JP2007116777A - Device for breaking input of power supply input of robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for breaking an input of a power supply input of a robot system which can elongate a life tremendously by suppressing a circuit cut failure at emergency and the generation of a heat loss at usual operation, and also eliminating the deterioration of a switch with a contact thereby bringing the maintenance period of the switch with a contact close to its mechanical life. <P>SOLUTION: The device is equipped with a contactless switch 4 which is arranged between an input power supply 1 and the switch 2 with a contact and is electrically connected in series to the contact of the switch 2 with a contact, and a switch controller 5 which controls the switch so that the contactless switch 4 may be closed later than the switch 2 with a contact at the power-on of a robot controller 3 and that the contactless switch 4 may be opened earlier than the switch 2 with a contact at the power break of the robot controller 3. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an input power on / off device for a robot system, and more particularly to an input power on / off device for a robot system having a contact opening / closing unit that mechanically opens and closes an input power circuit.

A conventional robot system apparatus is provided with a contact opening / closing section for turning on and off the main circuit power supply in accordance with safety requirements (for example, see Patent Document 1).
This is to ensure that the circuit is disconnected in an emergency.
FIG. 4 is an explanatory diagram of an input power-on / off device of the robot system showing the prior art.
In FIG. 4, 1 is an input power source, 2 is a contact opening / closing unit such as a contactor, and 3 is a robot control device. Tcton is a contact opening / closing signal.
Hereinafter, the operation of the input power-on / off device of the robot system according to the prior art will be described with reference to FIG.
When the power is turned on, the robot controller 3 is turned on by exciting the coil of the contact opening / closing part 2 with the contact opening / closing signal Tcton and bringing the contact of the contact opening / closing part 2 into a conductive state.
When the power is cut off, the excitation of the coil of the contact opening / closing unit 2 is stopped, and the contact of the contact opening / closing unit 2 is turned off to cut off the power supply of the robot control device 3.
As described above, the input power on / off device of the robot system according to the prior art opens / closes the contact opening / closing unit 2 to turn on / off the input power.
JP-A-6-206183 (FIG. 1)

  However, since the input power on / off device of the robot system according to the prior art turns on / off the contact opening / closing part in the energized state, contact deterioration (electrical life) occurs due to sparks or arcs generated at the time of turning on / off, There was a problem that periodic maintenance had to be performed in a shorter period than the mechanical life of the contact opening / closing part. Also, ignoring this electrical life, when used without maintenance, contact welding or contact electrical resistance increases, resulting in circuit disconnection failure in an emergency or loss of heat during normal operation. There was also a problem that occurred.

  The present invention has been made in view of such problems, and suppresses the occurrence of circuit disconnection in the event of an emergency and the occurrence of heat loss during normal operation, and eliminates the deterioration of the contact opening / closing section, thereby opening and closing the contact. An object of the present invention is to provide an input power on / off device for a robot system that can dramatically extend the service life by bringing the maintenance period of the part closer to the mechanical life.

  In order to solve the above problem, an invention according to claim 1 is an input power on / off device of a robot system including a contact opening / closing unit that is arranged between an input power source and a robot control device and mechanically opens and closes a circuit. A contactless switching unit disposed between the input power source and the contacted switching unit and electrically connected in series with a contact of the contacted switching unit; and when the robot controller is turned on, the contacted switching unit An opening / closing control unit for closing the contact opening / closing unit late and controlling the non-contact opening / closing unit to open earlier than the contact opening / closing unit when the power of the robot controller is shut off.

  According to a second aspect of the present invention, there is provided an input power-on / off device for a robot system including a contact opening / closing unit that is disposed between an input power source and the robot control device and mechanically opens and closes the circuit. A contactless switching unit disposed between the contacted switching units and electrically connected in series with the contacts of the contacted switching unit, and the contactless switching unit from the contacted switching unit when the robot controller is powered on And an open / close control unit that controls the non-contact open / close portion to open earlier than the contact open / close portion when the robot controller is powered off.

  According to a third aspect of the present invention, in the input power on / off device for the robot system according to the first or second aspect, the contactless switching unit is a semiconductor switch.

  According to the first or second aspect of the invention, since the contact opening / closing part is configured to open and close without energization, it is possible to suppress the occurrence of circuit disconnection failure in an emergency and the occurrence of heat loss during normal operation. Moreover, since the deterioration of the contact opening / closing part can be eliminated and the life of the contact opening / closing part can be dramatically extended, the maintenance period can be extended.

  According to the third aspect of the present invention, the use of the semiconductor switch can eliminate the deterioration of the contact opening / closing part and can greatly extend the life of the contact opening / closing part, so that the maintenance period can be extended. Can be

  Hereinafter, specific examples of the present invention will be described with reference to the drawings.

FIG. 1 is a configuration diagram of an input power-on / off device of a robot system showing a first embodiment.
In FIG. 1, 1 is an input power source, 2 is a contact opening / closing unit such as a contactor, 3 is a robot control device, 4 is a non-contact opening / closing unit composed of a semiconductor switch such as a transistor or thyristor, and 5 is an opening / closing control unit. Further, Iin is an inflow current flowing through the contact opening / closing unit 2, Swon is a contactless opening / closing signal, and Tcton is a contact opening / closing signal. In FIG. 1, a three-phase power supply is used, but the number of phases is not specified.
The features of the present invention are as follows.
That is, the contactless switching unit 4 disposed between the input power source 1 and the contacted switching unit 2 and electrically connected in series with the contacts of the contacted switching unit 2, and the contacted switching unit 2 when the robot controller 3 is turned on. The contactless opening / closing part 4 is closed later, and the robot controller 3 is provided with an opening / closing control part 5 for controlling the contactless opening / closing part 4 to open earlier than the contacted opening / closing part 2 when the power of the robot control device 3 is cut off. is there.

FIG. 2 is a sequence diagram showing the operation of the input power on / off device of the robot system of the present invention. In FIG. 2, the horizontal axis represents time, and the vertical axis represents the input power supply voltage Vin, the contactless switching signal Swon, the contact switching signal Tcton, the actual switching state of the contact of the contact switching unit 2, and the contact switching unit 2. A flowing inflow current Iin is shown. Further, td in FIG. 2 is a mechanical delay time of the contact opening / closing part 2.
Hereinafter, the operation of the opening / closing control unit 5 in this embodiment will be described with reference to FIGS. 1 and 2.
When the power is turned on, that is, when the contact of the contact switching unit 2 is closed, the contactless switching element 4 is opened in advance by the contactless switching signal Swon, and the circuit from the input power source 1 to the contact switching unit 2 is shut off. Then, the contact opening / closing part 2 is closed by the contact opening / closing signal Tcton, and then the contactless switching element 4 is closed by the contactless opening / closing signal Swon after the mechanical delay time td of the contact opening / closing part 2 has passed. Put it in a state.
On the other hand, when the power is shut off, that is, when the contact is opened, the contactless switching element 4 is first opened by the contactless switching signal Swon, and then the contact switching unit 2 is opened by the contact switching signal Tcton.
With the above operation, the current Iin flowing into the contact opening / closing unit 2 can be set to zero at the time points A and B in FIG.

FIG. 3 is a block diagram of an input power on / off device of the robot system showing the second embodiment.
3, the same reference numerals as those in FIG. 1 indicate the same components and signals as those in FIG. 1, and the description thereof is omitted.
The difference between the present embodiment and the first embodiment is as follows.
That is, in the present embodiment, the contactless switching element 4 constituting the first embodiment shown in FIG. 1 is replaced with the contacted switching unit 2 and the robot control instead of the installation between the input power source 1 and the contacted switching unit 2. It is configured to be installed between the devices 3, the other configurations are the same as in the first embodiment, and the operation sequence is also the same as in FIG. 2 in the first embodiment.
Hereinafter, the operation of the opening / closing controller 5 in this embodiment will be described with reference to FIGS.
When the power is turned on, that is, when the contact is closed, the contactless switching unit 4 is opened in advance by the contactless switching signal Swon, the contacted switching unit 2 is closed by the contacted switching signal Tcton, and then the contacted switching unit After two mechanical delay times td have elapsed, the contactless switching unit 4 is closed by a contactless switching signal Swon.
When the power is shut off, that is, when the contact is opened, the contactless switching unit 4 is first opened by the contactless switching signal Swon, and then the contact switching unit 2 is opened by the contact switching signal Tcton.

  As described above, the input power on / off device of the robot system according to the first and second embodiments of the present invention is between the input power source 1 and the contact opening / closing unit 2 or between the robot control device 3 and the contact opening / closing unit 2. The contactless opening / closing part 4 such as a semiconductor switch electrically connected in series with the contact of the contacted opening / closing part 2 is provided, and the contactless opening / closing part 4 is closed later than the contacted opening / closing part 2 when turned on. In addition, since the switching control unit 5 that stops energization before opening / closing the contact opening / closing unit 2 that opens earlier than the contact opening / closing unit 2 at the time of interruption is provided with a circuit disconnection failure in the event of an emergency or heat during normal operation Since the occurrence of loss can be suppressed and the contact of the contact opening / closing part 2 is a non-energized opening / closing, it is possible to eliminate the deterioration of the contact opening / closing part 2 and dramatically extend the life of the contact opening / closing part 2. Longer maintenance period Ku can be maintenance-free.

  It has a contact opening / closing part that performs energization switching, and can be applied to an input power on / off device of a system that requires a longer maintenance period or maintenance-free.

1 is a block diagram of an input power on / off device of a robot system showing a first embodiment. Sequence diagram showing the operation of the input power on / off device of the robot system of the present invention Configuration diagram of input power on / off device of robot system showing second embodiment Explanatory drawing of input power on / off device of robot system showing conventional technology

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Input power supply 2 Contact opening / closing part, such as a contactor 3 Robot controller 4 Non-contact opening / closing part which consists of semiconductor switches, such as a transistor and a thyristor 5 Opening / closing control part

Claims (3)

In the input power on / off device of the robot system, which is provided between the input power source (1) and the robot control device (3) and has a contact switching unit (2) that mechanically opens and closes the circuit,
A contactless switching part (4) disposed between the input power source (1) and the contacted switching part (2) and electrically connected in series with the contact of the contacted switching part (2);
The contactless switching unit (4) closes later than the contacted switching unit (2) when the robot controller (3) is turned on, and the contacted switching unit (2) when the robot controller (3) is powered off. And an open / close control unit (5) for controlling the non-contact open / close unit (4) to open earlier. In the input power on / off device of the robot system, which is provided between the input power source (1) and the robot control device (3) and has a contact switching unit (2) that mechanically opens and closes the circuit,
A contactless switching unit (4) disposed between the robot control device (3) and the contacted switching unit (2) and electrically connected in series with a contact of the contacted switching unit (2);
The contactless switching unit (4) closes later than the contacted switching unit (2) when the robot controller (3) is turned on, and the contacted switching unit (2) when the robot controller (3) is powered off. And an open / close control unit (5) for controlling the non-contact open / close unit (4) to open earlier. The non-contact opening / closing part (4)
3. The input power-on / off device for a robot system according to claim 1, wherein the device is a semiconductor switch.

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