In recent years, human collaborative robots (HCRs) that work in the same space have attracted attention. HCRs with safety measures using a contact detection function are commercially sold. However, most safety measures for end effectors on HCRs are insufficient. In this paper, we propose a general‐purpose safety light curtain using Time of Flight (ToF) sensors for safety measure of an end effector on HCRs. The prototype safety light curtain consists of 24 pieces of ToF sensors. ToF sensors are set on a 24 polygonal base plate, and the angle is 45° to the end effector. The safety light curtain mounted on the top of the end effector can detect objects around the end effector without contact. Thus, the end effector on HCRs can avoid an unexpected collision using this safety light curtain. The light curtain will be used for various kinds of end effectors and works. Therefore, the safety of HCRs can be improved. © 2020 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.

中文翻译：

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使用ToF传感器的通用安全光幕，用于人类协作机器人上的末端执行器

近年来，在相同空间中工作的人类协作机器人（HCR）引起了人们的关注。具有接触检测功能的安全措施的HCR已在市场上出售。但是，大多数HCR末端执行器的安全措施不足。在本文中，我们提出了一种使用飞行时间（ToF）传感器的通用安全光幕，用于对HCR上的末端执行器进行安全测量。安全光幕的原型包括24个ToF传感器。ToF传感器设置在24个多边形基板上，与末端执行器的角度为45°。安装在末端执行器顶部的安全光幕可以不接触地检测末端执行器周围的物体。因此，使用此安全光幕，HCR上的末端执行器可以避免意外碰撞。光幕将用于各种末端执行器和作品。因此，可以提高HCR的安全性。©2020日本电气工程师学会。由Wiley Periodicals LLC发布。