JP2002150875A - Switching device, and safety device using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a switching device which impresses an operation feeling to an operator at the time of switching from off-operation to on-operation, and at the time of switching from on-operation to off-operation. SOLUTION: At the time a plunger 2 is pushed in, and an elastic member locking point P1 of the first operation member 25 moves toward the direction in which the plunger 2 is pushed from an elastic member locking point P2 of the second operation member 26 by the snap action caused by a restoring spring 24, the first operation feeling is generated, and by further push-in of the plunger 2, the plunger 2 pushes in the end side of the second operation member 26, and the second operation member 26 gets out of the second concave locking part 32 of a frame 23R, and moves so as to be locked in the third concave locking part 33, and by this movement of the second operation member 26, the second operation feeling is generated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to all switches which perform off-on-off three-position operations, for example, used as switches for teaching boxes of industrial robots, safety devices for equipment such as machine tools, etc. And a safety device using the switch device.

[0002]

2. Description of the Related Art Conventional switch devices of this type include:
There is one disclosed in FIGS. The disclosed switch includes a base 100, a cover 101 mounted on the base 100, and an opening 102 of the cover 101.
And a push button 103 provided so as to be slidable.

The base 100 has a pair of fixed pieces 1.
The fixed pieces 104 have curved spring portions 105, and the fixed pieces 104 are provided with fixed contacts 106, respectively. A movable plunger holder 107 is formed at the center of the base 100, and the movable plunger holder 107 has a movable plunger 108.
Is slidably inserted, and the movable plunger 108 is urged upward in FIG.

The movable plunger 108 is provided with a movable piece holding portion 110 and a slider holding portion 111, and the movable piece 112 is movably held by the movable piece holding portion 110. The movable piece 112 is held by a holding spring. It is pressed against the end of the movable piece holding part 110 by 113. The movable piece 112 is provided with a movable contact 114. The slider holding portion 111 is provided with slider holding grooves 115 extending in a direction perpendicular to the axis A of the movable plunger 108, and the slider 1 is provided in these slider holding grooves 115.
The slider 116 is urged outward by a spring 117. A slope 116 a is formed outside the slider 116.

[0005] On the inner surface of the push button 103, a small diameter portion 1 is provided.
18, a large diameter portion 119, a small diameter portion 118, and a large diameter portion 119.
And an inclined surface portion 120 located at the boundary between the push button 103 and the cover 101.
A spring receiving portion 121 and a pair of forced separation pieces 122 are provided.

The push button 103 receives the return spring 123 at its spring receiving portion 117,
As a result of being pushed up by the spring force of No. 3, the slope 116 a outside the slider 116 is in contact with the slope 120.

Next, the operation of the switch device configured as described above will be described.

When the push button 103 is pushed in from the free position state (FP) shown in FIG. 25 as shown in FIG. 26, the movable plunger 108 is moved via the slider 116 to the return spring 1.
And the movable contact 114 is fixed to the fixed contact 1.
06 and the switch is turned on.

[0009] As shown in FIG.
When the 03 is pushed in, wiping occurs due to the bending of the fixing piece 105.

[0010] As shown in FIG.
When the user pushes 03, the operation load suddenly increases because the slider 116 is in a state of being caught on the inclined surface portion 120.

Further, when the push button 103 is depressed,
As shown in FIG. 28, the slider 116 slides on the inclined surface portion 120, and the slider holding portion 11 of the movable plunger 108
1 is inserted into the small diameter portion 118 of the push button 103.
Then, the forcibly separating piece 122 pushes down the fixed contact 106 to perform forcibly separating, and the switch device is turned off.
Further, when the push button 103 is depressed, a TTP state is set as shown in FIG.

When the pressing of the push button 103 is released, the push button 10 is released by the spring force of the return spring 109.
3 is pushed up and the switch is returned to the free position state (FP) while the switch is in the off state.

[0013]

However, in the conventional switch device described above, the free position state (F
When the push button 103 is pushed in from P), the slider 11
6, the movable plunger 108 is pushed in against the return spring 123, the movable contact 114 contacts the fixed contact 106, and the switch is turned on. However, when the switch is switched from the off state to the on state, the operation feeling is reduced. 29, when the slider 116 slides on the inclined surface 120 and the slider holding portion 111 of the movable plunger 108 is inserted into the small diameter portion 118 of the push button 103, as shown in FIG.
The forcible release piece 118 pushes down the fixed contact 106 to perform forcible disconnection, so that when the switch device is turned off, the operation feel is felt, and the first position off operation is switched to the second position on operation. At the time of the change, the operator cannot feel the operation, and there is a problem that the switch operation of the operator is not easy.

In the above-mentioned conventional switch device, a pair of fixed pieces 104 have a curved spring portion 105, and a fixed contact 106 is provided at the tip of the spring portion 105. A movable contact 114 is provided on the movable piece 112 on the side, and when the push button 103 is continuously pressed in a biased manner, only one contact section on one side is opened and closed. Function may be lost, and there is a problem that a horizontally long switch device in which single pressing is frequently performed cannot be provided.

The present invention has been made in view of the above problems, and a first object of the present invention is to facilitate the procurement of parts and improve the workability of assembly. An object of the present invention is to provide a switch device capable of reducing costs.

A second object of the present invention is to switch from the first position off operation to the second position on operation, and from the second position on operation to the third position off operation. An object of the present invention is to provide a switch device that can give an operator a feeling of operation at the time of switching and facilitates the switch operation of the operator.

A third object of the present invention is to provide a reliable safety device.

[0018]

In order to achieve the first object, a switch device according to the present invention comprises a first contact opening / closing means for performing a three-position operation of off-on-off; The second contact opening / closing means is turned off at the time of the third position off operation and is independent of the first contact opening / closing means.
Contact opening and closing means.

Preferably, the first and second contact opening / closing means are respectively constituted by the same switch unit.

With this configuration, off-on-off 3
Since the first contact opening / closing means for performing the position operation and the second contact opening / closing means for performing the off operation at the time of the third position off operation of the first contact opening / closing means are made independent of each other, the first and second contact opening / closing means are provided. When the contact opening / closing means is constituted by, for example, a switch, the procurement of parts becomes easy, and the assembling workability is improved, so that the cost can be reduced.

Further, since the second contact opening / closing means is turned off when the first contact opening / closing means is turned off at the third position, the first contact opening / closing means is turned off at the first position and at the third position. Off operation can be distinguished.

Further, since the first and second contact opening / closing means are the same switch section, the parts can be easily procured, the assembling workability is improved, and the cost can be reduced. Become.

The switch device includes all switches that perform three-position operation of off-on-off, and is used, for example, as a switch for a teaching box of an industrial robot, a safety device for equipment such as a machine tool, and the like. Switch device.

In order to achieve the second object, the switch device according to the present invention is the switch device according to the present invention described above, wherein the first contact opening / closing means is turned off from the first position by two times. There is a switch actuating means for giving the operator a sense of operation at the time of switching to the ON operation at the position and the time of switching from the ON operation at the second position to the OFF operation at the third position of the first contact opening / closing means. Things.

The switch actuating means is provided on the case so as to be movable in the pushing direction, and is provided on one of the frames provided in the case so as to be swingable in the pushing direction of the plunger. A first actuating member having a stop point, a second actuating member which is detachably engaged with an engaging recess of the other frame provided in the case, and has a second elastic member engaging point; The first of the first working members
And an elastic member interposed between the elastic member engaging point of the second operating member and the second elastic member engaging point of the second operating member, and the operation feeling generated by the switch operating means is such that the plunger is pushed in. When the first elastic member engagement point shifts in the plunger pushing direction beyond the second elastic member engagement point, the first elastic member generates a snap action.
Operation feeling and the plunger is pushed further,
And the second operation feeling generated by the operation in which the end side of the actuating member is disengaged from the engagement recess of the plunger and engages with the next engagement recess.

With this configuration, the time when the first contact opening / closing means switches from the first position off operation to the second position on operation by the switch operating means, and the second contact on / off operation of the first contact opening / closing means. The operation feeling can be given to the operator at the time when the operation is switched to the off operation at the third position. Therefore, the switch operation of the operator can be facilitated.

According to another aspect of the present invention, there is provided a switch device for switching a first contact opening / closing means from a first position off operation to a second position on operation. The switching operation is performed by a snap action of the operating means, and the switching from the ON operation at the second position to the OFF operation at the third position in the first contact opening / closing means is performed by the moving operation of the switch operating means.

The snap action for generating the first operation feeling is at the time when the plunger is pushed in and the first elastic member engagement point shifts in the plunger pushing direction beyond the second elastic member engagement point. The elastic member pushes up the second operating member, and the operation for generating the second operation feeling is performed by further pushing the plunger so that the end side of the second operating member is disengaged from the engagement recess of the plunger. It is performed by operating to engage with the next engagement recess in a detachable manner.

With this configuration, the time when the first contact opening / closing means is switched from the first position off operation to the second position on operation with the first operation feeling is determined. It can be determined when the contact opening / closing means is switched from the ON operation at the second position to the OFF operation at the third position, and the switch operation of the operator can be facilitated.

Further, the switch device according to the present invention has a first
First forcible opening means for forcibly opening the first contact opening / closing means after the second position of the contact opening / closing means is switched from the on operation of the second position to the off operation of the third position, and the first contact opening / closing means And a second forcible opening means for forcibly opening the second contact opening / closing means after switching from the on operation at the second position to the off operation at the third position.

The first forcibly opening means for forcibly opening the first contact opening / closing means has a forcibly opening pressing portion provided on the plunger, and the plunger is pushed in to reach the operation limit position. At this time, the forcibly opening pressing portion operates to open the first contact opening / closing means, and forcibly opens the second contact opening / closing means. The second forcibly opening means provided for the forcibly opening provided on the plunger is provided. A pressing portion is provided, and when the plunger is pushed in and reaches the operation limit position, the forcible opening pressing portion causes the second contact opening / closing means to perform the opening operation.

With this configuration, the first contact opening / closing means is forcibly opened by the forcible opening means when reaching the operation limit position, and the second contact opening / closing means is forcibly opened when reaching the operation limit position. The forcible opening is performed by the forcibly opening means, so that even if the contact portions of the first and second contact opening / closing means are welded or the like, the switching operation can be reliably performed, and safety can be ensured. it can.

Further, in order to achieve the third object, the safety device according to the present invention provides a teaching device in which a trigger is actuated so that an enable switch device performs an off-on-off three-position operation. In a safety device having a box, an enable switch device is turned off when a first contact opening / closing means for performing a three-position operation of off-on-off, and when the first contact opening / closing means is turned off at a third position. A second contact opening / closing means independent of the first contact opening / closing means, a point in time when the first contact opening / closing means switches from an OFF operation at the first position to an ON operation at the second position, and
The switching device is provided with switch operating means for giving the operator a feeling of operation at the time of switching from the ON operation at the third position to the OFF operation at the third position.

With this configuration, off-on-off 3
Since the first contact opening / closing means for performing the position operation and the second contact opening / closing means for performing the off operation at the time of the third position of the first contact opening / closing means are made independent, a reliable safety device is provided. Can be provided.

The safety device is a teaching box for an industrial robot, but may be used as a safety device for equipment such as a machine tool. The enable switch device is a switch that is provided in the teaching box and that stops the driving of the industrial robot by operating the switch when the industrial robot runs away.

[0036]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view of a switch device according to the present invention, FIG. 2 is an exploded view of the switch device, FIG. 3 is a perspective view of the switch operation mechanism of the switch device as viewed from the front side with a part omitted, FIG. 4 is a perspective view of the switch device with the case removed, as viewed from the rear side. For convenience of explanation,
The front-rear direction and the left-right direction are set as indicated by the arrows.

The switch device A according to the present invention comprises a case 1
And a plunger 2, a switch operating mechanism 3, which is a switch operating means, a first switch 4, which is a first contact opening and closing means, and a second switch 5, which is a second contact opening and closing means. I have.

The case 1 has a case main body 7, and as shown in FIGS. 1 and 5, the case main body 7 has front and rear surfaces 7A and 7B, left and right surfaces 7C and 7D, and a bottom surface 7E. The space above the bottom surface 7E is a switch operation mechanism housing 8 and the space below the bottom 7E is a switch housing 9. The left and right sides 7C and 7D of the case body 7 are provided with mounting seats 7F in two directions (rearward and upward).

In the switch operating mechanism accommodating portion 8, opening portions 10 and 11 for switch plungers are provided at the front and rear of the bottom portion 7E, respectively. Further, the bottom portion 7E is provided with claw locking portions 12L and 12R located on the left and right sides thereof. These claw locking portions 12L and 12R have a configuration in which a plurality of claw locking grooves 14 are arranged at predetermined intervals in the left-right direction.

In the switch operating mechanism accommodating portion 8, a frame accommodating recess 15 is formed at the center of each of the left and right side surfaces 8A and 8B. Is provided. Also,
Guide recesses 17 are formed at four corners of the switch operating mechanism housing 8 along the vertical direction.

As shown in FIGS. 1 and 6, the plunger 2 has a box-shaped plunger body 2F having an end face 2A, front and rear faces 2B and 2C, and left and right faces 2D and 2E. On the inner surface of the left surface portion 2D of the plunger main body 2F, an operating portion 18 is protruded, and the operating portion 18 has two upper and lower pressing portions 19, 20.

Also, the front and rear surfaces 2 of the plunger body 2F
On the inner surfaces of B and 2C, rib-shaped forced separation pressing portions 21A and 21B constituting first and second forced separation means are formed, respectively. In addition, guide projections 22 are formed at the four corners of the plunger body 2F along the vertical direction.

The switch operating mechanism 3 includes frames 23L and 23R, a return spring 24 composed of a coil spring as a return elastic member, first and second operating members 25,
26.

As shown in FIG. 7, the frames 23L and 23R are provided with a frame main body 23A having raised concave portions 28 and 29 at the front and rear edges of the base 27 at right angles to the base 27. Have. A cantilevered claw portion 30 is formed on the base portion 27 of the frame body 23A. Further, a first engaging concave portion 31, a second engaging concave portion 32, and a third engaging concave portion 33 are provided on one side edge portions 28a, 29a of the concave portion forming portions 28, 29 in this order from above. It is formed below.

The third engaging recess 33 is provided with the second engaging recess 3.
2 Slope 33 inclined downward from lower edge 32a
A and a slope 33B inclined in the opposite direction to the slope 33A.
It consists of Projections 34, 35 are formed on the other side edges 28b, 29b of the recess forming portions 28, 29, and a stopper 36 is provided on the upper edge of the projection 35.

The first and second operating members 25, 26
As shown in FIG. 9 and FIG. 9, these actuating members 25 and 26 have the same configuration, and the first actuating member 2
5, the second operating member 26 is used upside down.

That is, the first operating member 25 has a strip-shaped member main body 37, and this member main body 37 has
An opening 38 is formed at an intermediate portion thereof, and a pressure receiving portion 39 is formed at a side edge 37 a of the member main body 37. A crank-shaped bent portion 40 is formed at the base of the member body 37, an opening 41 is formed in the bent portion 40, and an engaging portion 42 is formed at an end of the bent portion 40.
Is formed. Further, the tip of the member body 37 is bent into an inverted U-shape on the side surface.
A spring locking portion 43 having an elastic member locking point P1 is formed.

The second operating member 26 has the same structure as the first operating member 25, and is provided with a bent portion 4 at the front end of a member body 37.
A spring locking portion 43 'having an elastic member locking point P2 is formed at the tip of the second member.

The first and second switch sections 4 and 5 are the same normally closed type switches, and the first and second switch sections 4 and 5 have a base 44 as shown in FIG. The support portions 45, 4 are provided at both ends of the base 44.
6 is protruded, and one fixed terminal 47 is provided on the support portion 45.
However, the other support portion 46 is provided with the other fixed terminal 48, the one fixed terminal 47 is provided with one fixed contact 49, and the other fixed terminal 48 is provided with the other fixed contact 50, respectively. is there.

At the center of the base 44, a spring receiving portion 51 is provided.
The return spring 52 holds the movable plunger 53. And this movable plunger 53
A movable piece 54 is attached to the movable piece 54, and movable contacts 55 and 56 are provided at both ends of the movable piece 54.

The movable plunger 53 is lifted by the spring force of the return spring 52, and one movable contact 55 is connected to the fixed contact 49 of one fixed terminal 47, and the other movable contact 56 is connected to the fixed contact 48 of the other fixed terminal 48. They are in contact with the fixed contacts 50, respectively.

As shown in FIG. 1, first and second switch sections 4 and 5 are arranged and accommodated in the switch accommodating section 9 of the case 1 in front and rear. The movable plunger 53 of the second plunger 53 protrudes from the switch plunger opening 10 into the switch actuation mechanism accommodating portion 8, and the movable plunger 53 of the second switch portion 5 extends from the switch plunger opening 11 to the switch actuation mechanism accommodating portion 8. Has rushed into.

The switch operating mechanism accommodating portion 8 of the case 1 accommodates left and right frames 23L and 23R. That is, the left frame 23L is in the frame storage recess 15, and the right frame 23R is in the frame storage recess 15.
And left and right frames 23L, 2L
The base 27 of the 3R is inserted into the guide recess 17. The cantilevered claw portions 30 of the base portions 27 of the left and right frames 23L and 23R are removably engaged with the claw locking grooves 14 of the claw locking portions 12L and 12R.

Then, the engaging portion 42 of the first operating member 25
Is rotatably engaged with the first engagement concave portion 31 of the right frame 23R, and the engagement portion 4 of the second operating member 26
2 is rotatably and detachably engaged with the second engagement recess 32 of the left frame 23L. The return spring 24 is interposed between the spring locking portion 43 of the first operating member 25 and the spring locking portion 43 'of the second operating member 26.

The plunger 2 is inserted into the switch operating mechanism accommodating portion 8 of the case 1. In this case, the guide projections 22 provided at the four corners of the plunger 2 are slidably fitted into the guide recesses 17 at the four corners of the switch operating mechanism housing 8. Then, as shown in FIG. 15, the upper pressing portion 19 provided on the plunger 2 is the first pressing portion 19.
Is in contact with the upper surface of the front end of the actuating member 25. The upper end of the movable plunger 53 of the first switch unit 4 is in contact with the press receiving portion 39 at the intermediate portion of the second operating member 26.

Next, the operation of the switch device A configured as described above will be described.

Free position (FP) shown in FIGS. 11 and 15
In the state, the plunger 2 is not pushed and the return spring 2
4 is lifted via the first operating member 25 by the spring force, and the second operating member 26 is pushed down by the spring force of the return spring 24.
Presses the movable plunger 53 of the first switch unit 4, the first switch unit 4 is in the off state, and the second
Is in the ON state.

Next, immediately before the operation at the operation position (OP) shown in FIG. 12, the plunger 2 is pushed. For this purpose, the upper pressing part 1 of the operating part 18 provided on the plunger 2
9 pushes down the front end of the first operating member 25, and the first operating member 25 swings downward around the engaging portion 42, and the elasticity of the return spring 24 of the first operating member 25 is reduced. The vertical distance between the member engagement point P1 and the elastic member engagement point P2 of the return spring 24 of the second operating member 26 is reduced, and the return spring 24 is compressed.

Next, immediately after the operation at the operation position (OP) shown in FIGS. 13 and 16, the return spring 24 causes a snap action. That is, the elastic member locking point P1
Passes through the elastic member locking point P2 and comes below the elastic member locking point P2, the return spring 24 causes a snap action, and pushes up the second operating member 26 upward.

For this reason, the second operating member 26 swings upward about the engaging portion 42 at the left end thereof. For this purpose, in the first switch section 4, the return spring 52 pushes up the movable plunger 53, and the movable plunger 53
The movable contacts 55 and 56 of the movable piece 54 provided at the
9 and 50, the first switch section 4 is turned on. Note that the second switch unit 5 maintains the ON state.

Then, in the operation immediately after the operation of the operation position (OP), the snapping action of the return spring 52 causes a click sound and a pushing force (load) to be reduced, so that the switch device is operated. The operating operator gets a first feel.

Further, by pressing the plunger 2,
As shown in FIGS. 14 and 17, the lower pressing portion 20 provided on the plunger 2 contacts the engaging portion 42 of the second operating member 26 and pushes down the engaging portion 42.

For this purpose, the engaging portion 42 is pushed out of the second engaging concave portion 32 and moves to the third engaging concave portion 33 beyond the lower edge portion 32a. Due to the movement of the second operation member 26, the second operation member 26 is brought into a state where the whole thereof is pushed down. Therefore, the second operating member 26
Pushes the movable plunger 53 of the first switch section 4, and the first switch section 4 is turned off. Note that the second switch unit 5 maintains the ON state.

In this case, the engaging portion 4 of the second operating member 26
2 is pushed out of the second engagement recess 32 and moves to the third engagement recess 33 beyond the lower edge 32a, so that a click is made and a pushing force (load) is applied. Changes, and the operator who operates the switch device obtains the second feeling.

Further, when the operating load is increased by pushing the plunger 2 to reach the operation limit position (TTP), the forcible opening pressing portion 21A provided on the plunger 2 pushes the movable plunger 53 of the first switch portion 4, and The forced opening operation of the first switch unit 4 is performed, and the plunger 2 is opened.
The forced-opening pressing portion 21B provided in the second switch portion 5
Of the second switch unit 5 is pressed.

Next, when the pressing force of the plunger 2 is released from the operation limit position (TTP), the operation of the switch device is reversed by the operation reverse to the operation of the switch operation mechanism 3 described above.
It returns to the free position (FP) state shown in FIG. 11 and FIG.

As described above, according to the embodiment of the switch device A according to the present invention, the first switch unit 4 that performs the three-position operation of off-on-off, and the first switch unit 4 Since the second switch unit 5 that is turned off at the time of the third position off operation is made independent, the parts can be easily procured and the assembling workability is improved.
Costs can be reduced.

In addition, since the second switch section 5 is turned off when the first switch section 4 is turned off at the third position, the first switch section 4 is turned off at the first position and the third switch is turned off at the third position. Off operation can be distinguished.

The time when the first switch section 4 switches from the first position off operation to the second position on operation, and the first switch section 4 switches from the second position on operation to the third position off operation. At the point of switching to operation,
The operation feeling can be given to the operator. For this,
The switch operation of the operator can be facilitated.

Further, according to the switch device A of the embodiment of the present invention, the operating feeling generated by the switch operating means is such that the elastic member locking point P1 of the operating member 25 is pushed by the plunger 2 being pushed. At the point when the plunger 2 is pushed in the pushing direction from the elastic member engagement point P2, the first operation feeling caused by the snap action of the return spring 24 and the further pushing of the plunger 2 cause the plunger 2 to be pushed into the second position. 2 working member 26
Of the frame 23R, the second operating member 26 comes off the second engagement recess 32 of the frame 23R, and the third engagement recess 3
3 so that the second actuating member 26
And the second operation feeling generated by the operation of the.

Therefore, the time when the first switch unit 4 switches from the first position off operation to the second position on operation with the first operation feeling is determined. It is possible to determine a point in time when the operation of the unit 4 is switched from the ON operation at the second position to the OFF operation at the third position, thereby facilitating the switch operation of the operator.

Next, the switch device A configured as described above is connected to the robot control enable switches A-1 and A-.
The case of using as No. 2 will be described with reference to FIGS.

In the teaching playback method,
This is a method in which the robot teaches an operation or operation to be performed, stores the content in a controller, and reproduces the content, thereby causing the robot to perform a series of operations. Most of the current industrial robots use the teaching playback method, and need to perform teaching for each object.

When this teaching is performed, FIG.
As shown in FIG. 9, the operation is taught by the teaching box 80. The teaching box 80 has a case 81 as shown in FIGS. 20 to 22, and switch housings 82 and 83 are formed on the left and right sides of the case 81. These face portions 82A and 83A of the left and right switch housing portions 82 and 83 are provided with these face portions 82A and 83A, respectively.
A, 84A, 84-2 along the longitudinal direction of 83A
Is formed.

Then, in the left switch storage section 82,
Trigger 75 for activating left enable switch A-1
-1 is housed, and a part of the trigger 75-1 projects outward from the opening 84-1.

Then, the left enable switch A-1
Is fixed to the switch mounting base 76 at its mounting seat, and the switch mounting base 76 is fixed to the case 71 with the left enable switch A-1 stored in the left switch storage section 72. is there. In this case, the left switch A
-1 plunger 2 is in contact with the trigger 75-1.

In the same manner, the right switch housing 8
3 houses a right enable switch A-2 and a trigger 75-2 for activating the right enable switch A-2. Part of the trigger 75-2 is the opening 8
It protrudes outward from 4-2.

On the front side of the case 71, for example, a programmable display portion 77 is provided, and left and right sides thereof are provided with grip portions 78-1 and 78-2.
A trigger 75-1 for activating the left enable switch A-1 is located on the back side of 8-1 and a trigger 75 for activating the right enable switch A-2 on the back side of the right grip portion 78-2. -2 is located.

The left and right enable switches A-
Each of the first switch sections 4 of A and A-2 is incorporated in a safety system circuit (such as a safety relay unit) 78 of a controller (not shown) of the robot B. The second switch units 5 of A and A-2 are incorporated in the control circuit 79 of the controller of the robot B.

For example, as shown in FIG. 19, the right-handed operator F holds the teaching box 70 by holding the left grip portion 78-1 with the left hand F-1, and as shown in FIG. The left trigger 75-1 is pressed with the finger of F-1 (step S1), and the first switch unit 4 of the left enable switch A-1 is moved to the above-described operation position (immediately after operation) (O
In P), the output is turned on and the output is sent to the controller to switch to the teaching mode (step S2).

In this state, the operation or operation performed by the robot B is taught by operating the touch switch or the like of the programmable display unit 77 with the right hand F-2, the content is stored in the controller, and this is reproduced.

In this teaching state, for example, if the robot B runs away, the operator F strongly grips the left grip 78-1 with his left hand F-1, or pushes the left grip 78-1. Release the teaching box 70 and discard it.

When the operator F strongly grips the left grip portion 78-1 with his left hand F-1, the finger of the left hand F-1 further pushes the left trigger 75-1 (step S3).
The first switch unit 4 of the left enable switch A-1 is moved from the above-described operation position (OP2) (immediately before the OFF position) to the operation position (OP2) (immediately after the OFF position).
(OP), the first switch section 4 is turned off, and the second enable switch A-1 is turned off.
The switch section 5 is turned off in response to forced opening by the plunger 2.

For this purpose, the left enable switch A-
The first safety circuit (safety relay unit, etc.) 78 of the controller of the robot B connected to the first switch unit 4 operates, and the control circuit 79 of the controller of the robot B to which the second switch unit 5 is connected. Worked,
The robot B stops (Step S4).

Further, the operator F separates his left hand F-1 from the left grip 78-1 and teaches the teaching box 7.
When 0 is abandoned (step S5), the first switch unit 4 of the left enable switch A-1 changes from the ON state of the operation position (immediately after operation) (OP) to the free position (FP).
In order to return to the state, the first switch unit 4 is turned off, the safety system circuit (safety relay unit or the like) 78 of the controller of the robot B is activated, and the robot B is stopped (step S4).

When the operator F is left-handed, the right hand F-2 holds the right grip 78-2, holds the teaching box 70, and uses the right hand F-2's finger to hold the right trigger 75-. 2 (step S6), the first switch section 4 of the right enable switch A-2 is turned on at the above-mentioned operation position (immediately after the operation) (OP), the output is sent to the controller, and the mode is switched to the teaching mode (step S6). Step S2). Hereinafter, the runaway of the robot B is stopped in the same manner as in the case where the operator F is right-handed.

As described above, according to the embodiment of the safety device according to the present invention, the first switch unit 4 that performs the three-position operation of off-on-off, and the three positions of the first switch unit 4 Since the second switch unit 5 that is turned off when the eyes are turned off is made independent, it is reliable.

[0089]

As described above, according to the switch device of the present invention, the first contact opening / closing means for performing the three-position operation of off-on-off, and the third position of the first contact opening / closing means. When the first and second contact opening / closing means are constituted by, for example, a switch, the second contact opening / closing means which is turned off at the time of the off operation is made independent. The assembling workability is improved, and the cost can be reduced.

Further, since the second contact opening / closing means is turned off when the first contact opening / closing means is turned off at the third position, the first contact opening / closing means is turned off at the first position and at the third position. Off operation can be distinguished.

Further, it is determined at the time of the first operation feeling that the first contact opening / closing means switches from the first position off operation to the second position on operation, and the second operation feeling gives the first contact point. It is possible to determine the point in time when the opening / closing means switches from the ON operation at the second position to the OFF operation at the third position, thereby facilitating the switch operation by the operator.

Further, according to the safety device of the present invention, the first switch section which performs the off-on-off three-position operation, and the first switch section which performs the off-operation at the time of the third position off operation of the first switch section. Since the two switch units are independent, the reliability is improved.

[Brief description of the drawings]

FIG. 1 is a perspective view of a switch device according to the present invention.

FIG. 2 is an exploded view of the switch device.

FIG. 3 is a front perspective view of a switch operation mechanism of the switch device, with a part thereof omitted;

FIG. 4 is a perspective view from the rear side of the switch operating mechanism.

FIG. 5 is a perspective view of a case of the switch device.

FIG. 6 is a perspective view of the switch device as viewed from below a plunger.

FIG. 7 is a perspective view of a frame of the switch device.

FIG. 8 is a perspective view from the front side of an operation member of the switch device.

FIG. 9 is a perspective view from the back side of the operating member.

FIG. 10 is a front view of a switch section of the switch device.

FIG. 11 is an operation explanatory view of the switch device in a free state.

FIG. 12 is an operation explanatory diagram of the switch device in a state immediately before operation.

FIG. 13 is an operation explanatory diagram of the switch device in a state immediately after the operation.

FIG. 14 is an operation explanatory diagram of an operation limit position in the switch device.

FIG. 15 is an explanatory view of the operation of the plunger, the operating member, and the return spring in a free state of the switch device.

FIG. 16 is an explanatory diagram of the operation of the plunger, the operating member, and the return spring during a snap action in the switch device.

FIG. 17 is an explanatory diagram of the operation of the plunger, the operating member, and the return spring when the switch device is pushed at the operation limit position.

FIG. 18 is an explanatory diagram of an operation at three positions in the switch device.

FIG. 19 is an explanatory diagram of a teaching operation of the industrial robot.

FIG. 20 is a front view of the teaching box.

FIG. 21 is a front perspective view of the teaching box of the safety device according to the present invention, with a programmable display portion removed.

FIG. 22 is a perspective view from the back of the teaching box.

FIG. 23A is an explanatory diagram of a connection circuit of the first switch unit. (2) is an explanatory diagram of a connection circuit of the second switch unit.

FIG. 24 is an operation flowchart of the safety device according to the present invention.

FIG. 25 is an explanatory diagram of an operation of a conventional switch device in a free state.

FIG. 26 is an explanatory diagram of an operation state of the switch device.

FIG. 27 is an explanatory diagram of an operation state of the switch device.

FIG. 28 is an operation explanatory diagram of an operation state of the switch device.

FIG. 29 is an explanatory diagram of an operation state of the switch device.

FIG. 30 is an operation explanatory diagram of an operation limit position in the switch device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Case 2 Plunger 3 Switch operation mechanism part (switch operation means) 4 First switch part (first contact opening / closing means) 5 Second switch part (second contact opening / closing means) 7 Case 8 Switch operation mechanism housing part 9 Switch accommodating portion 10 Switch plunger opening 11 Switch plunger opening 12L Claw locking portion 12R Claw locking portion 14 Claw locking groove 15 Frame storing recess 16 Inserting recess 17 Guide recess 18 Operating portion 19 Pressing portion 20 Pressing portion 21A Forced separation pressing part (first forced separation means) 21B Forced separation pressing part (second forced separation means) 22 Guide projection part 23L frame 23R frame 24 Return spring (return elastic member) 25 First operating member 26 Second operating member 27 Base portion 28 Depressed portion forming portion 29 Depressed portion forming portion 30 Claw portion 31 First engaging concave portion 32 second engaging concave portion 33 third engaging concave portion 34 projecting portion 35 projecting portion 36 stopper portion 37 member main body 38 opening portion 39 pressing receiving portion 40 bending portion 41 opening portion 42 engaging portion 43 spring locking portion (elasticity) Member locking point P1) 43 'Spring locking portion (elastic member locking point P2) 44 Base 45 Support portion 46 Support portion 47 One fixed terminal 48 The other fixed terminal 49 One fixed contact 50 The other fixed contact 51 Spring Receiving part 52 Return spring 53 Movable plunger 54 Movable piece 55 Movable contact 56 Movable contact 80 Teaching box A Switching device A-1 Left enable switch A-2 Right enable switch

Claims (9)

[Claims] A first contact opening / closing means for performing a three-position operation of off-on-off;
And a second contact opening / closing means independent of the contact opening / closing means. 2. The time at which the first contact opening / closing means switches from the first position off operation to the second position on operation, and the time at which the first contact opening / closing means switches on the second position. 2. The switch device according to claim 1, further comprising a switch actuating unit that gives an operator a feeling of operation at each time when the third position is switched to the off operation. 3. 3. The first contact opening / closing means in the first contact opening / closing means.
Switching from the off-operation of the position to the on-operation of the second position is performed by the snap action of the switch operating means, and the on-operation of the first contact opening and closing means is switched from the on-operation of the second position to the off-operation of the third position. 3. The switch device according to claim 1, wherein the switching is performed by a moving operation of the switch operating means. 4. A switch operating means comprising: a plunger provided in a case so as to be movable in a pushing direction; a first frame provided in the case being provided so as to be swingable in a pushing direction of the plunger; A first actuating member having an elastic member engaging point, and a second operating member having a second elastic member engaging point removably engaged with an engaging recess of the other frame provided in the case.
And an elastic member interposed between the first elastic member engaging point of the first operating member and the second elastic member engaging point of the second operating member. The operation feeling generated by the switch actuating means is such that the plunger is pushed in, and the first elastic member engaging point moves in the pushing direction of the plunger beyond the second elastic member engaging point. At this point, a first operation feeling caused by the snap action of the elastic member, and further pushing of the plunger causes the end side of the second operating member to disengage from the engagement recess of the plunger and to move to the next. 3. The switch device according to claim 2, wherein the second operation feeling is generated by an operation of removably engaging the engagement recess. 5. The snap action for generating the first operation feeling, wherein the plunger is depressed so that the first elastic member engagement point exceeds the second elastic member engagement point, and At the time of shifting to the pushing direction,
The elastic member pushes up the second operating member, and the operation of generating the second operation feeling is performed by further pushing the plunger so that the end side of the second operating member is engaged with the plunger. 4. The switch device according to claim 3, wherein the switch device is operated by disengaging the engagement recess and engaging the next engagement recess in a detachable manner. 6. A first forcing for forcibly opening the first contact opening / closing means after the first contact opening / closing means is switched from the on operation at the second position to the off operation at the third position. Opening means; and second forcing forcibly opening the second contact opening / closing means after the first contact opening / closing means is switched from the second position on operation to the third position off operation. The switch device according to claim 1, further comprising an opening unit. 7. The first forcibly opening means for forcibly opening the first contact opening / closing means includes a forcibly opening pressing portion provided on the plunger, and the plunger is pushed into the forcible opening. At the point of reaching the operation limit position, the forcibly opening pressing portion operates to open the first contact opening and closing means, and the second forcibly opening means forcibly opening the second contact opening and closing means, A forced-opening pressing portion provided on the plunger, wherein the forced-opening pressing portion causes the second contact opening / closing means to perform an opening operation when the plunger is pushed in and reaches the operation limit position. The switch device according to claim 6. 8. The switch device according to claim 1, wherein said first and second contact opening / closing means are respectively constituted by the same switch unit. 9. A safety device having a teaching box in which an enable switch device performs an off-on-off three-position operation by actuating a trigger, wherein the enable switch device is turned off-on-off.
First contact opening / closing means for performing a position operation;
A second contact opening / closing means which is turned off at a third position of the contact opening / closing means and is independent of the first contact opening / closing means; A switch actuating means for giving the operator an operational feeling at the time of switching to the second position on operation and the time of switching the first contact opening / closing means from the second position on operation to the third position off operation; A safety device characterized by comprising a switch device having the same.