A General‐Purpose Safety Light Curtain Using ToF Sensor for End Effector on Human Collaborative Robot

Abstract

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.