JP6149398B2 - Starter and device equipped with the same - Google Patents

Description

  The present invention relates to an activation device and a device including the activation device.

  Conventionally, various devices are equipped with various sensors that detect the state of the device and the occurrence of an abnormality from the viewpoint of ensuring its safety and the like. Further, when such a sensor fails, it is impossible to detect an abnormality of the device. If the equipment continues to operate despite the fact that the equipment is malfunctioning, it may harm people or damage the equipment. In order to avoid such a situation, it is performed in advance to check whether or not the sensor operates properly (see Patent Document 1). Patent Document 1 discloses a sensor-equipped device including sensor operation means for confirming whether or not a sensor operates and a first switch for operating the sensor operation means. The sensor-equipped device includes a second switch that activates the device in response to a detection signal of a sensor that operates by detecting a detection signal generated by the sensor operating means. Patent Document 1 discloses a grinding machine that includes a vibration sensor as a sensor and a vibration generator as a sensor operating means.

JP 7-266197 A

  However, it is difficult for the sensor-equipped device disclosed in Patent Document 1 to accurately grasp whether or not the sensor is malfunctioning when the sensor operation means itself is malfunctioning. Thus, the sensor-equipped device disclosed in Patent Document 1 has room for improvement in terms of safety.

  Thus, an activation device disclosed in this specification and a device including the activation device are intended to improve safety at the time of activation of the device.

The activation device disclosed in the present specification includes a sensor that detects a change in physical quantity in accordance with an operation of a device and monitors an operating state of the device, and an operation unit that is operated to make the sensor in a detectable state. A first switch that changes a physical quantity that is a detection target of the sensor by changing a relative positional relationship with the sensor according to an operation of the operation unit, and a change in a relative positional relation with the sensor; And a second switch that activates the device when the sensor detects a change in physical quantity reproduced in accordance with the operation of the operation unit.

  When the device is activated, the operator of the device performs a switch operation for activating the device. In the activation device disclosed in this specification, the operation itself of the operation unit for activating the device is a sensor confirmation operation. That is, since no other device or the like is further interposed to confirm the sensor state, the sensor state can be appropriately determined. In addition, the operator is only required to perform a switch operation necessary for starting the device, and thus is freed from an operation only for confirming the sensor state. As a result, a situation in which the sensor state confirmation operation is forgotten or the sensor state confirmation operation is mistaken does not occur. Thereby, the safety | security at the time of starting of an apparatus improves.

  The device disclosed in the present specification includes a sensor that detects a change in a physical quantity, and an operation state is monitored based on a detection result of the sensor, and is operated to make the sensor in a detectable state. A first switch that reproduces a change in the physical quantity that is a detection target of the sensor in accordance with the operation of the operation section, and the sensor that represents a change in the physical quantity that is reproduced in accordance with the operation of the operation section. An activation device having a second switch for activating the device when detected;

  The state of the sensor is confirmed with the operator's switch operation necessary for starting the device. Thereby, the safety | security at the time of starting of an apparatus improves.

  According to the activation device disclosed in the present specification and a device including the activation device, it is possible to improve safety when the device is activated.

FIG. 1A is a perspective view showing a state before the first switch of the activation device according to the first embodiment is pushed in, and FIG. 1B is a diagram when the first switch of the activation device according to the first embodiment is pushed. FIG. FIG. 2 is an explanatory view schematically showing the activation device of the first embodiment. FIG. 3 is a block diagram of the activation device of the first embodiment. FIG. 4 is an explanatory diagram showing a robot as a device to which the activation device of the first embodiment is attached. FIG. 5 is an explanatory diagram illustrating an example of an operation area of the robot to which the activation device of the first embodiment is attached. FIG. 6 is a flowchart showing an example of a startup operation by the startup device of the first embodiment. FIG. 7 is an explanatory diagram illustrating an example of a signal detected by the magnetic sensor during the starting operation by the starting device according to the first embodiment. FIG. 8A is an explanatory diagram showing a state before the first switch of the activation device of the second embodiment is pushed, and FIG. 8B is a diagram showing the state where the first switch of the activation device of the second embodiment is pushed. It is explanatory drawing which shows the state. FIG. 9 is an explanatory diagram of a contact sensor provided in the activation device of the second embodiment. FIG. 10A is an explanatory diagram showing a state before the first switch of the activation device of the third embodiment is pulled out, and FIG. 10B is the drawing of the first switch of the activation device of the third embodiment. It is explanatory drawing which shows the state. FIG. 11A is a side view of the operation unit and the measurement light shielding unit provided in the activation device of the third embodiment, and FIG. 11B is an operation unit and the measurement light shielding unit provided in the activation device of the third embodiment. FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, in the drawings, the dimensions, ratios, and the like of each part may not be shown so as to completely match the actual ones. In addition, in some drawings, components that actually exist may be omitted for convenience of explanation.

(First embodiment)
FIG. 1A is a perspective view showing a state before the first switch 5 of the activation device 1 of the first embodiment is pushed, and FIG. 1B is the first switch of the activation device 1 of the first embodiment. It is a perspective view which shows the state in which 5 was pushed. FIG. 2 is an explanatory diagram schematically showing the activation device 1 of the first embodiment. FIG. 3 is a block diagram of the activation device 1 of the first embodiment. FIG. 4 is an explanatory diagram showing a robot 21 as a device to which the activation device 1 of the first embodiment is attached. FIG. 5 is an explanatory diagram illustrating an example of the operation area 30 of the robot 21 to which the activation device 1 of the first embodiment is attached. FIG. 6 is a flowchart showing an example of a startup operation by the startup device 1 of the first embodiment. FIG. 7 is an explanatory diagram illustrating an example of a signal detected by the magnetic sensor 2 during the starting operation by the starting device 1 according to the first embodiment.

  With reference to FIGS. 1A and 1B to FIG. 3, the activation device 1 includes a magnetic sensor 2 as a sensor for monitoring the operating state of the device. Referring to FIG. 4, the activation device 1 in the first embodiment is attached to the front end portion of the robot 21. The robot 21 is an example of a device to which the activation device 1 is attached, and the magnetic sensor 2 acquires information for monitoring the operating state of the robot 21. The magnetic sensor 2 detects a change in magnetism. The activation device 1 of the first embodiment includes the two magnetic sensors 2, but the number of the magnetic sensors 2 is not limited to two, but may be one or three or more. May be.

  Referring to FIG. 5, the operation area 30 of the robot 21 is partitioned by a first magnetic tape attaching part 32. When the robot 21 reaches the first magnetic tape affixing section 32 and the magnetic sensor 2 detects a change in magnetism, the robot 21 avoids deviating from the operation area 30 by stopping or changing direction. To do. In the example shown in FIG. 5, the region where the staircase is located is the dangerous region 31, and the first magnetic tape applying unit 32 and the second magnetic tape applying unit 33 are provided so that the robot 21 does not enter the dangerous region 31. Yes. The 2nd magnetic tape sticking part 33 is provided as a double barrier for reducing possibility that the robot 21 may enter the dangerous area 31.

  As described above, the magnetic sensor 2 detects a physical quantity that changes with the operation of the robot 21, that is, a change in magnetic strength, and monitors the operating state of the robot 21. The activation device 1 includes such a magnetic sensor 2. The magnetic sensor 2 transmits a sensor output to a microcontroller (hereinafter referred to as “microcomputer”) 10.

  The activation device 1 includes a frame member 3. The frame member 3 is provided with an attachment portion 4 for attaching the magnetic sensor 2. The frame member 3 is provided with a bowl-shaped support portion 3a that supports a shaft portion 5a2 described later. The frame member 3 is provided with a contact switch 7. A first lead wire 9 a for connecting the contact switch 7 and the microcomputer 10 is attached to the contact switch 7.

  The activation device 1 includes a first switch 5. The first switch 5 includes an operation unit 5a that is operated to bring the magnetic sensor 2 into a detectable state. The magnetic sensor 2 is connected to a power source in order to detect a change in magnetism and output the sensor to the microcomputer 10. The first switch 5 includes an operation unit 5a for energizing the magnetic sensor 2 and the microcomputer 10 as described above. An operator that activates the robot 21 can safely activate the robot 21 only by operating the operation unit 5a. The operation unit 5a includes a button unit 5a1. And the operation part 5a is provided with the shaft part 5a2 extended from the button part 5a1. The shaft portion 5 a 2 is slidably supported by a support portion 3 a provided on the frame member 3. A spring 8 is sandwiched between the button portion 5a1 and the support portion 3a. The spring 8 returns the pushed operation portion 5a to the original position. Any member or means other than the spring 8 may be provided as long as the pushed operation portion 5a can be restored. One end of the first lead wire 9a is attached to the shaft portion 5a2. The other end of the second lead wire 9 b is connected to the microcomputer 10. The shaft portion 5 a 2 can be in contact with the contact switch 7, and by contacting the contact switch 7, the magnetic sensor 2 and the microcomputer 10 can be energized.

  The first switch 5 includes a connecting plate 5a3 extending from the button portion 5a1. The connecting plate 5a3 connects the operation unit 5a and the moving unit 5b. Thereby, if the operation part 5a is operated, the movement part 5b will also move in connection with this. The moving part 5b includes a blade-like part 5b1. The wing-like portion 5b1 can appear and disappear on the lower side of the magnetic sensor 2, that is, in the magnetic detection region. The magnetic tape 6 is affixed to such a moving part 5b at intervals along the moving direction of the moving part 5b. When the moving part 5b to which such a magnetic tape 6 is attached appears and disappears in the magnetic detection region of the magnetic sensor 2, the magnetism changes. That is, the moving unit 5 b forms a magnetism generating unit that moves relative to the magnetic sensor 2. The moving unit 5 b can reproduce a physical quantity that is a detection target of the magnetic sensor 2, that is, a change in magnetism in accordance with the operation of the operation unit 5. Here, the reason why the magnetic tape 6 is affixed at intervals is to determine more accurately whether or not the magnetic sensor 2 is operating normally. That is, it is possible to continuously reproduce the state with magnetic reaction and the state without reaction, and determine whether or not the magnetic sensor 2 is operating normally by the reaction of the magnetic sensor 2 at that time.

  The activation device 1 includes a second switch 12 that activates the robot body 20 when the magnetic sensor 2 detects a change in physical quantity reproduced along with the operation of the operation unit 5, that is, a change in magnetism. The second switch 12 activates the robot body 20 when it is determined that the magnetic sensor 2 that monitors the operating state of the robot 21 is operating normally. Thereby, the situation where the robot 21 runs away can be prevented in advance. The second switch 12 may be a mechanical switch, an electrical switch, or a switch other than these as long as it can start the robot body 20. The activation device 1 according to the first embodiment includes a microcomputer 10. The microcomputer 10 stores a program in which a startup routine is constructed. The second switch 12 in the activation device 1 activates the robot body 20 based on the activation command by the activation routine.

  In the first embodiment, the robot 21 is described as a device that is activated by the activation device 1. However, the activation device 1 is applicable to other devices that are required to check the state of the sensor before activation. Can be used.

  Next, an example of control when the robot 21 is activated by the activation device 1 will be described with reference to FIG. FIG. 6 is a flowchart illustrating an example of a startup operation by the startup device 1 according to the first embodiment. The starting operation of the robot 21 is controlled according to a starting routine stored in the microcomputer 10.

  First, in step S1, when the operator pushes the button portion 5a1, the magnetic sensor 2 and the microcomputer 10 are energized in step S2. At the same time, the moving part 5 b to which the magnetic tape 6 is attached moves to the reaction area of the magnetic sensor 2. Specifically, when the button portion 5a1 is pushed in, the shaft portion 5a2 extending from the button portion 5a1 and the contact switch 7 are brought into contact with each other, and the magnetic sensor 2 and the microcomputer 10 are supplied with power from the power source 11. As a result, the magnetic sensor 2 is in a detectable state.

  The pressing operation of the button unit 5a1 makes the magnetic sensor 2 in a detectable state and changes the physical quantity that is the detection target of the magnetic sensor 2, that is, changes the magnetism. Here, the positional relationship between the contact switch 7 and the shaft portion 5a2 and the moving portion 5b is such that after the shaft portion 5a2 contacts the contact switch 7, the moving portion 5b subsequently moves to the lower side of the magnetic sensor 2. It is supposed to be a relationship. Thereby, the magnetic sensor 2 can detect a change in magnetism when the button portion 5a1 is pushed. The microcomputer 10 loops and monitors the output fluctuation of the magnetic sensor 2 in the startup routine. For this reason, the microcomputer 10 does not shift to the subsequent processing unless the output fluctuation of the magnetic sensor 2 is confirmed. Referring to FIG. 7, the normal magnetic sensor 2 first outputs “no reaction” (H), and subsequently outputs “reaction” (L), “no reaction” (H), and “reaction” (L). In step S3, it is determined whether or not the magnetic sensor 2 has detected LHL. When it is determined No in step S3, the process proceeds to step S4. In step S4, the above-described determination of the magnetic sensor 2 is performed, and the process ends thereafter (END).

  If it is determined YES in step S3, the process proceeds to step S5. In step S5, a magnetic sensor response invalidation process is performed. This is a measure that takes into account a change in magnetism caused by the return operation of the moving part 5b when the operating part 5 returns to the reference position (original position) by the biasing force of the spring 8. That is, when the robot 21 is activated by the second switch 12 without performing the magnetic sensor response invalidation process, the magnetic sensor 2 detects a change in magnetism due to the magnetic tape 6 on the moving unit 5b, and stops the robot 21. End up. Therefore, a magnetic sensor response invalidation process is once performed, and during that time, a change in physical quantity, that is, a change in magnetism is converged. Thereafter, the robot 21 is activated. That is, the second switch 12 activates the robot after the change in physical quantity reproduced along with the operation of the operation unit 5a has converged. In addition, if it is set as a starting condition to detect the magnetic change accompanying the reciprocation of the moving part 5b by the process in step S3, the process of step S5 can be abbreviate | omitted.

  In step S6, which is performed subsequent to step S5, the robot control system included in the robot body 20 is validated and the power of the robot body 21 is turned on. In step S7, it is determined whether the activation of the robot body 20 is completed. When the activation of the robot body 20 is completed, the process proceeds to step S8. In step S8, the magnetic sensor 2 once invalidated in step S5 is validated again. As a result, the robot 21 automatically enters a state where it can perform work in the operation area 30, and the activation process ends (END). On the other hand, when it is determined No in step S7, the processing from step S5 is repeated.

  In the activation of the robot 21 by the activation device 1 described above, the operator only has to push in the operation unit 5 of the first switch 5, more specifically, the button unit 5a1. This single operation performed by the operator causes a change in magnetism detected by the magnetic sensor 2, so that the state of the magnetic sensor 2 can be confirmed with certainty. In addition, the operation performed by the operator is an operation that is always performed to start the device, such as pressing the button portion 5a1, and is a very simple operation. For this reason, an operation for confirming the state of the magnetic sensor 2 is not forgotten, and an erroneous operation is not performed, so that a human error can be avoided. In addition, the activation device 1 always performs an operation indicating a reaction in accordance with the activation operation unless the magnetic sensor 2 is malfunctioning. For this reason, the operation | movement confirmation of the magnetic sensor 2 can be performed reliably.

  In the first embodiment, the robot 21 that employs the magnetic sensor 2 as a sensor has been described. However, the sensor provided in the activation device and the device can be employed as long as it is a sensor that detects a physical state. The operation method of the first switch that accompanies a change in physical quantity can also involve, for example, operations such as pushing, pulling, twisting, and hitting a button, and the sensor detects a physical quantity that changes with these actions. That's fine. For example, an inertial sensor such as an acceleration sensor or a gyro is used as the sensor, and the presence or absence of output is confirmed by operating the first switch so that the switch mechanically collides with the acceleration sensor. Similar activation can be made possible. In the following second embodiment, an example in which a contact sensor is employed as the sensor will be described, and in the third embodiment, an example in which a distance measuring sensor is employed as the sensor will be described.

(Second Embodiment)
2nd Embodiment demonstrates the example which employ | adopted the contact sensor 42 as a sensor with reference to FIG. 8 (A), FIG. 8 (B), and FIG. FIG. 8A is an explanatory diagram showing a state before the first switch 45 of the activation device 41 of the second embodiment is pushed, and FIG. 8B is a first switch of the activation device 41 of the second embodiment. It is explanatory drawing which shows the state in which 45 was pushed. FIG. 9 is an explanatory diagram of the contact sensor 42 provided in the activation device 41 of the second embodiment. In the following description, the same reference numerals are used for components common to the first embodiment and the second embodiment.

  The activation device 41 included in the robot 40 includes a contact sensor 42 that functions as a so-called bumper switch. Referring to FIG. 9, the contact sensor 42 includes a lower electrode 42a, and includes an insulating material 42b disposed along the upper and lower edges thereof. An upper electrode 42c is provided between the insulator 42b at the upper edge and the insulator 42b at the lower edge. The upper electrode 42c is formed in an arc shape and is given elasticity. Lead wires are disposed on the lower electrode 42a and the upper electrode 42c, respectively. When the upper electrode 42c is pressed and deformed and comes into contact with the lower electrode 42a, the contact sensor 42 emits a signal. A bumper member 43 is attached to the upper electrode 42c.

  Referring to FIGS. 8A and 8B, the contact sensor 42 is attached to the tip of the robot 40. When the robot 40 travels, for example, collides with a wall and the bumper member 43 is pushed, the upper electrode 42c comes into contact with the lower electrode 42a. As a result, the robot 40 stops or changes direction.

  The activation device 41 includes a first switch 45. A contact switch 47 is also provided. The first switch 45 includes an operation unit 45a. The operation unit 45a includes a button unit 45a1 and a shaft unit 45a2. The operation unit 45 a can be returned to the original position by a spring 48. A first lead wire 9 a is connected to the contact switch 47. A second lead wire 9b is connected to the shaft portion 45a2. When the button part 45a1 is pushed in and the shaft part 45a2 comes into contact with the contact switch 47, the contact sensor 42 and the microcomputer 10 are energized, and the contact sensor 42 becomes in a detectable state.

  Referring to FIG. 8B, the button part 45a1 presses the upper electrode 42c in accordance with the pushing operation. That is, the button part 45a1 functions as a pressing part that presses the contact sensor 42. Thus, when the button part 45a1 is pressed, the operation of the contact sensor 42 can be confirmed. After confirming that the contact sensor 42 is operating normally, the activation process of the robot 40 is performed by the second switch 12 as in the first embodiment.

  As described above, the activation device 41 of the second embodiment performs the operation check of the contact sensor 42 and the activation of the robot 40 just by pressing the button portion 5a1 as in the activation device 1 of the first embodiment. Can do.

(Third embodiment)
Next, a third embodiment will be described. In the third embodiment, an example in which a distance measuring sensor 52 is employed as a sensor will be described with reference to FIGS. 10 (A), 10 (B), 11 (A), and 11 (B). FIG. 10A is an explanatory diagram showing a state before the first switch 55 of the activation device 51 of the third embodiment is pulled out, and FIG. 10B is the first switch of the activation device 51 of the third embodiment. It is explanatory drawing which shows the state by which 55 was pulled out. FIG. 11A is a side view of the operation unit 55a and the measurement light shielding unit 55b provided in the activation device 51 of the third embodiment, and FIG. 11B is an operation unit 55a provided in the activation device 51 of the third embodiment. And it is a top view of the measurement light shielding part 55b.

  The activation device 51 included in the robot 50 also includes a distance measuring sensor 52 that can function as a so-called bumper switch. Referring to FIG. 11, the first switch 55 includes an operation unit 55a and a plate-shaped measurement light shielding unit 55b extending from the operation unit 55a. The measurement light shielding part 55 b can appear and disappear with respect to the measurement light of the distance measuring sensor 52. In the third embodiment, as shown in FIG. 10A, the robot 50 is set to stop when the measurement light shielding portion 55b is at a position where the measurement light is shielded. Then, as shown in FIG. 10B, when the operation unit 55a and the measurement light shielding unit 55b are pulled out and the measurement light shielding unit 55b is at a position away from the measurement light, the robot 50 is in an operable state. Is set to Referring to FIGS. 11A and 11B, the measurement light shielding portion 55b is provided with a plurality of through holes 55b1 provided along the moving direction.

  Referring to FIGS. 10A and 10B, the operation unit 55 a is attached to the tip of the robot 50. When the robot 50 travels, for example, collides with a wall and the operation unit 55a is pushed, the measurement light shielding unit 55b shields the measurement light. As a result, the robot 40 stops.

  A contact portion 55c is provided on the measurement light shielding portion 55b. In addition, the activation device 51 includes a contact switch 57. A first lead wire 9 a is connected to the contact switch 57. A second lead wire 9b is connected to the contact portion 55c. When the operation portion 55c is pulled out and the contact portion 55c comes into contact with the contact switch 57, the distance measurement sensor 52 and the microcomputer 10 are energized, and the distance measurement sensor 52 becomes in a detectable state.

  Referring to FIGS. 11A and 11B, when the measurement light shielding unit 55b moves in accordance with the drawing operation of the operation unit 55a, the measurement light sequentially passes through the plurality of through holes 55b1. As described above, when the measurement light passes through the through hole 55b1, the operation of the distance measuring sensor 52 can be confirmed. After confirming that the distance measuring sensor 52 is operating normally, the robot 50 is activated by the second switch 12 as in the first embodiment.

  As described above, the activation device 51 of the third embodiment confirms the operation of the distance measuring sensor 52 and activates the robot 50 just by pulling out the operation unit 55a, as in the activation device 1 of the first embodiment. be able to. Note that the through hole 55b1 provided in the measurement light shielding part 55b may be eliminated, and the measurement light shielding part 55b may be a simple plate. If the change from the state in which the measurement light is irradiated to the measurement light shielding part 55b to the state in which the measurement light shielding part 55b is out of the irradiation position of the measurement light can be detected, the distance measuring sensor 52 is appropriately operated. Can be determined.

  Although the preferred embodiment of the present invention has been described in detail above, the present invention is not limited to the specific embodiment, and various modifications, within the scope of the gist of the present invention described in the claims, It can be changed.

In addition, the following additional notes are disclosed regarding the above description.
(Appendix 1)
A sensor that detects a change in physical quantity in accordance with the operation of the device and monitors the operating state of the device;
A first switch that includes an operation unit that is operated to bring the sensor into a detectable state, and that reproduces a change in a physical quantity that is a detection target of the sensor in accordance with the operation of the operation unit;
A second switch that activates the device when the sensor detects a change in a physical quantity reproduced in accordance with the operation of the operation unit;
An activation device comprising:
(Appendix 2)
The activation device according to appendix 1, wherein the second switch activates the device after a change in physical quantity reproduced along with the operation of the operation unit has converged.
(Appendix 3)
The sensor is a magnetic sensor;
The starting device according to appendix 1 or 2, wherein the first switch includes a magnetism generation unit that moves relative to the magnetic sensor in accordance with the operation of the operation unit that enables the magnetic sensor to be detected.
(Appendix 4)
The sensor is a contact sensor;
The activation device according to appendix 1 or 2, wherein the first switch includes a pressing unit that presses the contact sensor in accordance with the operation of the operation unit that makes the contact sensor in a detectable state.
(Appendix 5)
The sensor is a distance measuring sensor,
The activation according to claim 1 or 2, wherein the first switch includes a measurement light shielding portion that appears and disappears with respect to the measurement light of the distance measurement sensor in accordance with the operation of the operation unit that makes the distance measurement sensor in a detectable state. apparatus.
(Appendix 6)
A device that includes a sensor that detects a change in physical quantity, and based on a detection result of the sensor, an operation state is monitored,
A first switch that includes an operation unit operated to make the sensor in a detectable state, reproduces a change in a physical quantity that is a detection target of the sensor in accordance with the operation of the operation unit, and an operation of the operation unit. A device comprising an activation device having a second switch for activating the device when the sensor detects a change in the physical quantity reproduced along with the sensor.
(Appendix 7)
The device according to appendix 6, wherein the second switch activates the device after a change in physical quantity reproduced with the operation of the operation unit has converged.
(Appendix 8)
The sensor is a magnetic sensor;
The device according to appendix 6 or 7, wherein the first switch includes a magnetism generation unit that moves relative to the magnetic sensor in accordance with the operation of the operation unit that enables the magnetic sensor to be detected.
(Appendix 9)
The sensor is a contact sensor;
The activation device according to appendix 6 or 7, wherein the first switch includes a pressing unit that presses the contact sensor in accordance with the operation of the operation unit that makes the contact sensor in a detectable state.
(Appendix 10)
The sensor is a distance measuring sensor,
The activation according to appendix 6 or 7, wherein the first switch includes a measurement light shielding portion that appears and disappears with respect to the measurement light of the distance measurement sensor in accordance with the operation of the operation unit that makes the distance measurement sensor in a detectable state. apparatus.

DESCRIPTION OF SYMBOLS 1, 41, 51 Starting device 2 Magnetic sensor 5, 45, 55 1st switch 5a, 45a, 55a Operation part 5a1, 45a1 Button part 5a2, 45a2 Shaft part 6 Magnetic tape 7, 47, 57 Contact switch 8 Spring 10 Microcomputer 11 Power supply 12 Second switch 20 Robot body 21, 40, 50 Robot 42 Contact sensor 52 Distance sensor

Claims (6)

A sensor that detects a change in physical quantity in accordance with the operation of the device and monitors the operating state of the device;
An operation unit that is operated to make the sensor in a detectable state, and the relative positional relationship with the sensor changes with the operation of the operation unit, and the relative positional relationship with the sensor changes. A first switch that changes a physical quantity to be detected by the sensor,
A second switch that activates the device when the sensor detects a change in a physical quantity reproduced in accordance with the operation of the operation unit;
An activation device comprising:   2. The activation device according to claim 1, wherein the second switch activates the device after a change in physical quantity reproduced along with an operation of the operation unit has converged. The sensor is a magnetic sensor;
3. The activation device according to claim 1, wherein the first switch includes a magnetic generation unit that moves relative to the magnetic sensor in accordance with the operation of the operation unit that makes the magnetic sensor in a detectable state. The sensor is a contact sensor;
3. The activation device according to claim 1, wherein the first switch includes a pressing unit that presses the contact sensor in accordance with the operation of the operation unit that makes the contact sensor in a detectable state. The sensor is a distance measuring sensor,
The said 1st switch is provided with the measurement light shielding part which appears and disappears with respect to the measurement light of the said ranging sensor with the operation | movement of the said operation part which makes the said ranging sensor a detection possible state. Activation device. A device that includes a sensor that detects a change in physical quantity, and based on a detection result of the sensor, an operation state is monitored,
An operation unit that is operated to make the sensor in a detectable state, and the relative positional relationship with the sensor changes with the operation of the operation unit, and the relative positional relationship with the sensor changes. A first switch that changes a physical quantity that is a detection target of the sensor, and a second switch that activates the device when the sensor detects a change in the physical quantity that is reproduced along with the operation of the operation unit. A device having an activation device.

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