection section, signal transmission, and a control apparatus that acquires and determines a safety confirmation state based on both an opening/closing signal and a trigger signal before permitting robot operation, ensuring the opening/closing door is closed and safety confirmation is visually confirmed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the interlock operates only when power is turned ON, then the system is simple to operate, but safety is insufficient as the robot may operate even when the cover is open
Solution Approach 1:
The system performs preliminary safety checks before permitting robot operation. When power is turned ON, the control apparatus checks whether the cover is closed and whether a release operation has been performed before allowing the interlock to operate, preventing robot operation when the cover is open
Solution Approach 2:
The system implements feedback mechanisms where the control apparatus continuously monitors the cover opening/closing state and release operation status, and uses this information to control whether the robot can operate, ensuring safety through state-dependent control
2Ease of operation
If the interlock operates when power is turned ON regardless of cover state, then the system is easy to operate, but the robot may operate with potential human contact
Solution Approach 1:
Before the robot can operate after power is turned ON, the system requires preliminary conditions to be met: the cover must be closed and a release operation must be performed. This preliminary check prevents the robot from operating when the cover is open, eliminating human contact risk while maintaining operational simplicity
3Reliability
If no release operation is required when cover is open, then the system is simple, but high safety cannot be ensured
Solution Approach 1:
The control apparatus monitors the cover opening/closing state and release operation status, and uses this feedback to determine whether to permit robot operation. This feedback-based control ensures high safety by preventing operation when the cover is open, while keeping the control mechanism relatively simple through state-based decision logic
Data Source
AI summary
There is provided a robot control apparatus including: an opening/closing signal acquisition section that acquires an opening/closing signal; a trigger signal acquisition section that acquires a trigger signal; and a determination section that defines, as a safety confirmation state, a case where, when power is supplied to the robot control apparatus, an opening/closing detection section detects that the closed state is achieved based on an opening/closing signal acquired by the opening/closing signal acquisition section, and the trigger signal acquisition section acquires the trigger signal, and determines whether or not the safety confirmation state is achieved, in which the robot control apparatus permits an operation of the robot arm when the determination section determines that the safety confirmation state is achieved, and prohibits an operation of the robot arm when the determination section determines that the safety confirmation state is not achieved.