CN1052724A

CN1052724A - The safety installation of industrial robot

Info

Publication number: CN1052724A
Application number: CN90110318A
Authority: CN
Inventors: 崔源容
Original assignee: Individual
Current assignee: Individual
Priority date: 1989-11-19
Filing date: 1990-11-29
Publication date: 1991-07-03
Also published as: KR920005146B1; GB9025941D0; JPH0379288U; IT1242174B; IT9048531A0; CA2031102A1; DE4032732A1; FR2654970A1; IT9048531A1; GB2239677A

Abstract

The present invention includes the safety installation of a robot, this equipment has the device at intermittence of a bi-bit bi-pass switch valve type, it is installed between filtrating equipment and the direction switch device, be used for pressure medium is fed to the direction switch device, perhaps cut-out pressure medium and it is discharged this mechanism there, thereby control the action of each mechanism hand and have good maintainability, the replacement of place under repair easily and part and the loss that has reduced useful horsepower.

Description

The safety installation of industrial robot

The present invention relates to a kind of industrial robot, this robot is used on arbitrary production line of the factory automation system that is referred to as the FA system in the industrial field, a kind of safety installation particularly are provided, are used in urgency or occur stopping the action of industrial robot under the situation of security incident.

A kind of industrial robot that is used in the factory automation system on the industrial field production line has had many-sided development, mechanism hand for example, under of the effect of electric driving source as a pressure system or a pressurized oil system, can be reciprocating in its limited stroke, so that automatically finish a predetermined working procedure.

Yet, this mechanism hand has many shortcomings, if promptly at the robot duration of work, workman in the working position invades the working zone of mechanism hand owing to neglecting, perhaps one is disturbed the manual unnecessary foreign matter of doing of machinery to stretch out there or when inserting, often generation security incident or be in an emergency.

With reference to Fig. 1, will describe a typical example of tradition in detail, this figure is the pressure medium circuit diagram that is applied in the drive control apparatus of mechanism hand.

In this loop, to be stored in outside the pressure medium containers for pushing out in the reservoir vessel 2 by the pressure that produces in aerostatic press or the hydraulic generator 1, and the oil of discharging therefrom under predetermined pressure is sequentially by pressure regulator 3, oil strainer 4 and direction switch device 5 arrive the operation equipment 7 of drives mechanical hand then.In the middle of this, controlling device 3 makes the oil pressure uniformity that is input into, oil strainer 4 removes the impurity that is contained in the oil pressure medium, direction switch device 5 is a kind of two-position three way switch valves, can make level and smooth excessively circular piece 6A of oil pressure MEDIA FLOW and 6B be fed to the two ends of driving force generation device 7, the oil pressure medium is flowed back to therefrom, therefore the to-and-fro motion of the power transfer member 7A in driving force generation device 7 can realize the predetermined work of load W, and this load W is the front end that is connected power transfer member 7A.

But, not stopping mechanically operated braking device owing to be assemblied in operation period, so can not guarantee enough safety, when promptly in the working zone, having abnormal conditions, can have an accident.

Robot also can have a plurality of execution each other similarly or the mechanism hand of the working procedure that differs from one another, so that control their operation by within it signal control device is installed.At this moment, when using the part mechanism hand to carry out a predetermined work, the mechanism hand that needs can not be operated separately, can bring unnecessary power loss and operate all mechanism hands, when during mechanically actuated, when any or machinery partly have an accident, the corresponding mechanism hand that will repair can not be stopped, and stop the mechanism that all comprise the robot of the mechanism hand that need not repair, and will make troubles to maintenance work again, also reduce productivity simultaneously.

Consider these problems, the safety installation that the purpose of this invention is to provide a kind of industrial robot, it has reasonable Security, high operating efficiency and productivity, and can distinguish the mechanism hand of intermittent operation relative section, thereby reduce power loss and allowed during Robot actions, to repair corresponding mechanism hand.

The present invention includes the device at intermittence of a bi-bit bi-pass switch valve type, this device is installed in the centre of the filtrating equipment and the direction switch device in pressure medium loop, be used for when than the place of lower end abnormal conditions taking place near the power conveying element, according to the quit work signal of element of driving, the pressure medium that is midway provided by the driving force generation device is provided, and the pressure medium that automatically will be received in the driving force generation device excretes, so that stop the action of driving force generation device, owing to prevented the workman to enter the peril of working area, therefore prevented the generation of security incident, and, brought reasonable completeness to the user when part mechanism hand during by batch operation, operating efficiency and productivity.

The present invention is at length described with reference to the accompanying drawings, wherein:

Fig. 1 is the pressure medium loop schematic representation in the driving-controlling device of traditional industry robot.

Fig. 2 is the schematic representation in the pressure medium loop in the driving-controlling device that has the industrial robot that drives safety installations according to the present invention.

Fig. 3 is the circuit diagram according to safety drive of the present invention.

With reference to Fig. 2 and Fig. 3, these figure are applied pressure medium circuit diagrams during the robot drives in the factory automation system is controlled in the industrial field.

Pressure generator 1 produces pressure, in order to head pressure medium therefrom under the predetermined pressure, for example air or oil, release from the pressure medium that the pressure of Pressure generator 1 will be stored in the reservoir vessel 2, and make it through pressure regulator 3 and filtrating equipment 4, filtrating equipment 4 is removed the foreign matter that is contained in the pressure medium, and only pure pressure medium by device 8 and being fed in the direction switch device 5 of a two-position three-way valve type at intermittence, direction switch device 5 is fed to driving force generation device 7 with pressure medium, vice versa, perhaps be breaking at the supply of the pressure medium that flows among level and smooth circular piece 6A and the 6B, this

part

6A and 6B are attached near on the two ends of driving force generation device 7.Therefore, be slidably mounted in power transfer member 7A in the driving force generation device 7 and be mobile reciprocating according to pressure medium, so that in predetermined stroke, carry out the predetermined work of load W.

Here, intermittently device 8 is connected with level and smooth circular piece 6 between filtrating equipment 4 and direction switch device 5, pressure medium be fed to direction switch 5 or cut off it there and pressure medium is discharged this mechanism.

Intermittently device 8 also can be a bi-bit bi-pass switch valve, and as shown in Figure 3, this valve can end part P according to work ₁The for example operation of a switch and moving up and down.In this mode, electromagnetic element by intermittence device 8 coil current excitatory, along with pressing work starting element P ₂, this device 8 is started working, at this moment, work control piece RY, for example relay is operated, so that will work control opened/closed element RYS ₁And RYS ₂Be connected on the power supply, be formed on supply passage 8A in the device 8 intermittently and discharge route 8B like this and communicate with level and smooth circular piece 6 selectively or disconnect each other, so that pressure medium can be fed to 7 li of driving force generation devices or is cut off with the there.

As work starting element P ₂During connection, the present invention promptly begins action, and subsequent working control unit RY puts into operation, with the control opened/closed element RYS that will work ₁And RYS ₂Be connected on the power supply, simultaneously intermittently device 8 is devoted oneself to work supply passage 8A is connected with level and smooth circular piece 6, and pressure medium is admitted in the driving force generation device 7 like this, so that the work of execution mechanism hand.

On the contrary, if when abnormal conditions appears in the load side of driving force generation device 7, work ends part P ₁Open, make work control opened/closed element RYS ₁And RYS ₂Disconnect with power supply, at this moment, intermittently device 8 is put the power supply disconnection from giving, the level and smooth circular piece 6 that promptly is used to guide pressure medium communicates with discharge route 8B, to block the pressure medium in the driving force generation device 7 sent into as shown in Figure 2, force it to pass through passage 8B simultaneously and discharge this mechanism, in this case, oil is returned in the reservoir vessel 2.

Thereby driving force generation device 7 is stopped in the position of its execution work, like this, has prevented the operator owing to security incident is subjected to danger, has therefore improved Security.It has this effect, that is, at the production line duration of work, the abnormal mechanically operated foreign matter of robot that causes on load W side can not destroy the operation element that is contained in its predetermined work one side of execution, and the result has strengthened Security.

On the other hand, well-known, robot is equipped with many arms usually, so the present invention can handle arm respectively.When adopting this mode, when security incident or abnormal conditions taking place take place suddenly, use intermittently device 8, partly stop the action that corresponding driving force generation device 7 is controlled each driving force generation device 7.It has good maintainability, and the replacement of place under repair and other part also can be controlled the action of the driving force generation device 7 of relative section respectively easily, can reduce power loss in whole mechanically actuated.

Claims

1, a kind of safety installation of industrial robot, comprise: the device at intermittence of a bi-bit bi-pass switch valve type, this device is installed between the filtrating equipment and direction switch device in pressure medium loop, be used near the power conveying element abnormal conditions takes place than the place of lower end the time, stop the signal of control unit according to driving, cut off the pressure medium of being supplied with by the driving force generation device midway, and the pressure medium that will be received in the driving force generation device automatically excretes, so that stop the action of driving force generation device, thereby stoped the generation of security incident, improved Security preferably, working efficiency and productivity.