JP2007198560A - Safety system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a safety system capable of reliably securing safety of a working person. <P>SOLUTION: To start machinery by energizing the machinery such as a machine tool, or a industrial robot installed in an installation area, all of a plurality of safety plugs 10-1 to 10-6 must be attached to a plurality of attachment parts 7-1 to 7-6 of a safety plug holder 7 for allowing energization. To release a lock of an entrance door for entry of the work person into the installation area, at least one of the plurality of safety plugs 10-1 to 10-6 must be attached to an attachment part of a safety plug holder 6 for lock release, and release of the lock for the door is prevented, due to omission of pulling out the plurality of safety plugs 10-1 to 10-6 of the safety plug holder 7 for allowing energization. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a safety system suitable for ensuring safety in an installation area where machine equipment such as machine tools and industrial robots are installed.

Conventionally, surroundings of an installation area where machine equipment such as machine tools and industrial robots are installed are surrounded by a safety fence (protective fence) to prevent an operator from inadvertently entering the installation area. (For example, refer to Patent Document 1.)
A safety plug and a safety plug holder are provided in the vicinity of the entrance / exit of the installation area, and when entering the installation area, the operator pulls out the safety plug from the safety plug holder and carries it, so that mechanical equipment in the installation area is obtained. There are things that can not work.
JP 2004-356069 A

  However, if an operator forgets to pull out the safety plug and enters the installation area, other workers may not be aware of it even though there is an operator in the installation area. However, there is a problem that the possibility of starting the machine equipment cannot be excluded.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a safety system that can ensure the safety of an operator with high reliability.

 (1) The safety system of the present invention includes a lock release permitting unit that permits unlocking of a door at an entrance to an installation area where mechanical equipment is installed, an energization permitting unit that permits energization of the mechanical facility, Control means for controlling the release of the lock based on the output of the unlocking permission means, and controlling the operation of the mechanical equipment by controlling the energization of the mechanical equipment based on the output of the energization permission means. The energization permission means includes a safety plug holder for energization permission that outputs a power energization permission signal in a state in which a plurality of safety plugs are detachable and all of the plurality of safety plugs are attached, The energization permission safety plug holder is disposed outside the installation area, and the lock release permission means is configured such that the safety plug is detachable and the plurality of safety plugs are provided. A safety plug holder for unlocking that outputs a lock release permission signal in a state in which at least one of the locks is mounted, the safety plug holder for unlocking is disposed outside the installation area, and the control means includes: When the unlocking permission signal is given, the lock is released, and when the energization permission signal is not given, the operation of the mechanical equipment is prohibited.

  Mechanical equipment refers to various machine tools, industrial robots, and the like.

  Also, controlling the operation of the mechanical equipment means controlling the energization of the mechanical equipment to control the start / stop of the mechanical equipment or the operation speed.

  The doorway is preferably provided in a safety fence surrounding the installation area. The installation area is not limited to a fence, and may be surrounded by a transparent wall material, for example.

  A safety plug is one that can be attached to and detached from the safety plug holder, and that opens and closes the contact of the circuit of the safety plug holder according to the attachment and detachment, and has any shape such as a key or a rod. May be.

  The safety plug may be simply attached to the attachment portion of the safety plug holder, or may be attached and rotated.

  According to the safety system of the present invention, the safety plug holder for unlocking and the safety plug holder for energization permission are detachable with a common safety plug, and the safety plug holder for energization permission is attached to all of the plurality of safety plugs. Since the energization permission signal is output in a state where power is being supplied, all of the safety plugs are installed in the safety plug holder for energization permission when energization of the mechanical equipment is permitted. There is no safety plug to be attached to the safety plug holder for unlocking in order to unlock the door, so that the door cannot be unlocked.

  That is, when an operator enters the installation area after unlocking the door, pull out one of the safety plugs installed in the safety plug holder for energization permission to unlock the safety plug. The safety plug must be attached to the holder. Therefore, the safety plug holder for energization permission is in a state in which at least one safety plug of the plurality of safety plugs is pulled out, and therefore, the energization permission signal is not output. Thus, energization of the mechanical equipment is prohibited.

  In other words, the operator must pull out one of the safety plugs installed in the energizing permission safety plug holder to prohibit energization of the mechanical equipment, and then attach the safety plug to the unlocking safety plug holder. Otherwise, the door cannot be unlocked and enter the installation area.

  Therefore, the worker cannot forget to pull out one of the safety plugs installed in the safety plug holder for energization permission and cannot enter the installation area, and the worker locks the door. When releasing and entering the installation area, one of the safety plugs attached to the safety plug holder for energization permission is pulled out, and energization of the mechanical equipment is prohibited. Therefore, the safety of the worker in the installation area is ensured.

 (2) In a preferred embodiment of the safety system of the present invention, an operating means for enabling the operation of the mechanical equipment is provided in the installation area, and the operating means is an operating safety in which an operating safety plug is detachable. A plug holder and an enable switch, wherein the operation means outputs an enable permission signal for permitting the operation of the enable switch in a state where the operation safety plug is mounted on the operation safety plug holder; When the enable permission signal is not given, the control means invalidates the operation of the enable switch and prohibits the operation of the mechanical equipment in response to the operation. When the enable permission signal is given, the control means Regardless of the permission signal, the operation of the enable switch is enabled and the mechanical equipment is activated in accordance with the operation. Is shall.

  According to this embodiment, when the operator performs maintenance of mechanical equipment or teaching of an industrial robot in the installation area, the operation safety plug is attached to the operation safety plug holder to Regardless of this, that is, even when the energization permission signal is not given, the operation of the enable switch can be validated and the mechanical equipment can be energized in accordance with the operation to operate the mechanical equipment.

 (3) In the embodiment of the above (2), the operation safety plug may be shared with the safety plug attached to the unlocking safety plug holder and the energization permission safety plug holder.

  According to this embodiment, the operator can enter and exit the installation area using a common safety plug, and can perform maintenance of mechanical equipment and teaching of an industrial robot in the installation area.

 (4) In still another embodiment of the safety system of the present invention, the control means gives a safety output to a safety output control object based on an input from an input device to control the operation of the mechanical equipment. is there.

  The input device refers to a device that gives input to the control means, such as an emergency stop switch, a safety door switch, a safety limit switch, and a safety light curtain.

  The safety output control target refers to a target controlled by the safety output, such as a magnet contactor, a motor controller, a variable motor, and a PLC.

  According to this embodiment, it is possible not only to ensure the safety of workers entering and leaving the installation area, but also to ensure occupational safety at the production site.

  (5) In a preferred embodiment of the safety system of the present invention, the control means is given an input from a door switch as the input device for detecting opening / closing of the door at the doorway, and the control means When the door is open, the operation of the mechanical equipment is prohibited.

  The door switch is preferably capable of locking the door as well as detecting the opening / closing of the door at the doorway.

  According to this embodiment, in the state where the doorway of the installation area is open, since the operation of the mechanical equipment is prohibited, the safety is further improved.

  According to the present invention, if the operator forgets to pull out one of the plurality of safety plugs attached to the safety plug holder for energization permission, the door of the installation area cannot be unlocked, so the worker enters the installation area. When the operator unlocks the door and enters the installation area, one of the safety plugs attached to the safety plug holder for energization permission is pulled out to prevent energization of the mechanical equipment. The safety of workers entering the installation area is ensured.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
FIG. 1 is a schematic plan view showing a configuration of a safety system according to one embodiment of the present invention.

  In the installation area 2 surrounded by the safety fence 1, three industrial robots 3-1 to 3-3 as a plurality of machine facilities are installed. A door 4 is provided at an entrance for an operator to enter and exit the area 2. A key switch (not shown) is provided on the door 4 side, and a door lock switch (described later) is provided on the entrance / exit side of the safety fence 4. When the door 4 is closed, the key switch is switched to the door lock switch. The door 4 cannot be opened by being automatically locked. By giving an unlock signal to the door lock switch, the lock is released and the door 4 can be opened. In this embodiment, in the state where the unlock signal is given, the lock is not applied even if the door 4 is closed.

  In the vicinity of the entrance / exit outside the installation area 2, a management box 5 for managing the entry / exit of the worker is installed. In this management box 5, as shown in FIG. 2, the unlocking safety plug holder 6 that permits the unlocking of the door 4 and the energizing permission that permits energizing the industrial robots 3-1 to 3-3. Safety plug holder 7, emergency stop switch 8 for emergency stop of industrial robots 3-1 to 3-3, and work start switch 9 for starting work by industrial robots 3-1 to 3-3 are provided. Yes.

  A plurality of unlocking safety plug holders 6, in this embodiment, six key-shaped safety plugs 10-1 to 10-6 are provided with mounting portions 6-1 to 6-6 that are detachable, As shown in FIG. 3, by attaching any one of the safety plugs 10-1 to 10-6 and turning, the corresponding contacts among the six parallel contacts are turned on and unlocked. The permission signal is output.

  The six safety plugs 10-1 to 10-6 all have the same configuration, and the mounting portions 6-1 to 6-6 of the unlocking safety plug holder 6 all have the same configuration. The mounting positions of the safety plugs 10-1 to 10-6 with respect to the unlocking safety plug holder 6 are arbitrary.

  The energizing permission safety plug holder 7 includes mounting portions 7-1 to 7-6 to which 6 safety plugs 10-1 to 10-6 common to the unlocking safety plug holder 6 are detachable. As shown in FIG. 4, when all the six safety plugs 10-1 to 10-6 are mounted and rotated, all the six contacts in series are turned on, and an energization permission signal is generated. Output. The mounting portions 7-1 to 7-6 of the energization permission safety plug holder 7 have the same configuration, and the mounting positions of the safety plugs 10-1 to 10-6 with respect to the energization permission safety plug holder 7 are arbitrary.

  FIG. 5 is a diagram showing the configuration of the safety system in FIG. 1, and parts corresponding to those in FIG.

  In this embodiment, the above-described emergency stop switch 8, the above-described door lock switch 11 provided at the entrance / exit side of the safety fence 4, the work start switch 9, the energizing permission safety plug holder 6 and the unlocking safety plug holder 7. As a control means for controlling the motors 3-1M to 3-3M for driving the industrial robots 3-1 to 3-3 based on the output of , Two first and second safety controllers 12 and 13 are provided.

  The safety controller of this embodiment constitutes a safety circuit that supplies power to the power of machine equipment such as machine tools and industrial robots only when safety is ensured. For example, the safety controller disclosed in Japanese Patent Application Laid-Open No. 2005-31778 has basically the same configuration as that already published.

  Here, the safety controller that has been filed earlier and already published will be described with reference to FIG.

  The safety controller shown in FIG. 6 is connected to a single function unit 15 to which an input device such as an emergency stop switch 14 is connected, and to an input device such as a safety door switch 16 in addition to the single function unit 15. There are three types: a high function unit 17 and an extension unit 19 connected to the high function unit 17 via a cable 18.

  The single function unit 15 receives input from an input device such as the emergency stop switch 14, and outputs safety to a magnetic contactor or the like as a safety output control target that supplies or cuts off power to a motor or the like that drives a machine tool or the like. Also, an internal safety output as a signal for logical connection to the high function unit 17 is output.

  Here, the logical connection signal is a connection signal for logically connecting the single function unit 15 that outputs the logical connection signal and the high function unit 17 to which the logical connection signal is applied. Depending on the type of the high function unit 17, this logical connection includes an AND connection, an OR connection, or a composite connection thereof. The high function unit 17 for a desired logical connection is selected according to the application. Can be used.

  The safety output output from the single-function unit 15 to the safety output control target and the logic connection signal have the same output state, that is, the safety output allows the operation of the machine facility to be performed on the safety side. When it is in the state, the logical connection signal is also in the safe output state, and when the safety output is in the dangerous output state that prohibits the operation of the machine equipment, the logical connection signal is also in the dangerous output state. It becomes.

  Therefore, a logical connection signal having the same output state as an original safety output for a safety output control target such as a magnetic contactor is called an internal safety output.

  The high function unit 17 has an internal safety input which is an input from an input device such as an emergency stop switch and a safety door switch 16 and an internal safety output which is a logic connection signal output from the single function unit 15 or the high function unit 17 in the previous stage. As well as a safety output for a magnetic contactor as a safety output control target for supplying / cutting off electric power to a motor or the like for driving a machine tool or the like, and an internal safety as a logic connection signal for a high-performance unit 17 in the subsequent stage Output is output.

  The internal safety output, which is a logical connection signal output from the high function unit 17, is also a connection signal for logically connecting the preceding high function unit 17 and the subsequent high function unit 17 in the same manner as described above. Therefore, by selecting the type of the high-functional unit 17 at the subsequent stage, it is possible to perform AND connection, OR connection, or composite connection thereof.

  Further, the safety output output from the high-functional unit 17 to the safety output control target and the internal safety output which is a logic connection signal have the same output state. The high function unit 17 can output a safety instantaneous output and a safety off-delay output, but the internal safety output is in the same output state as the safety instantaneous output.

  Here, the instantaneous safety output is a safety output that instantly switches to the dangerous side when the safety input switches from the safe side to the dangerous side when the safety output is on the safe side. Is the safety that switches to the dangerous side with a delay after continuing the safe state for the set time when the safety input switches from the safe side to the dangerous side when the safety output is on the safe side The output.

  In FIG. 6, the internal safety output given from the single function unit 15 to the high function unit 17 and the internal safety output given from the preceding high function unit 17 to the subsequent high function unit 17 are indicated by broken arrows. However, the high function unit 17 is preferably provided with an internal safety output from either the single function unit 15 or the preceding high function unit 17.

  The extension unit 19 is connected to the high-function unit 17 via the cable 18, and the safety output synchronized with the high-function unit 17 is used as a safety output control target for supplying / cutting off electric power for driving a machine tool or the like. This is output to a magnet contactor or the like.

  The single-function unit 15 is equipped with a CPU that constitutes a control unit, and can input a plurality of safety inputs, and also has a plurality of safety instantaneous outputs that are semiconductor outputs (transistor outputs) and a logic connection signal. Safety output can be output.

  Like the single function unit 15, the high function unit 17 is equipped with a CPU as a control unit, and can input a plurality of safety inputs and one internal safety input, and a plurality of semiconductor outputs (transistor outputs). It is possible to output a safety instantaneous output, a plurality of safety off-delay outputs, and one internal safety output which is a signal for logic connection.

  Of course, the number of internal safety outputs and internal safety inputs is not limited to the above.

  The internal safety input of the high function unit 17 is an input of an internal safety input which is a signal for logical connection from the single function unit 15 or the preceding high function unit 17. By this internal safety input, the single function unit The logical connection, that is, the AND connection, the OR connection, or the composite connection thereof, is made to the high function unit 17 of 15 or the previous stage.

  For example, when logically connected to the single function unit 15 or the previous high function unit 17 by AND, an internal safety input given from the single function unit 15 or the previous high function unit 17 and an input of the high function unit 17 The safety input from the device is logically connected by AND, the input state of the internal safety input is a safe state, and the input state of the safety input from the input device of the high function unit 17 is When the input state is on the safe side, the safety output in the output state on the safe side is output.

This high-function unit can input a feedback / reset input.
The expansion unit 19 is expanded as necessary when the number of output points is insufficient with the high-function unit 17 alone, and includes a plurality of electromagnetic relays. This extension unit 19 has an instantaneous type that outputs a plurality of safety outputs that are relay outputs in synchronization with the safety instantaneous output from the high-function unit 17, and a relay output that synchronizes with the safety off-delay output from the high-function unit. There is an off-delay type that outputs a plurality of safety outputs.

  FIG. 7 is a block diagram of a main part of the high function unit 17. In the figure, reference numerals 20 and 21 denote two first and second CPUs constituting the control unit, and the CPUs 20 and 21 execute the same processing to make them redundant. The CPUs 20 and 21 communicate to synchronize software processing via an inter-CPU communication port.

  Reference numeral 22 denotes a non-volatile memory that stores setting contents from a setting switch (not shown), 23 denotes an LED that displays an operation state, and 24 denotes a power supply circuit that supplies power to each unit.

  Reference numerals 25 and 26 are safety input circuits to which inputs from input devices such as a safety door switch and the above-described safety plug holders 6 and 7 are given. In FIG. 7, two safety input circuits are representatively shown. ing.

  Reference numeral 27 denotes an internal safety input circuit to which an internal safety input which is a logic connection signal from the single function unit 15 or the preceding high-function unit 17 is given. 28 is a safety output circuit for instantaneous use, 29 is a safety output circuit for off-delay, 30 is an internal safety output circuit that outputs an internal safety output that is a signal for logical connection to the high-functional unit 17 in the subsequent stage, and 31 is an extension. It is a connector for connecting the unit 19.

  The first and second CPUs 20 and 21 as the control unit perform safety output according to a program based on the safety input from the safety input circuits 25 and 26 and the internal safety input from the internal safety input circuit 27 as the connection input unit. The circuits 28 and 29 and the internal safety output circuit 30 are controlled to control the safety output and the internal safety output which are semiconductor outputs (transistor outputs). The internal safety output circuit 30 includes a semiconductor output transistor. The first CPU 20 outputs a lock release signal for the door lock switch 11.

  Referring to FIG. 5 again, in this embodiment, the first safety controller 12 corresponds to the single function unit 15 described above, and the second safety controller 13 corresponds to the high function unit 17. The second safety controller 13 of this embodiment is an AND connection unit that is logically connected to the first safety controller 12 by AND.

  The first safety controller 12 is given an input from the emergency stop switch 8 as an input device.

  The second safety controller 13 receives inputs from the door lock switch 11 and the work start switch 9 as input devices, and outputs from the energizing permission safety plug holder 7 and the unlocking safety plug holder 6. Furthermore, an internal safety input is given as a logic connection signal from the first safety controller 12.

  Next, the operation procedure of a typical work will be described.

When operating the industrial robots 3-1 to 3-3 to start work, the worker closes the door 4 at the entrance / exit of the safety fence 1, and thereby the door lock switch 11 is automatically locked. It is automatically applied and a closing signal is given to the second safety controller 13.
The operator attaches all the six safety plugs 10-1 to 10-6 to the respective attachment portions 7-1 to 7-6 of the energization permission safety plug holder 7 and rotates them. Thus, an energization permission signal is given to the second safety controller 13 from the energization permission safety plug holder 7.

  The operator presses the work start switch 9 after confirming that the emergency stop switch 8 is released.

  Thereby, the safety side internal safety input from the first safety controller 12 is input to the second safety controller 13 while the door 4 from the door lock switch 11 is closed. Is closed, a safe energization permission signal is input from the energization permission safety plug holder 7, and a start signal is input from the work start switch 9, so that the second safety controller 13 is connected to each industry. The motors 3-1M to 3-3M of the industrial robots 3-1 to 3-3 are driven to start the operation of the industrial robots 3-1 to 3-3.

  That is, in the second safety controller 13 for AND connection, the internal safety input for logical connection from the first safety controller 12 is on the safe side, and the energization input to the second safety controller 13 is performed. When the input to the safety plug holder 7 or the like for permission is on the safe side, the industrial robots 3-1 to 3-3 are driven by driving the motors 3-1M to 3-3M of the industrial robots 3-1 to 3-3. When the safety controller is connected to the subsequent stage, the safety-side internal safety output is output as a logic connection signal.

  Therefore, for example, when the emergency stop switch 8 connected to the first safety controller 12 is pressed, the internal safety input from the first safety controller 12 is in a dangerous state, so the second safety controller 13 immediately stops driving the motors 3-1M to 3-3M of the industrial robots 3-1 to 3-3 to stop the industrial robots 3-1 to 3-3, and a safety controller is connected to the subsequent stage. If it is, a dangerous internal safety output is output as a logic connection signal.

  Next, when an operator needs to enter the installation area 2 for maintenance of the industrial robots 3-1 to 3-3, for example, the work is finished and the industrial robots 3-1 to 3-1 are completed. In the state where 3-3 is stopped, at least one of the six safety plugs 10-1 to 10-6 attached to the energization permission safety plug holder 7 is pulled out, and the unlocking safety plug holder 6 It is mounted on any of the mounting portions 6-1 to 6-6 and rotated. As a result, the energization permission signal indicating the safety side is not input to the second safety controller 13 from the energization permission safety plug holder 7, that is, the input from the energization permission safety plug holder 7 is dangerous. Therefore, the driving of the motors 3-1M to 3-3M is prohibited and the operation of the industrial robots 3-1 to 3-3 is prohibited.

  In addition, since the unlocking permission signal is input from the unlocking safety plug holder 6, the second safety controller 13 outputs the unlocking signal to the door lock switch 11 and the door 4 by the door lock switch 11. Is unlocked to allow the door 4 to be opened.

  The operator opens the door 4 and enters the installation area 2 to perform maintenance of the industrial robots 3-1 to 3-3. In this state, as described above, since at least one of the six safety plugs 6-1 to 6-6 attached to the energization permission safety plug holder 7 is pulled out, the second safety controller 13 prohibits the operation of the industrial robots 3-1 to 3-3, thereby ensuring the safety of workers in the installation area 2. In this state, since the door 4 is open, a safety close signal indicating that the door is closed is not input from the door lock switch 11, and the input of the door lock switch 11 is in a dangerous state. Therefore, the industrial robots 3-1 to 3-3 do not operate.

(Embodiment 2)
FIG. 8 is a schematic plan view corresponding to FIG. 1 of another embodiment of the present invention, and corresponding portions are denoted by the same reference numerals.

  In the safety system of this embodiment, an operator can enter the installation area 2 and perform teaching or the like on the industrial robots 3-1 to 3-3. Three control boxes 32-1 to 32-3 individually corresponding to the industrial robots 3-1 to 3-3 are installed.

  In each of the control boxes 32-1 to 32-3, as shown in FIG. 9, emergency stop switches 33-1 to 33-3 for emergency stop of the corresponding industrial robots 3-1 to 3-3, The enable switches 34-1 to 34-3 and the six safety plugs 10-1 to 10-6 of the above-described embodiment as operation means for manually operating the corresponding industrial robots 3-1 to 3-3. Operational safety plug holders 35-1 to 35-3 having mounting portions 36-1 to 36-3, which are detachable, are provided.

  The enable switches 34-1 to 34-3 are for pulling out the switch body from the control boxes 32-1 to 32-3 and holding and operating the switch body. The enable switches 34-1 to 34-3 are lightly pushed in from the non-operation position in the off state. This is a known three-position switch that is turned on when displaced to the intermediate operation position and is turned off when the operation member is further pushed in from the intermediate operation position to reach the complete operation position. Is done.

  As shown in FIG. 10, each of the safety plug holders 35-1 to 35-3 for operation is attached to any one of the six safety 10-1 to 10-6 to the mounting portion 36-1 to 36-3. The enable permission signal is output by the dynamic operation.

  FIG. 11 is a diagram showing the configuration of this embodiment, and parts corresponding to those in FIG. 5 are given the same reference numerals.

  In this embodiment, the configuration up to the first and second safety controllers 12 and 13 is basically the same as that of the above-described embodiment. In this embodiment, each industrial robot 3-1 is used as a control unit. Three third safety controllers 37-1 to 37-3 individually corresponding to 3-3 are added, and the respective industrial robots 3-1 to 3-3 are added by the safety controllers 37-1 to 37-3. The driving of the 3-3 motors 3-1M to 3-3M is controlled to control the operation of the industrial robots 3-1 to 3-3.

  These third safety controllers 37-1 to 37-3 are not OR connection high function units for OR connection logically connected to the second safety controller 13 in the previous stage by OR.

  Therefore, even if the internal safety output of the second safety controller 13 in the previous stage is on the dangerous side, the corresponding industrial robots 3-1 to 3-3 are activated by the enable switches 34-1 to 34-3 as described later. Each can be activated.

  Inputs from emergency stop switches 33-1 to 33-3 and enable switches 34-1 to 34-3 as input devices are respectively given to the third safety controllers 37-1 to 37-3 for OR connection. At the same time, outputs from the operation safety plug holders 35-1 to 35-3 are given, respectively, and an internal safety input is given as a logic connection signal from the second safety controller 13 in the previous stage.

  In the third safety controllers 37-1 to 37-3, when the safety-side internal safety input is given from the second safety controller 13 in the preceding stage, the emergency stop switches 33-1 to 33-3 are pressed. Driving the industrial robots 3-1 to 3-3 by driving the motors 3-1M to 3-3M of the corresponding industrial robots 3-1 to 3-3 on the condition that they are not on the safe side It is.

  Accordingly, as described in the above-described embodiment, the safety internal internal safety input is input from the first safety controller 12 to the second safety controller 13 in the preceding stage, while the door 4 from the door lock switch 11 is A safety-side closing signal indicating that it is closed is input, a safety-side energization permission signal is input from the energization permission safety plug holder 7, and a start signal is input from the work start switch 9. When an internal safety output on the safe side is given from the second safety controller 13 to the third safety controllers 37-1 to 37-3 in the subsequent stage, the third safety controllers 37-1 to 37-3 in the subsequent stage. The industrial robots 3-1 to 3- are provided on the condition that the emergency stop switches 33-1 to 33-3 are not pressed. It is intended to start the work to start of operation.

  Further, the third safety controllers 37-1 to 37-3 of this embodiment are provided with emergency stop switches 33-1 to 33-3 even if the internal safety input from the second safety controller 13 in the previous stage is on the dangerous side. Provided that the safety plug 10-1 to 10-6 is attached to the operation safety plug holder 35 and the operation safety plug holder 35-1 to 35-3 is safe. When an enable permission signal is input and an operation signal is given from the enable switches 34-1 to 34-3, the corresponding industrial robots 3-1 to 3-3 correspond to the operation signal. The motors 3-1M to 3-3M are driven to individually operate the industrial robots 3-1 to 3-3.

  That is, in this embodiment, the operator enters the installation area 2 and sets the corresponding industrial robots 3-1 to 3-3 for teaching or maintenance of the industrial robots 3-1 to 3-3. It can be individually activated by manual operation.

  In this case, the procedure is the same as that in the above-described embodiment until the operator unlocks the door 4 at the entrance / exit of the safety fence 1 in order to enter the installation area 2.

  That is, in the state where the work is finished and the industrial robots 3-1 to 3-3 are stopped, the six safety plugs 10-1 to 10-6 mounted on the energization permission safety plug holder 7 are used. At least one piece is pulled out and attached to any of the attachment portions 6-1 to 6-6 of the unlocking safety plug holder 6 and rotated. As a result, the unlocking permission signal is input from the unlocking safety plug holder 6 to the second safety controller 13 in the preceding stage, so that the second safety controller 13 sends an unlocking signal to the door lock switch 11. The output is released and the lock by the door lock switch 11 is released to allow the door 4 to be opened. In this state, since all of the six safety plugs 10-1 to 10-6 are not prepared in the energization permission safety plug holder 7, the energization permission signal is sent to the second safety controller 13 in the preceding stage. Is not input and the internal safety output for logical connection from the second safety controller 13 is in a dangerous state, and the industrial robot 3-1 to 3- 3 does not work.

  Next, in this embodiment, the safety plugs 10-1 to 10-6 are blown from the unlocking safety plug holder 6 and the unlocked door 4 is opened to enter the installation area 2 for teaching and the like. Safety plugs 10-1 to 10-6 are inserted into the operation safety plug holders 35-1 to 35-3 in the control boxes 32-1 to 32-3 corresponding to the industrial robots 3-1 to 3-3 to be performed. Rotate by wearing. As a result, the corresponding safety switches 37-1 to 37-3 are supplied with an enable permission signal on the safe side from the operation safety plug holders 35-1 to 35-3, and the corresponding enable switches 34- The operations 1 to 34-3 are enabled.

  When the operator operates the enable switches 34-1 to 34-3, and an ON operation signal is input to the corresponding third safety controllers 37-1 to 37-3, the emergency stop switch 33 is thereby input. The corresponding industrial robots 3-1 to 3-3 are operated by driving the corresponding motors 3-1M to 3-3M on the condition that -1 to 33-3 are not pressed down.

  Accordingly, in accordance with the operator's operation of the enable switch 34, the corresponding industrial robots 3-1 to 3-3 can be operated to perform teaching or maintenance.

  FIG. 12 is a diagram showing a safety plug mounting state in each safety plug holder 6, 7, 35-1 to 35-3, and each of the above-described states will be described based on this figure. Note that only one safety plug holder 35-1 to 35-3 for operation is representatively shown.

  First, FIG. 6A shows the activation permission state of the industrial robots 3-1 to 3-3, and all of the six safety plugs 10-1 to 10-6 are energized permission safety plug holders 7. The state where it is attached to is shown. This state is a state in which an energization permission signal indicating that the safety plug holder 7 for energization is on the safe side is input to the second safety controller 13 in the previous stage.

  Therefore, in this state, as described above, the safety-side internal safety input from the first safety controller 12 is input to the second safety controller 13 in the previous stage, and the door 4 from the door lock switch 11 is closed. On the condition that the safety-side closing signal indicating that the operation is started and the start signal is input from the work start switch 9, the third safety controllers 37-1 to 37-3 in the subsequent stage are connected for logic connection. The internal safety input on the safe side will be input.

  Therefore, the third safety controllers 37-1 to 37-3 in the subsequent stage are provided on the condition that each of the corresponding motors 3-1M to 3-3 is on the condition that the emergency stop switches 33-1 to 33-3 are not pressed. It is possible to operate the industrial robots 3-1 to 3-3 by driving the 3-3M.

  FIG. 6B shows a state in which one of the six safety plugs 10-1 to 10-6 of the energization permission safety plug holder 7 is pulled out and attached to the unlocking safety plug holder 6 and rotated. Show.

Since the safety plug holder 7 for energization permission does not have all six safety plugs 10-1 to 10-6, the safety plug holder 7 for energization permission is safe for the second safety controller 13 in the previous stage. Therefore, the second safety controller 13 at the front stage is not connected to the third safety controllers 37-1 to 37-3 at the rear stage for logical connection. The dangerous side internal safety output will be output.
The third safety controllers 37-1 to 37-3 in the rear stage receive the dangerous internal safety input from the second safety controller 13 in the front stage, and are input to the safety plug holders 35-1 to 35-3 for operation. Since the safety plug is not attached, the operation of the enable switches 34-1 to 34-3 is not effective, and the operation of the industrial robots 3-1 to 3-3 is prohibited. The robots 3-1 to 3-3 are stopped.

  In this state, a lock release permission signal is input from the safety plug holder 6 for unlocking to the second safety controller 13 in the previous stage, and the second safety controller 13 outputs a lock release signal to the door lock switch 11. The door lock switch 11 is unlocked and the door 4 is allowed to open.

  Therefore, in this state, the operator can perform maintenance of the industrial robots 3-1 to 3-3 that have opened the door 4 and entered the installation area 2 and stopped.

  FIG. 6 (c) shows that the operator unlocks the door 4 at the entrance / exit of the safety fence 1 by operating the safety plug 10-6 attached to the unlocking safety plug holder 6 and then unlocking it. The safety plug 10-6 is pulled out from the safety plug holder 6 and the door 4 is opened to enter the installation area 2, and the operation safety plug 35-1 corresponding to any of the industrial robots 3-1 to 3-3. 35-3 shows a state where the safety plug 10-6 is attached and rotated.

  In this state, since all of the six safety plugs 10-1 to 10-6 are not prepared in the energization permission safety plug holder 7, the energization permission safety plug holder 7 is included in the second safety controller 13 in the previous stage. Therefore, the energization permission signal indicating that it is a safe side is not input, so the second safety controller 13 in the front stage is logically connected to the third safety controllers 37-1 to 37-3 in the rear stage. This will output a dangerous internal safety output.

  Since the third safety controllers 37-1 to 37-3 in the subsequent stage receive the dangerous side internal safety input from the second safety controller 13 in the previous stage, they are input to the safety plug holders 35-1 to 35-3 for operation. In the third safety controllers 37-1 to 37-3 not equipped with the safety plug 10-6, the operation of the enable switches 34-1 to 34-3 is not in a valid state. The operation of the robots 3-1 to 3-3 is prohibited, and the corresponding industrial robots 3-1 to 3-3 are stopped.

On the other hand, as shown in FIG. 5C, the third safety controllers 37-1 to 37- in the subsequent stage in which the safety plug 10-6 is attached to the operation safety plug holders 35-1 to 35-3. 3, the enable permission signal on the safe side is input from the safety plug holders 35-1 to 35-3 for operation, and the operation of the enable switches 34-1 to 34-3 is enabled. When an operation signal is given from the switches 34-1 to 34-3, the motors 3-1M to 3-3M of the corresponding industrial robots 3-1 to 3-3 are driven in response to the operation signal. Industrial robots 3-1 to 3-3 can be operated.
Therefore, only the industrial robots 3-1 to 3-3 corresponding to the operation safety plug holders 35-1 to 35-3 to which the safety plug 10-6 is attached operate the enable switches 34-1 to 34-3. It will be operated according to.

(Other embodiments)
In the second embodiment described above, the safety plug attached to and detached from the operation safety plug holders 35-1 to 35-3 is shared with the safety plug attached to and detached from the unlocking safety plug holder 6 and the energization permission safety plug holder 7. However, the safety plug attached to and detached from the operation safety plug holders 35-1 to 35-3 may be a dedicated safety plug and may be used only by a skilled worker, for example.

  The safety plug and the safety plug holder are not limited to the configuration of the above-described embodiment, but may be a non-contact type in which the contact is opened and closed by using a magnet in the proximity or separation of the safety plug.

  The control means is not limited to a safety controller, and may be configured using a relay unit incorporating a plurality of electromagnetic relays.

  The present invention is useful for ensuring the safety of workers in an installation area where machine equipment such as machine tools and industrial robots are installed.

1 is a schematic plan view of a safety system according to an embodiment of the present invention. It is a figure which shows the structure in the management box of FIG. It is a figure which shows the structure of the safety | security plug holder for unlocking. It is a figure which shows the structure of the safety plug holder for energization permission. It is a block diagram of the safety system of FIG. It is a figure for demonstrating a safety controller. It is a block diagram of the high functional unit of FIG. It is a schematic plan view of other embodiment of this invention. It is a figure which shows the structure in the control box of FIG. It is a figure which shows the structure of the safety plug holder for operation. It is a block diagram of the safety system of FIG. It is a figure which shows the mounting state of the safety plug of each safety plug holder.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Safety fence 2 Installation area 3-1 to 3-3 Industrial robot 6 Safety plug holder for unlocking 7 Safety plug holder for energizing permission 10-1 to 10-6 Safety plug holder for energizing permission 12, 13 Safety controller 34-1 to 34-3 Enable switch 35-1 to 35-3 Safety plug holder for operation 37-1 to 37-3 Third safety controller

Claims (5)

Unlocking permission means for permitting the unlocking of the door of the doorway to the installation area where the mechanical equipment is installed;
Energization permission means for permitting energization of the mechanical equipment;
Control means for controlling the release of the lock based on the output of the unlocking permission means, and for controlling the operation of the mechanical equipment by controlling the energization of the mechanical equipment based on the output of the energization permission means; With
The energization permission means has a safety plug holder for energization permission that outputs an energization permission signal in a state in which a plurality of safety plugs are detachable and all of the plurality of safety plugs are mounted. A permitting safety plug holder is located outside the installation area,
The unlocking permission means includes an unlocking safety plug holder that outputs an unlocking permission signal in a state where the safety plug is detachable and at least one of the plurality of safety plugs is mounted. And the safety plug holder for unlocking is arranged outside the installation area,
The control unit releases the lock when the unlocking permission signal is given, and prohibits the operation of the mechanical equipment when the energization permission signal is not given. In the installation area, operating means for enabling the operation of the mechanical equipment is provided, and the operating means includes an operating safety plug holder and an enable switch to which an operating safety plug is detachable, and the operating means includes: Outputting an enable permission signal for allowing the operation of the enable switch in a state where the operation safety plug is mounted on the operation safety plug holder;
When the enable permission signal is not given, the control means invalidates the operation of the enable switch and prohibits the operation of the mechanical equipment in response to the operation. When the enable permission signal is given, the control means 2. The safety system according to claim 1, wherein the operation of the enable switch is enabled and the mechanical equipment is activated in accordance with the operation regardless of the permission signal.   The safety system according to claim 2, wherein the safety plug for operation and the safety plug attached to the safety plug holder for unlocking and the safety plug holder for energization permission are shared.   The safety system according to any one of claims 1 to 3, wherein the control means controls the operation of the mechanical equipment by giving a safety output to a safety output control target based on an input from an input device. .   The control means is given an input from a door switch as the input device for detecting opening and closing of the door at the doorway, and the control means operates the mechanical equipment in a state where the door is open. 5. The safety system according to claim 4, wherein the safety system is prohibited.

Images