Security monitoring device for a robot carrying a workpiece gripped and

摘要

A security monitoring device comprises a workpiece parameters - switching unit, which switches over a workpiece parameters, an estimation unit of an external force, the form of an estimated value of an external force and, with the use of the workpiece parameter of an outer environment force acting on the robot estimates, a monitoring unit of an external force, the the robot stops if the estimated value of an external force, a determination condition of an external force is fulfilled, a work a monitoring unit, which the robot based on conditions, such as, for example, a position of the robot, which is within a predetermined range, stops, a work monitoring state - switch unit which, between a deactivation command, and an activation command for the monitoring switches over a work unit, and a setting unit of the determination condition of an external force, which is connected to the deactivation command, the determination condition of an external force is applied to a determination condition of an external force for a work monitoring - deactivation time switches and on the activation command to a determination condition of an external force for a work - activation time monitoring switches.