SAFETY DEVICE
FIG10 is a top view of the robot collaboration device illustrated in FIG9 
In this embodiment, the common area 68 which both the arm 22 of the robot 14 and the operator A can enter is constituted by a first separate area 96a and a second separate area 96b which are disposed on both sides of a boundary 94 indicated by a dot dash line in FIG10. As indicated by the dot dash line in FIG10, first and second entrance prediction areas 102a and 102b may be set around the first and second separate areas 96a and 96b and it may be determined that the arm 22 and the operator A are going to enter the same separate area 96 to enable the collision sensor 36 when the imaging detector 98 has detected that both the arm 22 and the operator A enter one of the first and second entrance prediction areas 102a and 102b. In brief, the third embodiment is not limited to a configuration in which a state that both the arm 22 and the operator A have entered one separate area 96 is detected substantially at the same time as entrance, but may employ a configuration in which it is detected that both the arm 22 and the operator A are going to enter one separate area 96 before entrance.
view
20
support table
90
safety device
36
collision sensor
68
common area
92
18
floor
94
boundary
10
safety device
99
ceiling
70
dangerous area
24
link links
22
arm
16
common work table
62
light beams
54
arm controller
14
robot
100
camera
64
sensor controller
56
light curtain
58
light projecting portion
60
light receiving portion
['4. The safety device according to any one of claims 1 to 3, wherein the dangerous area comprises a common area which both the moving part of the automatic device and the detection object are able to enter, and the dangerous state detecting member detects entrance of both the moving part and the detection object into the common area.']