CN116352694A

CN116352694A - Teaching apparatus for electromechanical systems

Info

Publication number: CN116352694A
Application number: CN202111628794.2A
Authority: CN
Inventors: 黄彦舜; 陈毅弘; 张顺凯
Original assignee: Hiwin Technologies Corp
Current assignee: Hiwin Technologies Corp
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2023-06-30

Abstract

The present disclosure provides a teaching device of an electromechanical system for connecting a dead-time loop of the electromechanical device, the teaching device comprising a multi-stage key switch, an enable switch, and a safety control device. The multi-stage key switch comprises a first mode and a second mode and is used for switching between the first mode and the second mode. The multi-stage key switch generates a switching signal when switching. The enabling switch is connected with the close-stop loop. The safety control device is connected with the multi-section key switch and is used for receiving switching signals of the multi-section key switch. The safety control device comprises an instantaneous close-stop circuit and a break time. The instantaneous emergency circuit is connected with the emergency circuit. The safety control device triggers the tight stop loop to enter a tight stop state according to the switching signal. The emergency stop state includes an instantaneous emergency power off interrupting the emergency stop circuit until the off time is reached to reset the emergency stop circuit.

Description

Teaching apparatus for electromechanical systems

Technical Field

The present disclosure relates to electromechanical systems, and more particularly to a teaching apparatus for electromechanical systems.

Background

With the increase of demands for automatic production, carrying or other operation flows, the robot is driven to use. However, the robot may need to stop due to malfunction, failure, change of motion or travel in the running process, and at present, a close stop switch of the robot is usually triggered to stop motion so as to perform related maintenance and ensure safety of related operators.

The robot or the electromechanical device needs to establish an automatic or test operation flow through a teaching program of the teaching device so that the robot or the electromechanical device can establish or execute an automatic operation, but the emergency stop switch of the existing robot and each switch of the teaching device are operated independently and are not connected together by a hardware circuit, so that each switch operation of the teaching device needs to inform whether the robot enters an emergency stop state or not through software operation.

Furthermore, the operation of the three-stage key switch and the enabling switch of the teaching device is to judge the operation position through software so as to control the operation of the electromechanical device. The three-stage key switch is used for switching the selected operation mode. The enabling switch is a three-section switch, and can be divided into a middle position, a pressing position and a complete loosening according to the pressing action, wherein the middle position and the pressing position respectively correspond to different operation modes. In actual operation, the three-stage key switch or the enable switch may fail or the software misjudges the pressing action of the enable switch, so that the electromechanical device does not stop operating as the three-stage key switch is switched to be closed or the enable switch is completely released. Or when the user operates the enabling switch, the pressing action is switched from the middle position to the pressing or loosening state by the false touch (action), so that the electromechanical equipment correspondingly enters continuous operation or stops operation, and the software can be dangerous to execute after judgment.

Disclosure of Invention

In view of the foregoing, it is an object of the present disclosure to provide a teaching device of an electromechanical system, so as to connect each switch of the teaching device to a close-stop loop through a hardware circuit, thereby avoiding the problem of software misjudgment.

Thus, in accordance with the present disclosure, a teaching apparatus for an electromechanical system is provided for connecting a dead-time loop of the electromechanical apparatus, the teaching apparatus comprising a multi-stage key switch, an enable switch, and a security control device. The multi-stage key switch comprises a first mode and a second mode and is used for switching between the first mode and the second mode. The multi-stage key switch generates a switching signal when switching. The enabling switch is connected with the close-stop loop. The safety control device is connected with the multi-section key switch and is used for receiving switching signals of the multi-section key switch. The safety control device comprises an instantaneous close-stop circuit and a break time. The instantaneous emergency circuit is connected with the emergency circuit. The safety control device triggers the tight stop loop to enter a tight stop state according to the switching signal. The emergency stop state includes an instantaneous emergency power off interrupting the emergency stop circuit until the off time is reached to reset the emergency stop circuit.

In this way, the multi-section key switch of the teaching device of the electromechanical system disclosed by the invention can trigger the tight stop state through the safety control device when in switching, and the enabling switch can interrupt the tight stop loop to trigger the tight stop signal, so that the use safety and reliability of the electromechanical device are improved.

Drawings

The detailed construction, features and methods of making the teaching apparatus for electromechanical systems will be described in the following examples, however, it should be understood that the examples described below and the accompanying drawings are illustrative only and should not be used to limit the claims of the present disclosure, in which:

FIG. 1 is a schematic diagram of an embodiment of an electromechanical system of the present disclosure;

FIG. 2 is a block diagram of the pinch switch, pinch loop and teaching apparatus of FIG. 1;

FIG. 3 is a circuit diagram that continues FIG. 2 and shows the receiving circuit, the judging circuit, the momentary hold switch and the bridge circuit;

in the drawing the view of the figure,

10: electromechanical system

30: electromechanical device

31: mechanical arm

33: close stop loop

35: tightly-stopping switch

37: safety relay module

50: teaching apparatus

51: multi-section key switch

53: enabling switch

55: safety control device

551: instantaneous power-on/off circuit

5511: relay device

553: receiving circuit

5531, 5532: NOT OR gate

5533, 5534, 5535: inverter with a high-speed circuit

5536: OR gate

555: judging circuit

557: bridge circuit

5571: relay device

57: bypass loop

N1, N2, N3, N4: endpoint(s)

R1, R2: resistor

C1 C2: capacitor with a capacitor body

Q1: first transistor

Q2: second transistor

Q3: and a third transistor.

Detailed Description

The technical content and features of the present disclosure will be described in detail below with reference to several illustrated embodiments in conjunction with the accompanying drawings, and references to "connected" or "electrically connected" terms in this specification are intended to be interpreted as normal electrical continuity or connection terms, and are not intended to limit the scope of the claims.

For a detailed description of the technical features of the present disclosure, the following examples are set forth below with reference to the accompanying drawings, in which:

as shown in fig. 1, which is a schematic diagram of an electromechanical system 10 of the present disclosure. Electromechanical system 10 includes an electromechanical device 30 and a teaching device 50. The teaching device 50 is connected to the electromechanical device 30 and is used for controlling the operation of the electromechanical device 30, and the electromechanical device 30 comprises a mechanical arm 31 and a close-up loop 33. The emergency stop circuit 33 is connected to the robot 31 and includes an emergency stop switch 35 and a safety relay module 37. The close-up switch 35 may trigger the close-up loop 33 to enter a close-up state to interrupt or halt the operation of the robot 31 for safety protection. The safety relay module 37 can stop, excite and reset the robot 31.

Teaching device 50 is coupled to mechatronic device 30 and drives the operation of mechatronic device 30, including adjusting or setting the workflow, actions, and states of mechatronic device 30, etc.

The teaching device 50 includes a multi-stage key switch 51, an enable switch 53, and a security control 55. The multi-stage key switch 51 includes a first mode and a second mode, and is configured to switch between the first mode and the second mode. The multi-stage key switch 51 generates a switching signal at the time of switching. The switching signal is generated by switching the first mode to the second mode or by switching the second mode to the first mode.

In this embodiment, the first mode may be a manual program or a teaching program, and the second mode may be an Automatic (AUTO) program. The manual program can be divided into a first manual mode and a second manual mode according to the operation speed. The first manual mode may be used as point teaching, trial and error, program setup, etc. for the mechatronic device 30. The second manual mode may be used to view the programming of the electromechanical device 30. Automated processes typically run in automated production or jobs to cause the electromechanical device 30 to perform automated jobs. In other embodiments, the multi-segment key switch 51 may have more modes, such as a closed (OFF) mode or a collaborative mode.

The enable switch 53 is connected to the tight shut-off loop 33 such that the enable switch 53 is in communication with the tight shut-off loop 33.

The safety control device 55 is connected to the multi-stage key switch 51 and is configured to receive a switching signal of the multi-stage key switch 51, and the safety control device 55 can detect the switching of the multi-stage key switch 51, wherein when the multi-stage key switch 51 is switched, the safety control device 55 can determine the switching of the multi-stage key switch 51 and the corresponding switching mode according to the switching signal. When the multi-stage key switch 51 is not switched, the security control device 55 can detect the current mode of the multi-stage key switch 51.

The safety control device 55 includes an instantaneous emergency stop circuit 551 and a breaking time. The instantaneous emergency stop circuit 551 is connected to the emergency stop circuit 33. The safety control device 55 triggers the tight loop to enter a tight state according to the switching signal, wherein the tight state includes the instantaneous tight loop 551 interrupting the tight loop 33 until the power-off time is reached, and the tight loop 33 is not restored, so that the electromechanical system 10 is in the tight state. In the compact state, the electromechanical device 30 cannot be operated or energized.

The power-off time is to allow the electromechanical device 30 to recognize that the scram circuit 33 has been triggered, and thus, the power-off time is related to the sensitivity of the electronic components of the electromechanical device 30. In this embodiment, the power-off time is about 0.8 seconds, and in other embodiments, the power-off time may be longer or shorter, and the response sensitivity of the electronic component may be referred to for shorter time to avoid triggering the emergency stop state, but the electromechanical device 30 does not recognize that the emergency state is activated. Longer would be considered wasteful of the electromechanical device 30 latency.

The tight shut-down condition may then be cleared by a Reset (Reset) procedure of the tight shut-down loop 33. After the alarm condition is cleared, the electromechanical device 30 may be re-operated or energized.

As shown in fig. 2, the safety control device 55 further includes a receiving circuit 553, a judging circuit 555 and a bridge circuit 557. The receiving circuit 553 is connected to the multi-stage key switch 51 and receives the switching signal. The receiving circuit 553 can determine the switching signal according to the logic gate assembly and adjust the off-time, which corresponds to the on-time T of a pulse in the present embodiment, so the receiving circuit 553 can achieve the purpose of adjusting the on-time of the pulse.

The judging circuit 555 is connected to the receiving circuit 553, the instantaneous stopping circuit 551 and the bridge circuit 557, and judges whether the switching signal corresponds to the first mode or the second mode. In addition, when the multi-stage key switch 51 is not switched, the determination circuit 555 can determine the mode corresponding to the multi-stage key switch 51.

The bridge circuit 557 connects the disable circuit 33 and the enable switch 53 in bypass relationship with the enable switch 53. When the multi-stage key switch 51 is in the second mode, the determination circuit 555 activates the bridge circuit 557 such that the pinch switch 53 and the bridge circuit 557 form the bypass circuit 57. The bypass circuit 57 bypasses the enable switch 53 to enable the motor system to perform an automatic process, i.e., bypass a manual process. Four terminals N1-N4 of the emergency shutdown circuit 33 are safety relay modules 37 connected to the electromechanical device 31 of fig. 1.

As shown in fig. 3, the receiving circuit 553 includes two exclusive OR gates (NOR gates) 5531, 5532, three inverters (NOT gates) 5533, 5534, 5535, an OR Gate (OR Gate) 5536, two resistors R1, R2, and two capacitors C1, C2. The judging circuit 555 includes a first transistor Q1, a second transistor Q2 and a third transistor Q3. The momentary hold switch 551 and the bridge circuit 557 are

relays

5511, 5571, respectively.

The input terminal of the inverter 5533 is connected to the input terminals of the multi-stage key switch 51 and the NOT OR gate 5531, and the resistor R1 and the capacitor C1 are electrically connected to the input terminals of the two

inverters

5533, 5534. The output of inverter 5534 is connected to the input of an nor gate 5531. The output of inverter 5533 is coupled to the input of NOT OR gate 5532, and resistor R2 and capacitor C2 are electrically coupled to the output of inverter 5533 and to the input of inverter 5535. The output of inverter 5535 is coupled to the input of an nor gate 5532. The output of the two

NOT gates

5531, 5532 is connected to the input of the OR gate 5536, and the output of the OR gate 5536 is connected to the gate (gate) of the first transistor Q1.

The source (source) of the first transistor Q1 is connected to a power supply. The Drain (Drain) of the first transistor Q1 is connected to the relay 5511 of the instantaneous emergency stop circuit 551 to control the switching operation of the relay 5511. The normally open contact of the relay 5511 is connected in series with the emergency stop circuit 33.

The gate of the second transistor Q2 is connected to the output terminal of the inverter 5533, the source of the second transistor Q2 is connected to the ground terminal, and the drain of the second transistor Q2 is electrically connected to the drain of the third transistor Q3, the gate of the first transistor Q1, and the power supply. The source of the third transistor Q3 is connected to the ground. The gate of the third transistor Q3 is electrically connected to the ground terminal and the normally-closed contact of the relay 5571, and the normally-closed contact of the relay 5571 is connected to the power source. The normally open contact of relay 5571 is electrically connected to the emergency shutdown circuit 33 and is in bypass relationship with the enable switch 53. The relay 5571 is connected to the gate of the second transistor Q2 and connected to the output terminal of the inverter 5533, so as to control the switching operation of the relay 5571 according to the second mode of the multi-stage key switch 51.

In this embodiment, the multi-stage key switch 51 is switched from the second mode to the first mode, so that the switching signal generates a pulse wave to trigger at a high level (e.g. 1), so that the output end of the or gate 5536 outputs the switching signal to trigger the first transistor Q1 to be turned off, and the normally open contact of the relay 5511 is opened, so that the close-stop loop 33 is opened to trigger the close-stop state. The off time is the same as the off time, i.e. the pulse returns from the higher level to the lower level (e.g. 0), which is adjusted by adjusting the parameters of the resistors R1, R2 and the capacitors C1, C2. When the off time expires, the first transistor Q1 is turned on, and the normally open contact of the relay 5511 is closed, so that the close circuit 33 is turned on.

When the multi-stage key switch 51 switches from the first mode to the second mode, the switching signal generates a pulse wave to trigger at a low level (e.g., 0), so that the output end of the or gate 5536 outputs the switching signal to trigger the first transistor Q1 to be turned off, and the normally open contact of the relay 5511 is opened, so that the close-stop loop 33 is opened to trigger the close-stop state. Until the off time expires, the first transistor Q1 is turned on, and the normally open contact of the relay 5511 is closed, so that the emergency stop circuit 33 is turned on. When the pulse trigger of the switching signal is at the low level, the output terminal of the inverter 5533 outputs a high level signal (e.g., 1) to trigger the second transistor Q2 to be turned on, the third transistor Q3 to be turned off, and the relay 5571 to operate, so that the normally open contact of the relay 5571 is closed, and the bypass circuit 57 is turned on.

When the multi-stage key switch 51 is not switched, i.e. the previous operation mode is maintained, the switching signal is not changed relatively to the high-low level, and no pulse is generated, and the output terminal of the or gate 5536 outputs the switching signal to trigger the first transistor Q1 to be turned on, so that the tight stop state is not triggered.

In other embodiments, the above description of logic or switches allows one skilled in the art to implement the related circuits using other components and the number of components, and is not limited to the circuit diagram of fig. 3.

Although the operation of the enable switch 53 does not trigger the emergency stop state in the second mode, the emergency stop state may be triggered by the bypass circuit 57 formed by the emergency stop switch 31, the bridge circuit 557 and the instantaneous emergency stop circuit 551 when the multi-stage key switch 51 is switched or the emergency stop switch 31 is triggered.

In the first mode, the bridge circuit 557 is not operated. The enable switch 53 includes an operating mode and an off mode. The operating mode is for example pressed in the neutral position. The off mode is, for example, a fully released and fully compressed position. When the enabling switch 53 is switched from the running mode to the off mode, the enabling switch 53 is caused to interrupt the close-stop loop 33, and the close-stop state is triggered, so that the electromechanical device stops running, and danger caused by misoperation of a user is avoided.

In summary, the teaching device of the present disclosure may trigger the tight stop state when the tight stop loop is interrupted, so as to implement the hardware triggering tight stop state, so as to improve the use safety and reliability of the electromechanical device.

The technical and objects of the teaching apparatus of the present disclosure will be understood by those skilled in the art through the above-described embodiments, and thus, the above-described configuration of the teaching apparatus can also be changed in hardware by the number or arrangement of logic components to achieve the same technical and objects, and thus, the teaching apparatus described in the embodiments is merely by way of illustration in the present embodiments and not as a limitation to the scope of the claims.

Claims

1. A teaching apparatus for an electromechanical system for connecting a dead-time loop of an electromechanical apparatus, comprising:

a multi-section key switch, including a first mode and a second mode, and used for switching between the first mode and the second mode, wherein the multi-section key switch generates a switching signal when switching;

an enabling switch connected with the close-stop loop; and

The safety control device is connected with the multi-section key switch and is used for receiving a switching signal of the multi-section key switch, the safety control device comprises an instant emergency stop circuit and a breaking time, the instant emergency stop circuit is connected with the emergency stop circuit, the safety control device triggers the emergency stop circuit to enter an emergency stop state according to the switching signal, and the emergency stop state comprises that the instant emergency stop circuit interrupts the emergency stop circuit until the breaking time is reached and then the emergency stop circuit is reset.

2. The apparatus according to claim 1, wherein the safety control device includes a receiving circuit and a judging circuit, the receiving circuit receives the switching signal, the judging circuit is connected to the receiving circuit and the instant stopping circuit, and judges whether the switching signal corresponds to the first mode or the second mode.

3. The electromechanical systems teaching device of claim 2, wherein the receive circuitry is configured to adjust the trip time.

4. The apparatus of claim 2, wherein the safety control device comprises a bridge circuit connecting the emergency stop circuit, the enable switch, and the determination circuit and being in bypass relation to the enable switch, the emergency stop switch and the bridge circuit forming a bypass circuit in the second mode.

5. The teaching apparatus of claim 1 wherein the enabling switch comprises an operating mode and an off mode when the multi-stage key switch is in the first mode, the enabling switch interrupting the tight shut-off loop when the operating mode is switched to the off mode to cause the tight shut-off loop to enter the tight shut-off state.

6. The teaching apparatus of claim 1 wherein the first mode comprises a manual program and the second mode comprises an automatic program.

7. The teaching apparatus of claim 1 wherein the emergency shutdown circuit comprises an emergency shutdown switch.