JP2003015701A - Emergency measure method and device for industrial equipment with attachable/detachable operating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the disconnection or connection failure of an operator side at the time of connecting an operating device with an always closed emergency switch to industrial equipment without causing any malfunction at the time of releasing the connection of the operating device to the industrial equipment. SOLUTION: When an operator 8b is mounted on industrial equipment 1, first connection for connecting an emergency switch 10b of the operating device 8b to a series circuit 101 constituted of an emergency switch 10a of the industrial equipment 1 and an emergency measure starting element 55 to be operated by this for starting an emergency measure means 60 in parallel is executed, and then second connection for starting a switching starting element 73 to switch the circuit for serially connecting the emergency switch 10b to the emergency switch 10a and the emergency measure starting element 55 is executed so that the both emergency switch 10a and emergency switch 10b can be validated. When the operating device 8b is detached from the industrial equipment 1, the second connection is released, and then the first connection is released so that the emergency switch 10a can be validated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention can be attached to and detached from mobile vehicles such as automatic guided vehicles, physical distribution and transportation systems, industrial robots, food products requiring temperature control, pharmaceuticals, industrial furnaces, injection molding machines and their controllers. The present invention relates to an emergency measure method and apparatus for various industrial equipment provided with an operating device, that is, industrial equipment with a detachable operating device.

[0002]

2. Description of the Related Art For example, an automated guided vehicle is used in a warehouse, a factory, a clean room where semiconductors and liquid crystal substrates are manufactured and handled, and is operated according to a remote control or a predetermined traveling program to transport an object at a predetermined position. Work such as giving and receiving. Not only mobile vehicles that move freely in free order by remote control, but also mobile vehicles that move in a predetermined travel route according to a traveling program Since the arrangement state of the objects and the state of the operator who handles the apparatus are variously changed, the objects may collide with the conveyed objects or persons and may hinder the moving vehicle. In addition, for a transported object or a person, a collision with a moving vehicle causes damage or danger. For example, the moving speed of a moving vehicle that transports liquid crystal substrates in a clean room is up to 40.
The speed is about 60 m / min, but when the liquid crystal substrate housed in the cassette is mounted, it is as heavy as about 500 kg,
Depending on the object, it can be as much as 1 t, so avoiding the collision is an important issue for a moving vehicle, an expensive liquid crystal substrate, surrounding devices and objects, and a person.

Therefore, a moving vehicle is provided with a sensor for detecting a contact with another object as an obstacle and stopping the movement or stopping an operation irrelevant to the movement for safety. On the other hand, there is also an emergency switch for taking emergency measures when a person is around and the moving vehicle is about to come into contact with others, or when an emergency situation such as an abnormal operation is known. The positional accuracy that is finally allowed to transfer the cassette containing the liquid crystal substrate to and from the mobile vehicle with the device is as small as ± 10 mm. The emergency switch is important because the operation needs to be stopped urgently.

A moving vehicle has, for example, its own graphic control panel section and also has a graphic control panel as an attachable / detachable operation unit, which can be operated according to either input, and the emergency switch is a mobile vehicle. Side and the actuator side. The operating device is connected to the moving vehicle by a cord, and if this connection is maintained and the operating device is detached from the moving vehicle, the operator operates the operating device away from the moving vehicle to start, stop or manually drive the moving vehicle. It is convenient because steering can be performed and emergency measures can be taken by immediately operating the emergency switch provided on the operation unit even if an abnormality occurs.

The operating device also displays the state and history of a moving vehicle, creates and edits a running program, sets parameters,
It can be used to teach moving points, save running programs, parameters, point data, etc. to an IC card and transfer them from the IC card to the moving vehicle. Normally, the operation is carried out while mounted on the moving vehicle. When performing time-consuming work such as creation and editing, disconnect the connection with the moving car so that it can be handled independently, and while working on the moving car, input work etc. at other places in parallel. It is also possible to do so.

As shown in FIG. 19, an emergency switch b on the moving vehicle a side and an emergency switch d on the operating device c side are relays provided in a drive circuit f for driving a power circuit e for moving and operating. The emergency measure means i including a contact point g and a relay coil h for opening and closing the contact point g is configured to be shared. The emergency switch b on the side of the moving vehicle a is a so-called B-type contact that is normally closed, and when this is opened, the relay coil h operates to open the relay contact g and stop the operation of the power circuit e.

The emergency switch d on the operating device c side is a normally closed B switch.
If the mold contact is used, the emergency measure means i will operate when the operating device c is disconnected, so that the emergency measure means i operates.
As shown in Fig. 5, a normally open type A contact is used, and when this is closed, the relay coil j operates to open the relay switch k and the relay contact k in series with the emergency switch b and the relay coil h on the side of the moving vehicle a to open the relay. The coil h is made to work.

[0008]

However, if the emergency switch d on the operating device c side is an A-type contact, there is no change in the circuit on the side of the moving vehicle a regardless of whether it is connected to or disconnected from the side of the moving vehicle a. However, there is a problem that even if there is a disconnection or a poor connection on the operating device c side, it cannot be detected.

The object of the present invention is not to cause a malfunction even when the operating device having a normally closed emergency switch is disconnected from the industrial equipment, and disconnection or connection failure on the operating device side at the time of connection can be detected.
An object of the present invention is to provide an emergency measure method and device for industrial equipment with an operating device.

[0010]

In order to achieve the above object, an emergency measure method for industrial equipment with an operating device according to the present invention comprises:
In an industrial device that has an emergency switch that uses a normally-closed contact or the like and an emergency measure that performs an emergency measure by operating it, by operating an emergency switch on the operator side that is detachably connected to this industrial device, In order to perform emergency measures by sharing the emergency measures on the equipment side, by mounting the operation device on the industrial equipment, the emergency switch on the operation device side can be operated by the emergency switch of the industrial equipment and this operation. The emergency switch for activating the means is connected in parallel in the middle of the series circuit with the activating element, and after the first connection is made, the emergency switch on the operator side by the first connection is the emergency switch on the industrial equipment side and the emergency measure activation. Make a second connection that activates the switching activation element that switches the circuit so that it is in series with the element. Either the industrial equipment side emergency switch or the actuator side emergency switch The emergency measure is activated even when the operation is performed, and the second connection is released by disconnecting the operating device from the industrial equipment, and then the first connection is released, and the emergency switch is operated by operating the emergency switch on the industrial equipment side. It is characterized by making the means work.

In such a structure, the operating device is attached to the industrial equipment to make the first and second connections, and
With the first connection, the emergency switch on the controller side
Since the emergency switch on the industrial equipment side is connected in parallel in the middle of the series circuit with the emergency measure starting element for activating the emergency measure means, the emergency switch on the industrial equipment side remains alive to the emergency measure starting element. Connection of the emergency switch on the side is completed, and the switching activation element is activated by the second connection after that, and the emergency switch on the operator side that made the first connection is the emergency switch on the industrial equipment side and the emergency measure activation element. Since the circuit is switched so as to be in series with the emergency switch on the operating device side, the emergency switch on the operating device side becomes alive for the emergency measure activation element under the same conditions as the switch on the industrial device side. Even if the emergency switch on the actuator side can be used to perform emergency measures that share the same emergency measures without causing any abnormalities, the actuator is removed from the industrial equipment. By doing so, the second connection and the first connection are released later, and by the second disconnection, the emergency switch on the industrial equipment side is returned to the series circuit with the emergency measure activation element to perform the emergency activation element. In contrast to the case where the emergency switch on the operating device side is returned to the first connection state in parallel with the series circuit and the emergency action activation element is not alive, the first disconnection afterwards, Since the emergency switch on the operator side is disconnected from the series circuit, the emergency measure means does not malfunction even if the emergency switch on the operator side is normally closed. Therefore, there is no problem even if the normally-closed contact is used for the emergency switch on the operator side, and because it is normally closed, the emergency switch circuit on the operator side in the connected state and the connection portion of this circuit with the industrial equipment side are provided. It is possible to detect a disconnection or a connection failure of the emergency switch circuit on the operating device side from the electrical output after passing through, and the detection result can be displayed outside.

As an emergency measure device for an industrial machine equipped with a detachable operating device which achieves such a method, an industrial machine having an emergency switch such as a normally closed contact and an emergency measure means for performing an emergency measure by operating the emergency switch, An operating device, which is removably attached to and connected to the industrial equipment, and has an emergency switch for sharing the emergency measure means on the industrial equipment side to perform an emergency measure, and mounting the operating device on the industrial equipment. Thus, the emergency switch on the operator side is connected in parallel to the emergency switch of the industrial equipment and the emergency measure activation element that is activated by the operation of the industrial device and activates the emergency measure means in parallel in the middle of the series circuit. , A circuit so that the emergency switch on the operator side connected by the first connecting means is in series with the emergency switch on the industrial equipment side and the emergency measure starting element. And a second connecting means for switching activation elements exert after connection by the first connecting means changing,
It is sufficient that the operating device is detached from the industrial equipment, and then the connection by the first connecting means is released after the connection by the second connecting means is released. With the attachment / detachment, the first and second connecting means can automatically and surely achieve the connection and the disconnection with a difference between the connection time and the connection release time required before and after.

The first and second connections and the disconnection are
Leading and trailing can be added depending on the difference in the connecting stroke of the connector between the operating device and the industrial equipment.

The first and second connections and the disconnection are
It is also possible to add the first and the second by the delay means provided in the circuit for making the second connection.

The emergency measures preferably include the movement of the industrial equipment and / or the suspension of operations unrelated to the movement.

Further objects and features of the present invention will become apparent from the detailed description and drawings set forth below. To the extent possible, each feature of the invention is
Alternatively, they can be used in combination in various combinations.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an emergency measure method and apparatus for an industrial device with a detachable manipulator according to an embodiment of the present invention will be described.
The present invention will be described in detail with reference to FIGS. 1 to 18 to provide an understanding of the present invention.

The industrial equipment with the attachment / detachment device according to the present embodiment moves the liquid crystal substrate unattended along a predetermined route in accordance with a preset program for handling the liquid crystal substrate in a clean room, as shown in FIGS. 8 and 9. This is an example of a car. However, the present invention is not limited to this,
The present invention is effective not only for a moving vehicle that moves freely on a free route in a remote order by remote control, but also for a moving vehicle on which a person moves. In addition to mobile vehicles, it can be applied to physical distribution and transportation systems, industrial robots, food products that require temperature control, pharmaceutical fields, industrial furnaces, injection molding machines and their controllers, and other industrial devices that have removable operating devices. And are effective, and all belong to the category of the present invention.

The mobile vehicle of this embodiment has a mobile vehicle main body 1 shown in FIGS. 8 and 9 having traveling wheels 51 at the bottom as shown in FIG. 8, and a lower portion and an upper portion of the mobile vehicle main body 1. Further, a drive unit 2 for driving the traveling wheels 51 and a storage unit 3 for storing a cassette containing a liquid crystal substrate are integrally provided. Drive unit 2
Is a drive mechanism 52 with a built-in brake that drives the traveling wheels 51.
Are provided separately for the front and rear wheels. The storage part 3 has a side window 5 having a transparent opening / closing shutter 4, and this window 5
There is provided a transfer mechanism 53 as shown in FIG. 8 for transmitting and receiving the liquid crystal substrate to and from the other through. The transfer mechanism 53 is normally in the retracted state retracted into the storage unit 3, and extends to the outside through the window 5 to receive the liquid crystal substrate stored in the cassette from the external device and retract it into the storage unit 3 for storage. After that, the window 5 is closed to make it a hermetically sealed state, and the moving vehicle body 1
The liquid crystal substrate received and stored can be taken out to the outside through the window 5 and transferred to an external device. As shown in FIG. 9, an antenna 6 for operating in accordance with a preset program and an alarm lamp 7 for notifying an abnormality are provided on the upper surface of the moving vehicle body 1, and the front and rear surfaces of the moving vehicle body 1 are 8, a total of four emergency switches 10a are provided as shown in FIG.

Further, a detachable graphic control panel as shown in FIG. 9 is provided as an operating device 8b on the rear surface of the moving vehicle main body 1, and the detachable operating device 8b is connected to a connecting cord 9 as shown in FIG. Is detachably connected to the moving vehicle main body 1, and the operating device 8b itself is detachably attached to the attaching portion 1a of the moving vehicle main body 1.
Therefore, the operating device 8b is detached from the moving vehicle main body 1 and held by hand, and is operated away from the moving vehicle main body 1 to manually move the moving vehicle main body 1 in various ways, operate the transfer mechanism, and perform various manual operations. be able to. Of course, the operation device 8b is mainly operated in a state where it is attached to the moving vehicle body 1, but as described above, the state and history of the moving vehicle body 1 are displayed,
You can create and edit running programs, set parameters, teach moving points, save running programs, parameters, point data, etc. to IC cards, transfer from IC cards to moving vehicles, and create and edit running programs. In order to perform a time-consuming operation, the connection cord 9 with the moving vehicle main body 1 is also disconnected so that the moving vehicle main body 1 can be handled independently. It is possible to do input work, etc.

The display screen 8b1 of the operation device 8b is a touch panel, and a touch operation can be performed in addition to performing various displays. The display screen 8b1 is normally placed in a non-display state, and when touched, a guide display and a menu selection key are displayed. When, for example, a manual menu is selected according to the guide display or the operation of the selection key, a manual menu screen as shown in FIG. 12 is displayed, and when the manual travel key 8b2 is operated on this screen, as shown in FIG. The manual driving screen is displayed, and various operation keys for manual driving are displayed. If necessary, a guide display will also be displayed. When a trouble occurs, the trouble occurrence screen shown in FIG. 14 is displayed, and necessary operation keys such as the reset key 8b4 are also displayed.

The operating device 8b is also provided with an emergency switch 10b for emergency stop as shown in FIG. 11, which is particularly convenient for avoiding troubles during manual traveling. Further, bumpers 11 are provided on the lower and upper portions of the front and rear surfaces and both side surfaces of the drive unit 2 of the moving vehicle main body 1, and when the moving vehicle main body 1 comes into contact with another inside these bumpers 11, this is detected as an obstacle. A sensor 12 for detecting a failure is provided as shown in FIG. As a result, the moving vehicle main body 1 can detect obstacles at two positions above and below in four directions, and can cope with contact with a wide variety of obstacles. However, the sensor 12
In principle, it is effective even if there is only one.

The sensor 12 is generally of the A contact type,
As shown in FIG. 10, the first and second contacts 12a and 12b are normally opened, and when they are pressed by the contact with the other of the moving vehicle main body 1 as shown by an arrow P, they are contacted with each other and closed. What is detected by a circuit is conventionally used.

When there is a signal for operating the emergency switches 10a, 10b or a signal for detecting a failure by the sensor 12,
As shown in the schematic configuration of FIG. 1, a power circuit 54 for driving various operating members such as the traveling wheels 51 and the transfer mechanism 53 of the mobile vehicle body 1 is connected to a relay coil 55 and its relay contacts 56. Emergency stop of movements and / or movements not related to movements. Such an emergency measure state is monitored by the control means 57 such as a microcomputer from the change of the electrical characteristics such as the voltage at the output point in the operation circuit of the relay coil 55, and the moving vehicle main body 1 is stopped by the emergency measure. Thereafter, the return regulation program 58 can regulate the return.

In other words, the control means 57, after an emergency stop, turns on the power again in the same manner as described above, for example, in accordance with a preset return regulation program 58. If there is a cassette on the transfer mechanism, the return to origin is prohibited and the cassette is ejected.
Origin return is allowed on condition that there is no cassette on the transfer mechanism. Operation restart is permitted by return to origin. The predetermined recovery procedure such as ~ is sequentially satisfied, and the proper recovery state is determined, or the recovery completion signal is input from the outside by proper recovery, the operation restart prohibition signal is not released,
Control is performed to prohibit resumption of operation. As a result, it is possible to prevent the safety of the moving vehicle main body 1, the cassette, the liquid crystal substrate, the device, the surrounding objects, and the person from being impaired by the careless re-operation.

However, the emergency switch 10 on the operating device 8b side
If b is an A-type contact as in the conventional case to prevent malfunction due to removal of the operating device 8b, the operating device 8b will move to the mobile vehicle body 1
There is no change in the circuit of the emergency measure means 60 by the emergency switch 10a on the side of the moving vehicle main body 1 in the connected state or the disconnected state, and even if there is disconnection or connection failure on the operating device 8b side, it cannot be detected.

Therefore, in order to solve this, the emergency measure method of the present embodiment is provided with an emergency switch 10 as shown in FIG.
Emergency measure means 6 for performing emergency measures by a and its operation
In the main body 1 of the moving vehicle having 0, by operating the emergency switch 10b on the side of the operating device 8b which is detachably connected to the main body 1 of the moving vehicle, the emergency measure means 60 on the side of the main body 1 of the moving vehicle is shared to perform an emergency measure. In order to perform the operation, by mounting the operating device 8b on the moving vehicle main body 1, the emergency switch 10b on the operating device 8b side is replaced by the emergency switch 1 on the moving vehicle main body 1.
0a and a first connection for parallel connection in the middle of the series circuit 101 with the relay coil 55 as an emergency measure activation element which is operated by the operation of 0a and activates the emergency measure means 60, and then the first connection. The emergency switch 10b on the operating device 8b side is the emergency switch 10a on the moving vehicle body 1 side.
And, for example, the relay coil 7 as a switching start element for switching the circuit so as to be in series with the relay coil 55.
The second connection for operating 3 is made, and the emergency switch 10a on the side of the mobile vehicle main body 1 and the emergency switch 10 on the side of the operating unit 8b
In any of the operations of b, the emergency measure means 60 is operated so that the emergency measures are performed, and the operation device 8b is used.
The emergency switch 1 on the side of the moving vehicle main body 1 side after disconnecting the second connection by disconnecting the first connection
The emergency measure means 60 is operated by the operation of 0a so that the emergency measure is performed.

As described above, by mounting the operating device 8b on the main body 1 of the moving vehicle, the first and second connections are made in advance,
By the first connection described above, the emergency switch 10b on the operating device 8b side is connected in series with the emergency switch 10a of the vehicle body 1 and the relay coil 55 for activating the emergency measure means 60.
Since the emergency switch 10a of the mobile vehicle main body 1 is connected to the relay coil 55 in a live state, the emergency switch 10b on the operation device 8b side is connected in the middle of 01, and then the second switch Connection, the relay coil 73 is activated, and the circuit is switched so that the emergency switch 10b on the side of the operating device 8b, which is connected to the first connection, is in series with the emergency switch 10a on the side of the mobile vehicle body 1 and the relay coil 55. Then, the emergency switch 10b on the operation unit 8b side becomes alive with respect to the relay coil 55 under the same condition as the emergency switch 10a on the mobile vehicle body 1 side, that is, at the contact of the same type, so that the mobile vehicle body 1 Side emergency switch 10a
The emergency switch 10b on the side of the operating device 8b can be used to perform the emergency measures by sharing the same emergency measure means 60 without causing any abnormality for a moment.

On the contrary, by removing the operating device 8b from the main body 1 of the moving vehicle, the second connection and the disconnection of the first connection are performed first, and then the second connection is released. The emergency switch 10a on the side is returned to the series circuit 101 with the relay coil 55 and is kept in a live state with respect to the relay coil 55, and the emergency switch 10b on the operation unit 8b side is connected to the series circuit 101 in the first connection state. The emergency switch 10b on the operating unit 8b side is disconnected from the series circuit 101 by the first disconnection after that, and the emergency switch 10b on the operating unit 8b side is normally closed. Even emergency measures 60
Does not malfunction. Further, the emergency switch 10a on the side of the moving vehicle main body 1 does not become abnormal for a moment.

As a result, there is no problem even if a normally closed contact is used for the emergency switch 10b on the operating device 8b side, and because it is normally closed, the circuit 102 of the emergency switch 10b on the operating device 8b side in the connected state and this A disconnection of the circuit 102 of the emergency switch 10b on the operation device 8b side and a connection of the connecting portion 103 from the electrical output at the output point 104 via the connecting portion 103 of the circuit 102 to the side of the moving vehicle main body 1 and the like. The defect can be detected, and the detection result can be displayed on the external display means 100.
It is preferable that the display unit 100 displays characters on the screen. However, a lamp, buzzer, or sound may be used, and more preferably, they are used together. It should be noted that the detection of the output as described above by the control means 57 is conditioned on that the attachment of the operating device 8b to the moving vehicle body 1 is detected by the sensor 108 or the like, and that the operating command is received from the operating device 8b. By doing so, it is possible to easily distinguish the output from the state in which the operating device 8b is removed, and it is possible to prohibit the operation of the operating device 8b. In FIG. 1, the detection is performed in the system of the circuit 102b related to the first connection of the circuits 102, but if necessary, the path 102a related to the second connection is used.
In the same way, by setting the output point 104a and the like and monitoring the output there, disconnection of the circuit 102a,
Poor connections can also be detected individually.

However, as shown in a modified example in FIG. 2, the emergency switch 10 on the operating device 8b side at the time of the second connection.
b is parallel to the series circuit 101 and is separately provided in synchronization with switching the circuit by the relay coil 73 and its relay contact 74 so as to be in series with the emergency switch 10a and the relay coil 55 on the vehicle body 1 side. Detection circuit 1
It is also possible to detect the disconnection or the connection failure of the circuit 102 on the operating device 8b side by closing or opening 09 with the relay contact 74a and monitoring the output at the output point 111 or the like at that time. In this case, although the electric output through the circuit 102 and the connecting portion 103 is not observed, the validity or invalidity of the connection can be indirectly detected by switching the circuit by the relay coil 73.

A mobile vehicle body 1 that achieves the above method
As shown in FIG. 1, the emergency measure device includes a mobile vehicle body 1 having an emergency switch 10a and an emergency measure means 60 for performing an emergency measure by operating the emergency switch 10a, and a removable vehicle body 1 that is detachably attached to the mobile vehicle body 1. An operating device 8b that is connected and has an emergency switch 10b that shares the emergency measure means 60 on the side of the moving vehicle main body 1 to perform an emergency measure, and attach the operating device 8b to the moving vehicle main body 1. Thus, the emergency switch 10b on the operating device 8b side is replaced with the emergency switch 10a on the main body 1 side of the mobile vehicle and an emergency measure activation element for operating the emergency measure means 60 operated by the operation of the emergency switch 10a, for example, in the series circuit 101 of the relay coil 55. The first connecting means 105 to be connected in parallel on the way and the emergency switch 10b on the operating device 8b side connected by the first connecting means 105 are the moving vehicle book. Second connecting means 106 exerting after the relay coil 73 of the relative first emergency switch 10a and a relay coil 55 as switching actuating element for switching the circuit so that the series connection by the first connection means 105
It is assumed that the operation device 8b is detached from the moving vehicle body 1 so that the connection by the second connecting means 106 is released and then the connection by the first connecting means 105 is released. As a result, when the operating device 8b is attached to or detached from the moving vehicle body 1, the first and second connecting means 105 and 106 are automatically connected with the difference between the connection and disconnection, which is required before and after connection. The disconnection can be reliably achieved.

The first and second connections and the disconnection are
Between the connectors 105a and 105b that electrically connect the operating device 8b and the mobile vehicle main body 1, and the connectors 106a and 10b.
6b between each connection stroke S1, as shown in FIG.
It is possible to add a lead or a trail depending on the difference in size of S2.

The first and second connections and the release of these connections are shown by phantom lines in FIG. 1 in the circuit 102a for making the second connection without making a difference in the connection stroke between the connectors. Delay can be added by delaying the effectiveness of the circuit 102a with respect to that of the circuit 102b which makes the first connection by delay means such as the capacitor 107 thus provided.

In the control in FIG. 1 as described above,
When the emergency stop signal from the emergency switches 10a and 10b and the fault detection signal from the sensor 12 are treated in the same way, the sensor 12 originally detects that the moving vehicle body 1 has come into contact with another vehicle while moving, and causes a collision. Although it is for the purpose of preventing the movement, the moving vehicle main body 1 stops operating at a predetermined working position and operates normally such as exchanging a cassette containing a liquid crystal substrate with the device. If a person or the like accidentally hits the bumper 11 from the surroundings while operating, the operation not related to the movement is stopped as an emergency measure, so the work is interrupted or the device is misaligned. There is a problem that it takes time to restore.

Therefore, in order to solve such a problem, in the obstacle detection / emergency measure method of the moving vehicle according to the present embodiment, when the moving vehicle body 1 hits another, the sensor 12 detects the obstacle. , In order to perform automatic emergency measures, the above emergency measures due to failure detection are prohibited when the moving vehicle body 1 is stopped, and failure detection is performed when the moving vehicle body 1 is moving. Take emergency measures. As a result, when the moving vehicle body 1 is moving, the moving vehicle body 1
When the vehicle hits another, a failure is detected through the sensor 12 and an emergency measure is automatically performed to ensure the safety of movement, that is, the moving vehicle main body 1 collides with the other and hits the other. While avoiding the problem of continuing movement and operation, while the moving vehicle body 1 is stopped, by prohibiting emergency measures by detecting a failure of the sensor 12, only a person or the like accidentally hits from around. Therefore, it is possible to prevent automatic emergency measures from being taken as in the case where the moving vehicle main body 1 that is moving hits another. Therefore, although the moving vehicle main body 1 stops moving at a predetermined position and operates normally such as exchanging the liquid crystal substrate with the device, the work is interrupted by the stop of the operation which is not related to the movement due to an emergency measure. In addition, this interruption does not cause inconvenience such as displacement from the device.

As shown in FIG. 1, the obstacle detection / emergency measure device for a moving vehicle according to the present embodiment which achieves such a method is based on a sensor 12 for detecting an obstacle when the moving vehicle body 1 hits another. Failure detecting means 59, and the relay coil 55 and its relay contact 56 that automatically take emergency measures by a failure detection signal from the failure detecting means 59.
In the configuration including the emergency measure means 60, further, when the moving vehicle main body 1 is in the movement stop state, the operation of the failure detecting means 59 or the operation of the emergency measure means 60 based on the failure detection by the obstacle detecting means 59 is blocked to move. When the vehicle body 1 is in the moving state, the control means 61 that does not perform the blocking is provided.

As a result, the above method is applied to the fault detecting means 5
9. By the actions of the emergency measure means 60 and the control means 61, it is possible to achieve automatically and reliably and stably according to the set conditions. The control means 61 includes a brake 64 for stopping the movement of the moving vehicle main body 1, which is attached to the motor 63 of the drive unit 52 as shown by the solid line in FIG.
Is actuated by the switch 65 or the like, or a change in the electrical characteristics of the brake circuit 91 when the brake 64 is actuated is used as a signal indicating the movement stopped state of the moving vehicle body 1 and the moving vehicle body 1 is in the movement stopped state or the movement state. Can deal with crab. The control means 61 of the present embodiment comprises a relay coil 67 that works with the signal and a relay contact 68 of the relay coil 67. When the operation of the moving vehicle body 1 is stopped, the path passing through the sensor 12 is bypassed to disable the failure detection signal. The failure detection is substantially prohibited. In the moving state of the moving vehicle main body 1, the brake 64 is not operated (it is in an energized state for releasing the brake against the bias of the spring), so that the operation prohibition by the bypass of the sensor 12 is released. It does not prevent the emergency measures from being detected by such a failure.

By the way, the sensor 12 for detecting obstacles has a structure in which the detecting circuit is closed to detect an obstacle when the vehicle body 1 comes into contact with another as in the conventional case. In the non-detected state, there is no particular difference from the state in which the detection circuit is disconnected, and therefore even if the detection circuit is disconnected, this cannot be detected, and the obstacle cannot be detected.

Therefore, as a method of detecting a trouble in the moving vehicle according to the present embodiment, the output of the detection circuit 15 as shown in FIG. 6 is determined depending on whether the moving vehicle body 1 hits another and the sensor 12 is pressed. In order to detect the presence / absence of an obstacle due to the difference between the two, the detection state of the sensor 12 is determined by the closed state, the open state, and the disconnection state of the detection circuit 15 that detects the opening and closing of the sensor 12. Different outputs are automatically generated, and the presence or absence of an obstacle or the presence or absence of an obstacle by the failure determination means 16 is determined from the difference in the output to detect the failure. In the case of a person, it can be judged by monitoring the output state of the detection point 14 by an analog instrument or an appropriate display means and displaying it externally. In the case of the judgment means, the output state of the detection point 14 can be input to various determination devices. It can be automatically determined.

The obstacle detection device for a moving vehicle according to the present embodiment is a circuit for detecting whether the sensor 12 is pressed or not pressed and whether the sensor 12 is opened or closed for detecting the above-mentioned failure. And the presence or absence of an obstacle due to the difference in the output from the detection point 14 of the detection circuit 15,
A failure determination means 16 for determining the presence or absence of disconnection is provided.

As described above, the state where the sensor 12 is pressed by the moving vehicle body 1 hitting an obstacle, the state where the sensor 12 is not pressed without hitting the obstacle, and the detection circuit 15 is disconnected. The detection point 1 of the detection circuit 15
When different outputs are automatically obtained for each of the four outputs, the presence / absence of an obstacle is determined by the obstacle determination means 16 or the like from the difference in the output.
Also, it is possible to automatically determine whether or not the detection circuit 15 is disconnected, and detect a failure.

In order to obtain the above three output states, in the present embodiment, particularly, the first and second contact points 12 of the sensor 12 are used.
A series circuit unit 1 in which a and 12b are connected in series and a potential is applied
At 3a, the first, second
The detection point 14 of the detection circuit 15 is different at the bypass time when the contact point is closed, at the bypass opening time when the first and second contact points 12a and 12b are opened without being pressed, and when the detection circuit 15 is disconnected. The output is automatically generated. Specifically, the detection circuit 15 includes a series circuit unit 13a that connects the first and second contacts 12a and 12b of the sensor 12 in series to constantly provide a potential, and a first and second contacts of the series circuit unit 13a. And the detection point 14 of the electric potential of the above.

As a result, when the first and second contacts 12a and 12b are opened without being pressed, the series circuit portion 13a is in a state in which the first and second contacts 12a and 12b are connected in series and the pressing is not performed. When the first and second contacts are received and closed, the series circuit portion 13a is in a state of bypassing at the first and second contact portions, and no current flows even if any portion of the series circuit portion 13a is disconnected. . That is, the circuit state of the detection circuit 15 differs depending on whether the sensor 12 receives the pressure, when the sensor 12 does not receive the pressure, and when the detection circuit 15 is disconnected, and different outputs corresponding to the respective states are obtained at the detection point 14.

In other words, the series circuit portion 13a has a B contact so that the A contact type sensor 12 itself is electrically connected in series while the detection circuit 15 is kept closed while maintaining the mechanical normally open state. When the detection circuit 15 has a disconnection, the detection circuit 15 starts to be in the open state, so that the output of the detection point 14 becomes 0 V and the disconnection is detected. Further, the sensor 12 remains connected in series in the series circuit portion 13a unless the wire is broken, but when the first contact and the second contact are closed by being pressed, the series circuit portion 13a bypasses and is not pressed. The output to the detection point 14 can be made different by utilizing the fact that the bypass of the series circuit portion 13a is opened when the first and second contacts are opened and the overall resistance state is changed.

The output can be viewed as a voltage as an example, and there is an advantage that the output can be easily adjusted by providing the resistors 21 and 22 at appropriate places in the series circuit portion 13a.
22 makes it possible to increase the difference in the output at the detection point 14 due to the difference in the circuit state. Now, the resistance value of the first and second contacts 12a and 12b of the sensor 12 is 0, and the resistance 2 is 2.
If the resistance values of 1 and 22 are equal, the series circuit unit 1
With respect to the voltage V applied to 3a, the output V1 at the detection point 14 in the state where there is no disconnection and the first and second contacts 12a and 12b are open is V / 2, and there is no disconnection and the first and second contacts 12a , 12b is the output V2 (= V) of the detection point 14 when the resistance 21 of the series circuit portion 13a is the first,
The output V3 (= 0) of the detection point 14 in the state where V2> V / 2 because of being bypassed by the second contacts 12a and 12b and the detection circuit 15 is disconnected, is the serial circuit unit 13
Since no current flows in a, V3 <V / 2. An example of this is shown in the graph in FIG.

Such three output states can also be obtained by a difference in resistance during energization depending on whether or not a pressure sensor using conductive rubber or the like is pressed, and a state in which energization is stopped due to disconnection.

The fault judging means 16 uses two comparators 23 and 24 for one sensor 12 in order to see the difference in the output from the detection point 14 by the voltage. In reality, it is considered that the three outputs at the detection point 14 have variations, so the comparator 23 outputs the hit output V (V) and the normal output ½ V.
By detecting an output of 3/4 V (V) or more with a margin for both (V), a hit is determined and a failure is detected, and the comparator 24 outputs 1/2 V (V) at the normal time and output at the time of disconnection. By detecting the output of 1/4 V (V) with a margin near both 0 (V), the disconnection is determined and the failure is detected. This makes it possible to avoid erroneous detection even if there is a variation in output.

In the circuit of FIG. 6, the output of the detection point 14 is input to the comparators 23 and 24. Comparator 23
Inputs the reference voltage of 3/4 V (V) to the positive side and inputs the output to the negative side, and when the output exceeds the reference voltage, the photomos relay 32 passes through the line to the ground.
The current flowing to the comparator 23 is judged to flow into the comparator 23 to detect a failure. At this time, the photo-MOS relay 32 is switched from the ON state to the OFF state, and at the same time, the display lamp 33 formed of an LED or the like in parallel with the ON state is turned on, and at the same time, the relay coil 55 as an example of an automatic stop means for turning on the power source of the moving vehicle main body 1. Is cut off. In addition, the display lamp 3 including an LED provided corresponding to the comparator 23
5 also lights up.

The comparator 24 inputs the reference voltage 1/2 V (V) on the minus side and inputs the output on the plus side, and when the output falls below the reference voltage, it flows to the photo-mos relay 32 through a line to the ground. The current flowing to the comparator 24 determines a disconnection and detects a failure. At this time, the photo-moss relay 32 is switched from the ON state to the OFF state, and at the same time, the display lamp 33 formed of an LED or the like in parallel is turned on, and at the same time, the current of the relay coil 34 for turning on the power source of the moving vehicle body 1 is cut off. It Further, the display lamp 36 including an LED provided corresponding to the comparator 24 is also turned on. Indicator lamps 35, 36
According to which of the two comparators 23 and 24 has worked, that is, the difference in whether the detection is contact or disconnection can be visually recognized from the outside, and depending on the display lamp 33, the detection circuit 15 having the sensor 12 detects the contact or the disconnection. It can be seen from the outside.

By detecting the outputs of the comparators 23 and 24, that is, by detecting the signals at the determination output points 37 and 38, it can be determined that the detection circuit 15 has detected a hit or a wire break.

Further, in the above, instead of turning off the power, it is possible to partially stop the operation such as movement or driving of the transfer mechanism. The display lamps 33, 35, 36, etc., which have a small output, are suitable for equipping the fault determination means 16 on the fault detection board 41 itself to grasp the circuit state, and display on the outside of the mobile vehicle body 1. It is preferable that the alarm lamp 7 is shared, a dedicated lamp is provided, or the operation panel 8 is used to display a warning by using the output of the failure detection of the hit or disconnection as a signal. The warning display can also be externally displayed individually depending on the type of obstacle, that is, whether the obstacle is detected by hitting another or the disconnection is detected. Further, the automatic stopping means can be omitted.

The warning display is preferable in a place where the sound is noisy when visually displayed as described above, while the auditory warning display is preferable in a case where the worker is away or is obstructed by an object. . Therefore, it is most preferable to use the visual warning display and the auditory warning display together.

In the present embodiment, further, as shown in FIG. 6, one sensor 12 and one detection circuit 15 obtain different outputs due to the above-mentioned hit and disconnection. And the failure is detected in each. As a result, the failure determination means 16 is likely to be an electric circuit having a semiconductor element or the like that is prone to failure due to static electricity or the like, but one failure determination means 1
Even if there is such a failure in the circuit of 6, since the other failure determination means 15 is operating, the moving vehicle main body 1, the conveyed object, the objects around it, without stopping the movement or operation of the moving vehicle main body 1, Also, the safety of people can be secured, and the disconnection can be repaired during a normal stop. If necessary, three or more can be provided.

There are eight sensors 12 as described above. Even if there are a plurality of sensors 12 as described above, as shown in FIG.
5 and the failure determination means 16 can detect the presence or absence of an obstacle and the presence or absence of disconnection, and the individual display lamps 33, 35, 36 can display the detection state to the outside. Since the corresponding detection circuit 15 and system can be visually recognized, the detection state can be understood and it is easy to deal with disconnection.

The specific circuit of the emergency measure means 60 shown in FIGS. 3 and 4 is the relay coil 8 shown in FIG. 4 when the power is turned on.
1 operates and is closed by the relay contact 82, and the relay coil 73 operates by switching the operation device 8b to switch the relay contact 74 from the NC terminal to the NO terminal as described with reference to FIG. Each of the four emergency switches 10a and 10b switches to a circuit state in which the relay coil 71 is connected in series.

As a result, the four emergency switches 10a,
When any one of the emergency switches 10b is opened, the relay coil 71 and its relay contact 72 work to operate the relay coil 55, and the relay coil 55 operates so that the relay circuit 56 causes the power circuit 54 to operate. A plurality of sets of different relay coils 73 and relay contacts 74 are activated to open the power circuit 54 for each system. Simultaneously with the opening of the power circuit 54, the brakes 64 of the respective motors 63 are put into an operating state to perform an emergency stop of the movement of the moving vehicle body 1. On the other hand, the relay 71 uses the other relay contact 72 to relay the coil 75 and the relay contact 7 of the power supply circuit 70.
6 is operated and the power supply circuit 70 is also opened.

In the brake circuit 91 shown in FIG. 1, each motor 63 is driven at the same time that each motor 63 is driven by a travel / stop command from the operation panel 8 or a travel stop command in accordance with a program. The brake is turned on at the same time when the driving is stopped. As a result, the moving vehicle body 1 moves or stops in a faithful manner in response to the running command or the stop command.

When the brake 64 is turned on and off, the state of the electric current in the power supply system and the signal system shown in FIG. 5 is shown in the relay coil 67 shown in FIG. 1 or the photomos relay 6 shown in FIG.
The photo-MOS relay 67 is turned on to release the bypass of the sensor 12 when the brake is released, and the photo-MOS relay 67 is turned off when the brake is turned on. The sensor 12 is short-circuited. In the detection circuit 77, the output at the output point 50 is switched between H and L when the brake is released and the brake is turned on. Therefore, even when the control circuit 57 sees this signal, the brake release and the brake on can be discriminated. When the brake is on, the control circuit 57 activates the photoMOS relay 67 or a relay in place of the photoMOS relay 67 to operate the sensor 1
2 may be short-circuited. Further, since the control circuit 57 controls the brake 64 to be turned on and off, the sensor 12 may be bypassed accordingly.

FIG. 15 shows a plurality of injection molding machines 2
01 shows an operating unit 203 as a graphic control panel that is detachably attached and connected to a controller 202 having an emergency switch 200 for centrally controlling 01, and has an emergency switch 204 and a touch-operable display screen 205. There is. FIG. 16 shows an operating unit 303 as a graphic control panel which is detachably attached and connected to a controller 302 having an emergency switch 300 for centrally controlling a plurality of industrial furnaces 301. The emergency switch 304 and touch operation are shown. It has a display screen 305 that can be used. FIG. 17 shows an operation device 403 as a graphic control panel which is detachably attached and connected to a controller 402 having an emergency switch 400 in a physical distribution or transportation system 401, and an emergency switch 404 and a touch-operable display screen. I have a 405. FIG. 18 shows an operation device 503 as a graphic control panel which is detachably attached and connected to the controller 502 having the emergency switch 500 of the industrial robot 501, and includes the emergency switch 504 and the touch-operable display screen 505. It has an operation surface 506. These emergency switches 200, 3
Controller 201, 301-having 00, -500
It is also effective to apply the emergency measure method and device of the present invention between 501 and the operation devices 203 to 503 having the emergency switches 204 and 304 to 504.

[0061]

As is apparent from the above description, according to the method and apparatus for emergency measures for industrial equipment with a detachable operating device of the present invention,
The first and second connections are first and second made by mounting the operation device on the industrial equipment, and the emergency connection activation element for activating the emergency switch on the operation device side and the emergency switch and the emergency measures means by the first connection. Since it is connected in parallel in the middle of the series circuit with the, the emergency switch on the industrial equipment side completes the connection of the emergency switch on the operator side while keeping the emergency switch starting element alive, and then the second connection. The switching start-up element operates to switch the circuit so that the emergency switch on the operator side connected to the first connection is in series with the emergency switch on the industrial equipment side and the emergency measure start-up element. The emergency switch on the industrial equipment side becomes alive for the emergency measure activation element under the same conditions as the switch on the industrial equipment side. It is also possible to perform an emergency measure by sharing the same emergency measure means even by using a switch. By disconnecting the operating device from the industrial equipment, the second connection and the first connection are released in advance, and the second By disconnecting, the emergency switch on the industrial equipment side is returned to the series circuit with the emergency measure starting element to keep it alive for the emergency starting element, and the emergency switch on the operator side is connected to the first series circuit in parallel with the series circuit. Since the emergency switch on the operator side is disconnected from the series circuit by the first disconnection after returning to the connected state to prevent the emergency measure activation element from dying, even if the emergency switch on the operator side is normally closed. The emergency measure does not malfunction when the actuator is removed.

As a result, there is no problem even if the normally-closed contact is used for the emergency switch on the operator side, and because it is normally closed, the emergency switch circuit on the operator side in the connected state and the industrial equipment side of this circuit are connected. It is possible to detect the disconnection of the emergency switch circuit on the operating device side and the quality of the connection from the electrical output passing through the connection portion of and, and the detection result can be displayed outside.

[Brief description of drawings]

FIG. 1 is a schematic circuit diagram showing an emergency measure method and device for a mobile vehicle with a detachable manipulator according to an embodiment of the present invention.

FIG. 2 is a schematic circuit diagram of a main part showing a modified example of FIG.

3 is a specific overall circuit diagram of the emergency measure method and apparatus in FIG.

FIG. 4 is a circuit diagram showing a specific relationship between the emergency switch and the emergency switch on the moving vehicle side and the operation device side in FIG.

5 is a circuit diagram of a brake operation state detection portion of a control unit that blocks the operation of the emergency measure unit of FIG.

FIG. 6 is a circuit diagram of a failure detection unit in FIG.

7 is a graph showing the relationship of three outputs in the circuit of FIG. 6 in a normal time, a hit time, and a wire break.

8 is a perspective view showing a specific example of a mobile vehicle to which the emergency measure method and apparatus of FIG. 1 are applied, with the internal structure seen through.

9 is a perspective view showing the moving vehicle of FIG. 8 as viewed from the front.

10 is a sectional view of a bumper including the sensor shown in FIGS. 1, 3, 6, 8, and 9. FIG.

11 is a perspective view of the operating device shown in FIGS. 1 to 4 and 9. FIG.

12 is a front view showing a manual menu display screen of the operating device of FIG. 11. FIG.

13 is a front view showing a manual traveling display screen of the operating device of FIG. 11. FIG.

FIG. 14 is a front view showing the trouble history display screen of FIG. 11.

FIG. 15 is a perspective view showing a relationship between a controller and an operation device of the injection molding machine.

FIG. 16 is a perspective view showing a relationship between a controller and an operating device of an industrial furnace.

FIG. 17 is a perspective view showing a relationship between a controller of a physical distribution / transportation system and an operating device.

FIG. 18 is a perspective view showing the relationship between the controller and the operating device of the industrial robot.

FIG. 19 is a schematic circuit diagram showing a conventional emergency measure method and device for a mobile vehicle.

[Explanation of symbols]

1 Mobile vehicle main bodies 8a, 8b, 202, 302, to 502 Operators 10a, 10b, 204, 304, to 504 Emergency switch 51 Running wheel 52 Drive section 54 Power circuit 55 Relay 56 Relay contact 57, 61 Control means 60 Emergency measures Means 62 Speed sensor 63 Motor 64 Brake 65 Switch 67 Photomos relay 68 Relay contact 71 Relay 72 Relay contact 73 Relay 74 Relay contact 100 Display means 101 Series circuit 102 Circuit for connecting operation device 103 Connection parts 104, 104a Output point 105 First connecting means 106 Second connecting means 105a, 105b, 106a, 106b Connector 107 Capacitor 109 Detection circuit 111 Output point

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Keiji Fujiwara             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. F term (reference) 5E021 FA05 FC38 HB13 KA13 MA21                 5H209 AA06 DD06 GG08 HH04 JJ01

Claims (10)

[Claims] 1. In an industrial device having an emergency switch such as a normally-closed contact and an emergency measure means for performing an emergency measure by operating the emergency switch, operation of an emergency switch on an operation device side detachably connected to the industrial device. Is a method of emergency measures for industrial equipment with a detachable operating device that shares the emergency measures on the industrial equipment side and performs emergency measures, by mounting the operating device on the industrial device, the emergency switch on the operating device side After making a first connection that is connected in parallel in the middle of a series circuit with an emergency switch of an industrial device and an emergency measure activation element that is activated by the operation of the industrial device and that activates the emergency measure means, the controller side by the first connection The emergency switch on the industrial equipment side is connected to the emergency switch and the emergency measure activation element. The emergency measure should be made to work regardless of the operation of the equipment-side emergency switch and the operator-side emergency switch, and the first connection should be released after the second connection is released by removing the operator from the industrial equipment. An emergency measure method for industrial equipment with a detachable operating device, characterized in that the emergency measure is operated by operating the emergency switch on the industrial equipment side. 2. The industry with a detachable operating device according to claim 1, wherein the first and second connections and the disconnection thereof are preceded and followed by the difference in the connecting stroke of the connector between the operating device and the industrial equipment. Emergency measures for equipment. 3. The emergency measure for an industrial device with a detachable operating device according to claim 1, wherein the first and second connections and the disconnection are preceded and followed by delay means provided in a circuit for performing the second connection. Method. 4. The emergency measure method for industrial equipment with a detachable operating device according to claim 1, wherein the emergency measure includes movement of the industrial equipment and / or suspension of operation regardless of movement. 5. The validity of the emergency switch on the operation device side when the operation device is attached to the industrial equipment is detected and displayed.
4. The emergency measure method for industrial equipment with a detachable operating device according to any one of 4 above. 6. An industrial device having an emergency switch such as a normally-closed contact or the like and an emergency measure means for performing an emergency measure by operating the same, and the industrial device which is detachably mounted and connected to the industrial device. It is an emergency measure device for industrial equipment equipped with a detachable operator equipped with an actuator having an emergency switch for sharing emergency measures and performing an emergency measure, which is operated by mounting the actuator on the industrial equipment. First connection means for connecting the emergency switch on the equipment side in parallel in the middle of the series circuit of the emergency switch of the industrial equipment and the emergency measure activation element that is activated by the operation thereof to activate the emergency measure means; Switching activation element for switching the circuit so that the emergency switch on the operator side connected by the connecting means is in series with the emergency switch and the emergency measure activation element on the industrial equipment side Second to work after the connection by the first connecting means
And disconnecting the operating device from the industrial equipment by releasing the connection by the second connecting device.
An emergency measure device for an industrial device with a detachable operating device, characterized in that the connection by the connecting means is released. 7. The attaching / detaching operation device according to claim 6, wherein the first and second connecting means are connected and disconnected before and after the connection stroke of the connector between the operation device and the industrial equipment. Emergency measure equipment for industrial equipment. 8. The emergency measure device for an industrial equipment with a detachable operating device according to claim 6, wherein the first and second connecting means are preceded and followed by a delay means provided in a circuit related to the second connecting means. 9. The emergency measure device for industrial equipment with a detachable operating device according to claim 6, wherein the emergency measures include movement of the industrial equipment and / or suspension of operation irrespective of movement. 10. A detection means for detecting the effectiveness of an emergency switch on the operation device side when the operation device is attached to an industrial device, and a display means for externally displaying the effectiveness by a detection signal from the detection means. Item 6. An emergency measure device for industrial equipment with a detachable operating device according to any one of items 6 to 9.