For industrial robot avoid track generation device and avoid track method of formation

摘要

PROBLEM TO BE SOLVED: To obtain an avoidance track generation device which achieves an avoidance operation for preventing injury of a worker by a protrusion part within a narrow operable range, and has a small calculation load.SOLUTION: An avoidance track generation device comprises: an approach detection part 12 which detects approach of a worker 40 to an industrial robot 20; a work object position input part 13 which inputs the position of a work object to which the industrial robot 20 performs work; a shape input part 14 which inputs the set position and direction of a protrusion part 22 attached to the industrial robot 20; and an allowable direction range input part 15 which inputs an allowable direction range at the time of directing the protrusion part 22 toward the work object, and generates an avoidance track for changing the direction of the protrusion part so that the direction of the protrusion part falls within the allowable direction range with respect to the position of the work object on the basis of the previously-input position of the work object, set position and direction of the protrusion part and allowable direction range when the approach detection part 12 detects approach of the worker to the industrial robot 20 in operation.SELECTED DRAWING: Figure 1