CN1043198C - Industrial robots and emergency stop control method - Google Patents
Industrial robots and emergency stop control method Download PDFInfo
- Publication number
- CN1043198C CN1043198C CN94190432A CN94190432A CN1043198C CN 1043198 C CN1043198 C CN 1043198C CN 94190432 A CN94190432 A CN 94190432A CN 94190432 A CN94190432 A CN 94190432A CN 1043198 C CN1043198 C CN 1043198C
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- China
- Prior art keywords
- promptly
- switch
- teaching apparatus
- stop
- emergency stop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50198—Emergency stop
Abstract
A robot has an emergency stop device allowing cancellation of an emergency stop command and preventing an operation with an emergency stop command kept cancelled. The device comprises: a control device (11a) having an emergency stop cancellation switch (16a) for cancelling an emergency stop command effected by emergency stop switches (3a, 3b) provided in a teaching device and a mechanism portion (2) driven by this control device (11a), wherein a system is prevented from being operated in a case where one tries to operate it with an emergency stop kept cancelled, and wherein the system does not come to an emergency stop when the teaching device is removed from or connected to the control device (11a).
Description
Technical field
The present invention relates to have the product robot and the emergency stop control method thereof of the emergency stop function that when urgent, cuts off power.
Background technology
Device with the mechanical action as the robot must have the emergency stop function that cuts off power when urgent usually.
Fig. 7 and Fig. 8 are the existing block diagram that produces with robot.Fig. 8 is a part details drawing among Fig. 7.
Among the figure, 12b is a robot controller, 2 mechanism's parts for the control object, and for example, it can be the robot body.This robot body 2 has not shown robot arm, brake etc.30c is a teaching apparatus, and 3c is the emergency stop switch of being located among the teaching apparatus 30c, and 3d is located at the not shown teaching switch group that is made of some switches among the teaching apparatus 30c.Emergency stop switch 3c is the button beginning of alternating movement formula, and 3c1 is the contact of this emergency stop switch 3c.That is, whenever by emergency stop switch 3c, the on off state of its contact 3c1 is counter-rotating just.Purposes such as this contact 3c1 is used to stop are emergency stop switch 3c as long as the operator does not push, and it is in closure state usually.
4a is for promptly stopping to accept circuit, and the 5th, drive control part for example is the power transmission control part.It is by being stored in inner driven by program control robot body's 2 brakes and robot arm, simultaneously according to stopping actions such as above-mentioned robot arm from the washout that promptly stops to accept circuit 4a.These brakes and robot arm etc. are located among the robot body 2.8 for promptly stopping to eliminate special connector.Robot controller 12b by power transmission control part 5 with and promptly stop to accept circuit 4a and constitute.
200 for having the emergency stop switch group of switch 200a～200n.The identical switch that is the alternating movement formula with emergency stop switch 3c of switch 200a～200n, they can not be installed on respectively on each position of device so that no matter the operator can both operate on it wherein with shirking.Again, the contact of switch 200a～200n is connected in series, and each contact such as is used for promptly stopping at purpose, as long as the operator does not push and is in closure state usually.
As shown in Figure 8, promptly stop to accept circuit 4a relay 4a1 is arranged.Yet, when the socket 12b1 of robot controller 12b connects teaching apparatus 30c, the contact 3c1 of emergency stop switch 3c closure state, be connected in series, and add certain direct current at the branch road two ends of this series connection with the switch 200a～200n that is connected in series, the magnet exciting coil that continues circuit device 4a1.If relay 4a1 is non-excited state, then the contact 4a11 of relay 4a1 is in off-state, stops driven machine human arm etc., thereby constitutes urgent halted state.Again, for convenience of explanation, contact 4a11 has drawn in the power transmission control part 5 in Fig. 8.
When teaching apparatus 30c when socket 12b1 is connected to robot controller 12b, then the holding wire of drawing from each switch of switch group 3d is connected to power transmission control part 5.
The contact that the following describes switch 200a～200n all is in the action of closure state.
Be connected under the state of robot controller 12b through socket 12b1 at teaching apparatus 30c, if the contact 3c1 of emergency stop switch 3c is a closure state, then because of relay 4a1 is in excited state always, so contact 4a11 is a closure state, power transmission part 5 works in normal condition.Again, if pushing emergency stop switch 3c makes contact 3c1 be in off-state, then the excitation of relay 4a1 is disengaged, and power transmission part 5 is in urgent halted state.
Promptly, promptly the stopping of robot controller 12b inside accepted the state that circuit 4a detects the contact 3c1 that is located at the emergency stop switch 3c among the teaching apparatus 30c, if contact 3c1 is an off-state, then cuts off the power of robot arm etc., make the brake action, become urgent halted state.
Above-mentioned action is undertaken by operation emergency stop switch 3c, but under the situation of pushing arbitrary switch 200a～200c, the excitation of the relay 4a1 that also removing promptly abends accepts circuit 4a, thus thereby making the contact 4a11 of relay 4a1 become off-state enters urgent halted state.
Usually, the using method of the teaching apparatus of robot is to be connected to robot controller when being necessary in operation, takes off when unnecessary.
Like this, when wanting robot controller 12b action when taking off teaching apparatus 30c, the socket 12b1 that then connects this teaching apparatus 30c inserts and promptly stops to eliminate special connector 8.
The reason of doing like this is because if not attaching this promptly stop to eliminate special connector 8, and teaching apparatus 30c is in the state of taking off again, then promptly stops to accept circuit 4a and is judged as emergency stop switch 3c and is depressed, thereby make robot be in urgent halted state.
Again, in prior art example shown in Fig. 7 and Fig. 8, after teaching apparatus 30c takes off, till promptly stop to eliminate special connector 8 and connect during, be in the identical state of situation that is depressed with switch 3c, have the problem that makes the artificial urgent halted state of machine.
And in case be in urgent halted state, robot comprises that its peripheral device will carry out the exercises under the urgent halted state, must reset it by manual operation.
Fig. 9 and Figure 10 are the composition examples for the prior art that addresses the above problem.Figure 10 is a part details drawing among Fig. 9.
Above-mentioned prior art example is to be located in the robot controller promptly stopping to eliminate switch, necessaryly in the prior art example promptly stops to eliminate special connector 8 and needn't constitute as shown in Figures 7 and 8.
Among the figure, 12a is a robot controller, and 6a promptly stops to eliminate switch.Promptly stopping to eliminate switch 6a is the switch with table tennis action form of contact 6a1.And this promptly stops to eliminate switch 6a and is used to eliminate purposes such as urgent halted state, as long as the operator does not carry out handover operation to it, then contact 6a1 swings to the off-state side.
Again, as shown in figure 10, when teaching apparatus 30c is connected to robot controller 12a when going up, the contact 3c1 that then promptly stops to eliminate the emergency stop switch 3c of the contact 6a1 of switch 6a and teaching apparatus 30c becomes the state of being connected in parallel.And parallel branch that this is connected in parallel and switch group 200 are connected in series and apply predetermined voltage at these concatermer two ends.The action of switch group 200 is identical with the situation of Fig. 7 and prior art example shown in Figure 8.
That is, above-mentioned prior art example is to be located in the robot controller 12a by will promptly stopping to eliminate switch 6a, and made this promptly stop to eliminate switch 6a before teaching apparatus 30c takes off to drop into, make contact 6a1 become closure state, solves the problems referred to above.
Existing industrial robot and its emergency stop control method as above constitute, as Fig. 7, shown in Figure 8, when to take off teaching apparatus 30c such have the device of emergency stop switch 3c the time, the trouble that exists the special connector 8 that must installation promptly stops to eliminate usefulness to replace.
And in Fig. 9, prior art device shown in Figure 10, input makes contact 6a1 be in closure state all the time if mistake will promptly stop to eliminate switch 6a, then exist problems such as forfeiture emergency stop switch 3c original emergency stop function when inserting and making its work when the device with emergency stop switch that teaching apparatus 30c is such this moment.
Also have, in this case, loading and unloading as teaching apparatus 3c have the device of emergency stop switch the time, problems such as urgent halted state can appear.
The present invention is used to address the above problem, its purpose is to provide a kind of the needs promptly to stop to eliminate industrial robot and the emergency stop control method thereof of using special connector, and it can prevent from not act on the danger of bringing to operation because of the original emergency stop function of emergency stop switch.
Still a further object of the present invention provide a kind of loading and unloading as the teaching apparatus have the device of emergency stop switch the time can not form the industrial robot and the emergency stop control method thereof of urgent halted state.
Summary of the invention
Industrial robot of the present invention has: the portion of mechanism with robot arm etc.; According to drivings such as preset program control robot arm, force to stop the drive control part of action such as robot arm by predetermined washout simultaneously; Have for the position teaching of robot arm etc. being given switch that drive control part establishes and emergency stop switch, being electrically connected in the teaching apparatus of drive control part by means of the fixed socket of installing simultaneously; Promptly stop to eliminate switch; Output washout and be not connected on predetermined socket and do not drop under the state that promptly stops to eliminate switch and teaching apparatus is connected to predetermined socket and drops into output washout under the state that promptly stops to eliminate switch promptly stops control part with by predetermined condition operation emergency stop switch the time at teaching apparatus.
And a pair of pin detects whether connecting above-mentioned teaching apparatus in the short circuit of teaching apparatus side by this holding wire to pin in the Socket pin.
If promptly stop to eliminate under the state of switch connecting teaching apparatus and drop into, through after the scheduled time, beginning is by promptly stopping control part output washout.
The emergency stop control method of industrial robot of the present invention is such, in case promptly emergency stop switch is by predetermined condition action then force to stop the action of robot arm etc., simultaneously, be not connected on predetermined socket and promptly stop to eliminate under the state that switch do not drop at the teaching apparatus of switch with position such as teaching robot's arm and emergency stop switch, and teaching apparatus is connected to predetermined socket and promptly stops to eliminate under the state that switch drops into, and controls the action of forcing to stop robot arm etc. by promptly stopping control part.
Again, insert and promptly stop to eliminate under the switch input state at teaching apparatus, this state continuance is after the scheduled time, promptly stops control part and just begins to move the action of forcing to stop robot arm etc.
Promptly stop control part in the industrial robot of the present invention, when emergency stop switch is worked by predetermined condition, the output washout, simultaneously, for having robots arm's etc. position teaching in the switch of drive control part and the switch and be electrically connected in the teaching apparatus of drive control part by means of gang socket of abending, when it does not link to each other with predetermined socket and promptly stops to eliminate switch and also do not drop into, and, when this teaching apparatus is connected in predetermined socket and promptly stops to eliminate the switch input, the output washout.
Again, whether a pair of pin detects above-mentioned teaching apparatus by this holding wire that pin is drawn and is connected at teaching apparatus one side short circuit in the Socket pin.
When teaching apparatus is connected and promptly stop to eliminate the switch input,, promptly stops control part and just begin to export washout through after the scheduled time.
Again, the emergency stop control method of industrial robot of the present invention, it is the action of when emergency stop switch is worked by predetermined condition, forcing to stop robot arm etc., simultaneously, when being connected to predetermined socket and promptly stopping to eliminate switch, the teaching apparatus of the switch of the position with indication robot arm etc. and emergency stop switch is not in when not dropping into state, and be connected to predetermined socket and promptly stop to eliminate switch when being in the input state when teaching apparatus, then promptly stop control part and control the action that pressure stops robots arm etc.
Again, be access in and promptly stop to eliminate switch for teaching apparatus and be in the input state, this state continuance is after one scheduled time, promptly stops control part and just begins to move the action of forcing to stop robots arm etc.
Describe the present invention in detail below in conjunction with the accompanying drawing illustrated embodiment.
The drawing general introduction
Fig. 1 represents the block diagram of the simple structure of the industrial robot in the embodiment of the invention 1,2 and 3;
Fig. 2 represents part more detailed block diagram among the present invention the 1st embodiment Fig. 1;
Fig. 3 represents part more detailed block diagram among the present invention the 2nd embodiment Fig. 1;
Fig. 4 represents part more detailed block diagram among the present invention the 3rd embodiment Fig. 1;
Fig. 5 represents the present invention's the 5th embodiment action flow chart;
Fig. 6 represents the present invention's the 6th embodiment action flow chart;
Fig. 7 represents to use the block diagram of simple structure of the industrial robot of the prior art that promptly stops special connector;
Fig. 8 is the part more detailed block diagram of Fig. 7;
Fig. 9 is the block diagram of the simple structure of using other the existing industrial robot promptly stop to eliminate switch;
Figure 10 is a part more detailed block diagram among Fig. 9.
Among the figure, 2 is the robot body as the control object, 3a is the emergency stop switch of teaching apparatus, 3b is the emergency stop switch of teaching apparatus, 3c is the emergency stop switch of teaching apparatus, 4a is for promptly stopping receiving circuit, 5 is drive control part, and 6a is for promptly stopping to eliminate switch, and 7a is for promptly stopping observation circuit, 7b is for promptly stopping observation circuit, 8b is for promptly stopping to eliminate special connector, 11a, 11b, 12a, 12b is a robot controller, and 16a is for promptly stopping to eliminate switch, 21a, 21b is for promptly stopping control part, 30a, 30b, 30c is a teaching apparatus.
Preferred forms of the present invention
Fig. 1, Fig. 2 are the block diagram of the industrial robot of the embodiment of the invention 1.Fig. 2 is a part details drawing among Fig. 1.
In Fig. 1 and Fig. 2,30a is a teaching apparatus, and 3a is the emergency stop switch of being located among the teaching apparatus 30a.This emergency stop switch 3a is the press button of alternating movement formula, has contact 3c1 and 3a1.That is, whenever by an emergency stop switch 3a, the counter-rotating of the open and-shut mode of contact 3c1 and contact 3a1.And the operator is because of purpose such as promptly stopping, as long as not according to compressing anxious shutdown switch 3a, contact 3c1 and 3a1 are in closure state.
16a promptly stops to eliminate switch for the table tennis action form, and this promptly stops to eliminate switch 16a and has contact 6a1 and 16a1.And as long as the operator does not carry out handover operation because of constituting purposes such as promptly stopping the elimination state, then emergency stop switch 6a swings to contact 6a1 and 16a1 off-state one side.In addition, 7a is for promptly stopping observation circuit, and 105 for promptly stopping decision circuitry.And promptly stop receiving circuit 4a and emergency stop switch group 200 identical with prior art example shown in Figure 10.Power transmission control part 5 is except contact 4a11 makes other contact into, and is identical with existing example shown in Figure 10.
At this moment, the contact that the contact 3c1 of emergency stop switch 3a and promptly stopping to eliminate switch 16a is connected in parallel, and then this doublet, the magnet exciting coil and the switch 200a～200n that promptly stop the relay 4a1 of receiving circuit 4a be the state of being connected in series, and is added with predetermined voltage at the two ends of this concatermer simultaneously.
Promptly stop decision circuitry 105 and be provided with relay 10b, the magnet exciting coil of this relay 106, promptly stop the normal opened contact 4a11 of relay 4a1 of receiving circuit 4a and the normally closed contact 7a11 that promptly stops the relay 7a1 of observation circuit 7a and be connected in series, the two ends of this concatermer are added with predetermined voltage.
Then, in case relay 106 is non-excited state, then the normal opened contact 106a of relay 106 becomes open-circuit condition, the power of this contact 106a cut-out robot body's 2 robot arm etc., and add that braking promptly stops action etc.
Promptly, in case the relay 4a1 that promptly stops in the receiving circuit 4a constitutes non-excited state, or the relay 7a1 that promptly stops in the observation circuit 7a becomes excited state, then cuts off the power as the robot body 2 of control object, simultaneously, promptly stop action by brake etc.Be in the state that can move and work as robot, relay 4a1 is excited state, and relay 7a1 is non-excited state.
For ease of explanation, contact 106a will be described in power transmission control part 5 among the figure.And if will from promptly stop control part 21a be added to power transmission control part 5 cut off robot arms etc. power, make the command signal of actions such as brake promptly stops to be called washout, then this washout is sent through the contact 106a of relay 106.
This embodiment 1, teaching apparatus 30a is in the state that is connected on the robot controller, promptly stops to eliminate switch 16a and is in the state of input, and robot can move when promptly contact 6a1 and 16a1 were in off-state.Teaching apparatus 30a is in the robot controller state that is not connected to, and promptly stops to eliminate switch 16a and is in the input state, and promptly contact 6a1 and 16a1 are in that robot can move when closing state.
Below, illustrate teaching apparatus 30a be connected to robot controller, when promptly stopping to eliminate switch 16a do not drop into common running status (, when contact 6a1 and 16a1 are off-state), push the emergency stop switch 3a of teaching apparatus 30a, the action that promptly stops.
Make contact 3a1 and 3c1 become off-state if push the emergency stop switch 3a of teaching apparatus 30a, then can be in non-excited state because of the relay 4a1 that promptly stops receiving circuit 4a makes contact 4a11 become off-state, thereby power transmission control part 5 cuts off the driving electric power of robot arm, adds braking etc. simultaneously.
At this moment, the contact 16a1 that promptly stops to eliminate switch 6a is an off-state, so stop promptly that the operation of emergency stop switch 3a of the relay 7a1 of observation circuit 7a and teaching apparatus 30a is irrelevant still to keep non-excited state.
The following describes mistake and will promptly stop to eliminate switch 16a input, promptly contact 6a1 and 16a1 still are closure state, and the situation of teaching apparatus 30a when socket 11a1 is connected to robot controller 11a.
At this moment, the relay 7a1 that promptly stops observation circuit 7a constitutes excited state through contact 3a1 and 16a1, so contact 7a11 becomes off-state, the power transmission control part cuts off the driving electric power of robot arm, the action of execution braking simultaneously etc.That is, when carrying out this maloperation, make robot be in urgent halted state, the robot under the maloperation state can not turn round.
In addition, teaching apparatus 30a is in the state that is connected in robot controller, and when promptly stopping to eliminate switch 16a and dropping into, constitutes urgent halted state equally.
Emergency stop switch group 200 action is identical with existing example.
And by promptly stopping receiving circuit 4a, promptly stopping observation circuit 7a and promptly stop part that decision circuitry 105 constitutes and be referred to as meaning and promptly stop control part 21a.
According to present embodiment, get S and represent that teaching apparatus 30a is secured to the situation of socket 11a1; S
INVThe situation of representing not attaching.Situation when getting C and representing promptly to stop to eliminate switch 16a and drop into; C
INVBe situation about not dropping into.T represents that emergency stop switch 3a is operated the situation of the action of forcing to stop robots arm etc.; T
INVThe not operated situation of expression switch 3a.And " " presentation logic is long-pending, "+" presentation logic and operator.If logical formula (S
INVC+SC
INVT
INV) be true, then promptly stop control part 21a and stop robot arm etc. action is mandatory and stop; Logical formula (SCT
INV+ SC
INVT+S
INVC
INV) be true, then force to stop robots arm's etc. action.
Fig. 1, Fig. 3 are the block diagram of the industrial robot of the embodiment of the invention 2.Fig. 3 is the part details drawing among Fig. 2.
As shown in Figure 3, among this embodiment 2, relay 7a1 with contact 7a11 that promptly stops observation circuit 7a of embodiment 1 is transformed to the relay 7b1 of the delay voltage type with contact 7b11, thereupon, embodiment 1 promptly stop decision circuitry 105 be transformed to have contact 4a11 and a 7b11 promptly stop decision circuitry 105b, simultaneously, robot controller 11a is transformed to robot controller 11b, in addition, other parts are identical with embodiment 1.
This implementation column 2 is the same with embodiment 1, is connected to robot controller at teaching apparatus 30a and promptly stops to eliminate switch 16a not under the input state, and robot can move; Teaching apparatus 30a is not connected to robot controller 11b and when promptly stopping to eliminate switch 16a and satisfying the input condition, robot also can move.
But, be connected in the state of robot controller at teaching apparatus 30a, even promptly stopping to eliminate switch 16a drops into, contact 6a1 and 16a1 are in the state of closing, as long as the duration of this state, then the on off operating mode of the contact 7b11 of relay 7b1 can not change in the actuation time of delay voltage type relay 7b.Therefore, if teaching apparatus 30a is taken off from control device 11b with interior in this actuation time, or promptly stop to eliminate switch 6a blocking contact 6a1 and 16a1 gets back to off-state, then robot can not constitute urgent halted state.
Also promptly, teaching apparatus 30a is being loaded and unloaded under the situation of control device 11b, even can form urgent halted state among the embodiment 1, but as long as this state is eliminated in control at short notice, robot just can not form urgent halted state.
Emergency stop switch group 200 action is identical with existing example.
And, will by promptly stop to accept circuit 4a, promptly stop observation circuit 7b, and promptly stop part that decision circuitry 105 constitutes and be called and promptly stop control part 21b.
Fig. 1, Fig. 4 are the block diagram of the industrial robot of the embodiment of the invention 3.Fig. 4 is the part details drawing of this embodiment 3 of Fig. 1.
Among Fig. 4,3b is the emergency stop switch of being located among the teaching apparatus 30b.
At this embodiment 3, teaching apparatus 30a becomes teaching apparatus 30b, and this change makes emergency stop switch 3a change into emergency stop switch 3b, and other parts are identical with embodiment's 2.
Emergency stop switch 3b does not have the contact 3a1 among the emergency stop switch 3a of embodiment 2, with a pair of pin of the socket 11a1 of the corresponding teaching apparatus 30b of a pair of pin side of the socket 11a1 of the teaching apparatus 30a side that is connected to contact 3a1, uses the lead short circuit.
According to this embodiment 3, be not connected at teaching apparatus 30b under the state of robot controller, and if when promptly stopping to eliminate switch 16a and also do not drop into, then identical with embodiment 2, robot is in urgent halted state.
Be connected under the robot controller 11b state at teaching apparatus 30b, in case promptly stop to eliminate switch 16a and drop into state continuance scheduled time when above (, teaching apparatus 30b is connected to robot controller, and the closure state of contact 6a1 and 16a1 continues predetermined value when above), then robot just converts urgent halted state to.
Promptly, when teaching apparatus 30b is in the state that is connected to robot controller, even promptly stopping to eliminate switch 16a, input make contact 6a1 and 16a1 for opening state, but as long as take off teaching apparatus 30b from robot controller 11b in the given time, or switch and promptly to stop to eliminate switch 16a and make contact 6a1 and 16a1 not get back to out state, then robot can not constitute urgent halted state.
Equally, when promptly stopping to eliminate switch 16a and be in the input state (, when contact 6a1 and 16a1 are closure state), even teaching apparatus 30b is connected to robot controller, but promptly stop to eliminate switch 16a and make contact 6a1 and 16a1 become off-state as long as switch in the given time, or teaching apparatus 30b taken off from robot controller 11b, then robot can not convert urgent halted state to.
Therefore, identical with the situation of embodiment 2, when teaching apparatus 30b is loaded and unloaded on robot controller, can make robot not be in the state of abending.
This embodiment 3, identical with embodiment 1 and 2, usually teaching apparatus 30b is connected on robot controller 11b when going up, and is promptly stopping to eliminate switch 16a not under the input state, and robot can move; Teaching apparatus 30b is not installed under the state of robot controller, satisfies promptly to stop to eliminate the condition that switch 16a drops into, and then robot also can move.Therefore, can prevent from promptly to stop to eliminate the maloperation that switch 6a is in attaching teaching apparatus 30b under the input state and continuous service.Thereby can improve the security of robot.
Again, for embodiment 1 and 2, be secured at teaching apparatus under the state of robot controller, drop into when promptly stopping to eliminate switch 16a and making contact 6a1 and 16a1 be closure state, become the problem that off-state is removed urgent halted state thereby exist emergency stop switch 3a, the contact 3a1 and the 3c1 that push teaching apparatus.But just can eliminate this problem according to embodiment 3.Promptly, according to embodiment 3, teaching apparatus 30b drops under the state that connects and promptly stops to eliminate switch 16a, when contact 6a1 and 16a1 become closure state, no matter how the open and-shut mode of the contact 3c1 of the emergency stop switch 3b of teaching apparatus 30b all constitutes urgent halted state.
Emergency stop switch group 200 action is identical with existing example.
According to this embodiment, except the loading and unloading teaching apparatus, if logical formula (S
INVC+SC
INVT
INV) be true, then promptly stop control part 21a and stop the action of forcing to stop robot arm etc., if logical formula (SC+SC
INVT+S
INVC
INV) be true, then force to stop the action of robot arm etc.
When being loaded and unloaded on teaching apparatus 30b on the control part 11b of robot, though exist robot to constitute problems such as urgent halted state, also available and embodiment 1 identical promptly stopping observation circuit 7a and promptly stop decision circuitry 105 replaces promptly stopping observation circuit 7b in embodiment 3.
Among embodiment 1 and the embodiment 4, promptly stop control circuit 21a and constitute, but also can realize identical action with software with hardware.That is, the system program of carrying out in the system's memory (not shown) that is stored in drive control part 5 by CPU (not shown) also can be realized.
Fig. 5 is for dropping into according to promptly stopping to eliminate switch 16a, do not drop into state, and teaching apparatus 30a, 30b be connected to, be not connected to socket 11a1 state, and expression promptly stops the flow chart to move.
Be shown in the action of this flow chart, begin whenever progressively to carry out and constitute with the small time interval from step S500.
At first, judge at step S501 whether drop into, if drop into, enter S503 if promptly stopping to eliminate switch 16a, do not enter step S502 if drop into.Promptly stopping to eliminate switch 16a has two contacts, but has a contact also passable in this embodiment.
Step S502 judges whether attaching teaching apparatus 30a, if attaching just enters as normal step 504, or attaching does not then enter the promptly step 505 of stop conditions of conduct.By signal, judge whether attaching of teaching apparatus 30a or 30b from the pin signal of 2 short circuits of teaching apparatus 30b from the contact 3a1 of teaching apparatus 30a.
As if teaching apparatus 30a or not attaching of 30b, then enter among the step S503, if attaching then enters the step S505 as the state of emergency as normal step S504.
Pass through software as mentioned above, promptly stop to eliminate switch 16a and then become promptly and stop if attaching teaching apparatus 30a or 30b and dropped into, simultaneously, promptly stop to eliminate switch 16a and then also constitute and promptly stop if being unkitted then teaching apparatus 30a or 30b and dropping into, under other situation, according to the input that promptly stops to eliminate switch 16a, do not drop into state, and teaching apparatus 30a, 30b attaching, be not secured to the state of socket 11a1, can make it not carry out and promptly stop action.
Among the embodiment 2 and 3, promptly stop control part 21b and constitute, but also available software realizes same action with hardware.
Fig. 6 is for dropping into according to promptly stopping to eliminate switch 16a, do not drop into state, and teaching apparatus 30a, 30b be connected to, be not connected to the state of socket 11a1, and expression promptly stops the flow chart to move.
Be shown in the action of this flow chart, begin to carry out and constitute with small time interval from step S600.
At first, judge at step S601 whether drop into, enter step S604 if drop into if promptly stopping to eliminate switch 16a, do not drop into and then enter step S602.Again, identical with embodiment 5, promptly stopping to eliminate switch 16a has 2 contacts, but also can have only a contact.
Judge whether that at step S602 attaching teaching apparatus 30a or 30b, if attaching enters step S603, carry out the initialization of accumulative total time delay, when aggregate-value is after 0, enter as normal step S609, if be unkitted the step S608 that taps into into as urgent halted state.By judging from the signal of the contact 3a1 of teaching apparatus 30a with from the pin signal of 2 short circuits of teaching apparatus 30b whether attaching for teaching apparatus 30a or 30b, and this point is identical with embodiment 5.
In step S604, if attaching teaching apparatus 30a or 30b then do not enter step S603, carry out the initialization of accumulative total time delay, when aggregate-value is after 0, enter as normal step S609, if attaching is then carried out the accumulative total of time delay at step S606 and entered step S607 again.
At step S607, if time delay, aggregate-value entered as normal step S609 with next in predetermined value, if more than predetermined value, then enter as the step S608 that promptly stops situation.
Pass through software as mentioned above, if then becoming promptly when predetermined value is above, the aggregate-value that attaching teaching apparatus 30a or 30b and promptly stopped to eliminate switch 16a making time stops, simultaneously, if teaching apparatus 30a or 30b are not then and promptly to stop to eliminate switch 16a be that non-input then also becomes promptly and stops, in other cases, then according to promptly stopping to eliminate the input of switch 16a, non-input state, and teaching apparatus 30a, 30b be connected to, be not connected to the state of socket 11a1, can not carry out promptly to stop action.
The aggregate-value of time delay is initialized to zero in step S603 and S605, and also is initialized to when restarting when power supply drops into or after promptly stopping zero.
Again, the accumulative total of time delay is carried out as available counter (not shown), and making its content by initialization is zero, upwards counts at step S606, the content of predetermined value and counter can be compared at step S607.
In embodiment 1,2 and 3, relay 4a, 7a1 can be with electromagnetic switch etc., the electromagnetic switch of relay 7b1 useful delay action type etc.
In embodiment 1,2 and 3, controlled body is got the robot body, but is not limited to this, and is also passable as the industry device with mechanical actions such as carrying devices.
Though emergency stop switch 3a and 3c can use alternating action formula press button, self-hold circuit is located in power transmission control part 5 grades, also can use common press button.
Emergency stop switch 3a1,3b1 are located at respectively among teaching apparatus 3a, the 3b, have in other device of robot controller 11a, 11b but also can be located at attaching respectively.
In the foregoing description 1～3, if remove the excitation of the relay 106 promptly stop decision circuitry 105 or 105b, just can promptly stop action, but also can promptly not stop action and with alarming demonstration etc.
Industrial applicability
According to the invention described above, the emergent stopping control part operates emergent stopping under predetermined condition Export washout in the situation of switch, simultaneously, for the position that has robots arm etc. Put switch and the emergency stop switch that teaching gives drive control part and be attempted by on the predetermined socket, Be connected in the teaching apparatus of drive control part on electric, when its be not installed on the predetermined socket and Emergent stopping is eliminated switch not under the input state, and this teaching apparatus is secured on the predetermined socket And drop into emergent stopping and eliminate under the on off state, the output washout is not so need tight Suddenly stop to eliminate the special connector of usefulness, and have prevent because of emergency stop switch original The effect of the danger of moving under the state that emergency stop function is failure to actuate.
Also have, a pair of pin is arranged at teaching apparatus one side short circuit in the pin of socket, by from this Whether the holding wire that a pair of pin is drawn detects above-mentioned teaching apparatus and connects. Thereby do not need urgent Stop to eliminate and use plug special, and emergency stop switch is in and opens or closes free position, all can Prevent from compressing and move under the inoperative state of the original emergency stop function of anxious shutdown switch Dangerous.
Again, the teaching apparatus attaching and emergent stopping when eliminating switch and being in the input state, process Beginning is by emergent stopping control part output washout, so when taking off after the scheduled time When having the device of emergency stop switch of teaching apparatus etc., has the emergent stopping of preventing The effect of state.
Claims (5)
1. industrial robot, it has: the portion of mechanism with robots arm etc.; Driving the described robots arm of control by preset program waits while to be stopped the drive control part of the action of described robot arm etc. by the washout pressure of being scheduled to; Have and be used for described robots arm's etc. position teaching is given the switch of described drive control part and emergency stop switch and is electrically connected in the teaching apparatus of described drive control part by being secured to predetermined socket; Promptly stop to eliminate switch, it is characterized in that, also further have: export when operating described emergency stop switch with predetermined condition described washout and above-mentioned teaching apparatus be not secured to described predetermined socket and described promptly stop to eliminate switch not under the input state, and above-mentioned teaching apparatus be secured to described predetermined socket and drop into described promptly stop to eliminate the described washout of output under the on off state promptly stop control part.
2. robot according to claim 1 is characterized in that a pair of pin being arranged at teaching apparatus side short circuit in the pin of described socket, and detects by this holding wire to pin whether described teaching apparatus in attaching.
3. robot as claimed in claim 1 or 2, it is characterized in that, described promptly stop control part can be described teaching apparatus attaching and described when promptly stopping to eliminate switch and being in the input state, promptly stop control part through what begin to export washout after the scheduled time.
4. the emergency stop control method of an industrial robot, make the action that to force to stop robot arm etc. with predetermined condition operation emergency stop switch by the control that promptly stops control part, it is characterized in that, simultaneously the teaching apparatus of switch of using in the position with described robot arm of teaching etc. and described emergency stop switch is not secured to predetermined socket and promptly stops to eliminate switch not under the input state, and described teaching apparatus is secured to described predetermined socket and describedly promptly stops to eliminate switch and be under the input state, will force to stop the action of described robot arm etc.
5. emergency stop control method as claimed in claim 4, it is characterized in that, and promptly stop to eliminate under the switch input state in the teaching apparatus attaching, this state continuance begins after the scheduled time to force to stop robots arm's etc. action by promptly stopping control part control.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP250700/93 | 1993-10-06 | ||
| JP25070093 | 1993-10-06 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1111448A CN1111448A (en) | 1995-11-08 |
| CN1043198C true CN1043198C (en) | 1999-05-05 |
Family
ID=17211747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN94190432A Expired - Fee Related CN1043198C (en) | 1993-10-06 | 1994-10-06 | Industrial robots and emergency stop control method |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP2769046B2 (en) |
| KR (1) | KR0155062B1 (en) |
| CN (1) | CN1043198C (en) |
| TW (1) | TW267128B (en) |
| WO (1) | WO1995009718A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4202335B2 (en) * | 2005-03-22 | 2008-12-24 | ファナック株式会社 | Emergency stop circuit |
| JP5375297B2 (en) * | 2009-04-16 | 2013-12-25 | 株式会社安川電機 | Robot system |
| JP2014167681A (en) * | 2013-02-28 | 2014-09-11 | Fanuc Ltd | Control system provided with detachably attachable operation panel |
| DE102013020697B4 (en) * | 2013-12-04 | 2023-07-06 | Kuka Roboter Gmbh | Method and control means for controlling a robot |
| CN104440923B (en) * | 2014-11-11 | 2016-01-06 | 沈阳新松机器人自动化股份有限公司 | A kind of emergent stop signal control system for robot and robot thereof |
| FR3028625B1 (en) * | 2014-11-18 | 2018-04-27 | Staubli Faverges | METHOD FOR DISCONNECTING A MANUAL CONTROL UNIT FROM A MULTI-AXIS ROBOT AND ROBOT FOR IMPLEMENTING SUCH A METHOD |
| JP6657600B2 (en) | 2015-06-01 | 2020-03-04 | セイコーエプソン株式会社 | Robot system and emergency stop processing device |
| JP6581145B2 (en) * | 2017-05-01 | 2019-09-25 | ファナック株式会社 | Systems and connectors |
| CN108500984B (en) * | 2018-05-07 | 2023-10-03 | 南宁汇专科技有限公司 | Automatic short-circuit type demonstrator connection box |
| JP2023035108A (en) * | 2021-08-31 | 2023-03-13 | 川崎重工業株式会社 | Operation terminal, robot system, and computer program |
| CN114750161A (en) * | 2022-05-16 | 2022-07-15 | 深圳市大族机器人有限公司 | Robot control device and robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60191301A (en) * | 1984-03-13 | 1985-09-28 | Fanuc Ltd | Safety device for industrial robot |
| JPS6284992A (en) * | 1985-10-09 | 1987-04-18 | 株式会社日立製作所 | Controller for robot |
-
1994
- 1994-10-05 TW TW083109220A patent/TW267128B/zh active
- 1994-10-06 KR KR1019950700801A patent/KR0155062B1/en active IP Right Grant
- 1994-10-06 JP JP7510725A patent/JP2769046B2/en not_active Ceased
- 1994-10-06 WO PCT/JP1994/001671 patent/WO1995009718A1/en active Search and Examination
- 1994-10-06 CN CN94190432A patent/CN1043198C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| TW267128B (en) | 1996-01-01 |
| JP2769046B2 (en) | 1998-06-25 |
| KR950702897A (en) | 1995-08-23 |
| CN1111448A (en) | 1995-11-08 |
| JPH09505940A (en) | 1997-06-10 |
| KR0155062B1 (en) | 1998-11-02 |
| WO1995009718A1 (en) | 1995-04-13 |
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