JP2011197858A - Mobile machine control device and mobile machine control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem that it cannot be easily distinguished that the cause of an emergency stop is due to the operation of an emergency stop SW or the disconnection of a circuit in a mobile machine control system having an attachable/detachable teaching operation device with an emergency stop SW.SOLUTION: A parallel circuit K includes: a semiconductor switch 41 which closes when a detector 32 detects the connection of the teaching operation device 50; and a make contact RY1a connected in parallel to a series circuit of a capacitor C. A pulse signal generating circuit 42 applies an "H" signal and a pulse signal to the parallel circuit K. A decision circuit 46 decides whether the emergency stop of a robot R is due to the disconnection of the parallel circuit K or due to the operation of the emergency stop switch 52 based on the logical state of a signal output from the parallel circuit K in a state where the "H" signal and the pulse signal (logical signal) are applied.

Description

  The present invention relates to a movable machine control device and a movable machine control system.

  Conventionally, in a movable machine control system including a teaching operation device having an emergency stop switch and a robot control device, the robot is operated in a state where the teaching operation device and the robot control device are not connected. Specifically, in Patent Document 1, a mechanism that has the above-described general functions and that does not stop operation even when the teaching operation device is detached from the robot control device and does not stop operation is provided with a relay contact or a changeover switch. It is realized by using. Specifically, in Patent Document 1, when the connection of the teaching operation device to the robot control device is released when the attachment / detachment switch is turned on, the operation of the emergency stop by the emergency stop means is prohibited. This prevents the robot from being emergency stopped.

  Patent Document 2 discloses a configuration in which a teaching operation device including an emergency stop switch is connected to the robot control device via a port that can be attached to and detached from the robot control device.

  In Patent Document 3, when a push button switch is provided in the external connection terminal portion of the robot control device, and the teaching operation device is connected to or disconnected from the external connection terminal portion while the push button switch is being pressed, A configuration is disclosed in which an emergency stop command signal is not output and the robot does not stop.

In Patent Document 1 to Patent Document 3, when a teaching operation device having an emergency stop circuit is detached from a robot control device, it can be operated without stopping the operation of the robot.
In Patent Document 4, a plurality of sets of parallel circuit portions of contacts and capacitors are provided, and the parallel circuit portions are connected in series by cables so that any one of the contacts is opened, or each parallel circuit portion is connected. There has been proposed a method for determining whether a cable (connection line) to be connected in series is disconnected.

Japanese Patent No. 2672417 Japanese Patent No. 4085952 Japanese Utility Model Publication No. 4-98594 JP 59-3270 A

  By the way, in Patent Document 1 to Patent Document 3, when the robot is emergency stopped in a state where a detachable teaching operation device having an emergency stop switch is connected to the robot control device, the emergency stop switch is set in the robot system. There is a problem that it is difficult to confirm whether the operation has been stopped due to the operation or the operation has been stopped because the circuit has been disconnected.

  An object of the present invention is to make an emergency stop because the emergency stop switch is operated when the movable machine is in an emergency stop state with a detachable operation device having an emergency stop switch connected to the movable machine control device. It is another object of the present invention to provide a movable machine control device and a movable machine control system that can confirm whether an emergency stop has occurred due to occurrence of disconnection in a circuit.

  In order to solve the above-mentioned problem, the invention according to claim 1 is directed to a connection port to which an operating device is releasably connected, a control unit that controls a movable machine, and the operation connected to the connection port. In a movable machine control device comprising an emergency stop circuit unit including a relay unit that opens according to an operation of an emergency stop switch included in the device, and stopping the movable machine via the control unit by an opening operation of the relay unit, Detection means for detecting connection with the connection port of the operating device, and the emergency stop circuit unit includes a switch circuit unit, and the switch circuit unit is configured to detect when the detection unit detects connection of the operating device. A parallel circuit portion including a first switch means to be closed and a relay contact connected in parallel to the series circuit of the capacitor, the relay contact being connected to the operating device; If it is, it opens and closes in synchronization with the opening and closing of the contact of the emergency stop switch, closes when the detection means is not connected to the operating device, and closes the relay means, The movable machine is operated, and a logic signal applying unit that applies a logic signal to the parallel circuit unit, and a logic state of a signal output from the parallel circuit unit in a state where the logic signal is applied. And determining means for determining whether the emergency stop of the movable machine is an emergency stop of the movable machine due to a disconnection of the switch circuit unit or an emergency stop of the movable machine due to an operation of the emergency stop switch. The main point is a movable machine control device.

According to a second aspect of the present invention, in the first aspect, the switch circuit unit is provided in the connection port.
According to a third aspect of the present invention, in the second aspect, the parallel circuit unit included in the switch circuit unit of the connection port is a first parallel circuit unit, and the operating device connected to the connection port is releasably connected. When the first emergency stop switch is used as the first emergency stop switch, the second parallel circuit unit including the capacitor connected in parallel to the contact point of the second emergency stop switch is provided. Two operating devices are connected to form a series circuit unit by the first parallel circuit unit and the second parallel circuit unit, the series circuit unit is connected to the determination means, and the logic signal application The means provides a logic signal to the series circuit, and the determination means determines whether the movable machine is not based on a logic state of a signal output from the series circuit unit in a state where the logic signal is applied. 3. The movable according to claim 2, wherein whether the stop is an emergency stop of the movable machine due to disconnection of the series circuit unit or an emergency stop of the movable machine due to an operation of the first or second emergency stop switch is determined. The gist of the machine control system.

  According to a fourth aspect of the present invention, in the third aspect of the present invention, when the second switch unit is connected in series to the relay unit, and the determination unit is configured such that the first operating device is not connected to the connection port. When it is determined that the series circuit section is disconnected, the second switch means is opened.

  According to a fifth aspect of the present invention, in any one of the third and fourth aspects, the operation device and the connection port can be disconnected by wire or wirelessly.

  According to the first aspect of the present invention, when the operating machine provided with the emergency stop switch is connected to the mobile machine control device, the emergency stop is performed because the emergency stop switch is operated. There is an effect that it is possible to confirm whether or not an emergency stop has occurred due to the occurrence of disconnection in the circuit of the movable machine control device.

According to the invention of claim 2, the invention of claim 1 can be easily realized when the connection circuit is provided with the switch circuit portion.
According to the invention of claim 3, the determination means determines whether the emergency stop of the movable machine is an emergency stop of the movable machine due to disconnection in the series circuit of the first parallel circuit unit and the second parallel circuit unit, or the first and second operation devices. It is possible to determine whether the movable machine is in an emergency stop by operating the emergency stop switch.

  According to the invention of claim 4, when the determination means determines that the series circuit portion is disconnected when the first operating device is not connected to the connection port, the second switch means is opened. Thereafter, the movable machine can be stopped and held even when the disconnected portion is naturally restored.

    According to the invention of claim 5, in the movable machine control system in which the operation device and the connection port can be disconnected by wire or wirelessly, the function and effect of claim 3 or claim 4 are readily realized. it can.

1 is a block circuit diagram of a robot control apparatus according to a first embodiment embodying the present invention. The signal waveform figure which shows the pulse signal which a pulse signal generation circuit outputs, the signal which the inverter 43 outputs, the signal in the terminal Hb, and the waveform which the inverter 45 outputs, respectively. FIG. 3 is a diagram illustrating the correspondence between each state of the detector 32, the detection circuit 40, and the emergency stop switch 52 and the periods t1 to t5 in FIG. The block circuit diagram of the robot control apparatus of 2nd Embodiment. The block circuit diagram of the robot control apparatus of 3rd Embodiment.

(First embodiment)
A first embodiment in which the movable machine control system of the present invention is embodied as a robot control system will be described below with reference to FIGS. In this embodiment, the robot control system includes a robot control device 10 as a movable machine control device and a teaching operation device 50 as an operation device. The teaching operation device 50 is portable and can be carried.

  A robot R as a movable machine is connected to the main body of the robot control apparatus 10 including the emergency stop circuit unit J, and a connection port 30 is provided. The connection port 30 may be provided in the main body of the robot control apparatus 10 or may be installed at a position near the main body case of the robot control apparatus 10. In FIG. 1, for convenience of explanation, the connection port 30 is illustrated as being provided outside the robot control device 10, but the connection port 30 constitutes the robot control device 10.

  The connection port 30 includes a plurality of connectors CN1 to CN4. The teaching operation device 50 is detachable with respect to the connectors CN1 to CN4 of the connection port 30 via communication lines connected to the confident connectors CN5 to CN8.

  The teaching operation device 50 is provided with an emergency stop switch 52. The emergency stop switch 52 is constituted by a push button switch having a normally closed contact 52a for urgently stopping the operation of the robot R regardless of other switches. The circuit of the normally closed contact 52a is connected to the connectors CN3 and CN4 of the connection port 30 via the connectors CN7 to CN8 and the communication line.

  The teaching operation device 50 and the connection port 30 are each provided with a teaching communication connector (not shown). The teaching operation device 50 is detachably attached to a connector for teaching communication of the connection port 30 via a communication line (not shown). The teaching operation device 50 can transmit teaching data to the robot control device 10 by operating an operation key (not shown) via the connection port 30.

  In addition, the teaching operation device 50 is provided with a loopback circuit 54 for detecting connection. The loopback circuit 54 is connected to the connectors CN1 and CN2 of the connection port 30 via the connectors CN5 and CN6 and the communication line.

  The connection port 30 is provided with a detector 32 as detection means connected to the connectors CN1 and CN2. When the detector 32 outputs a confirmation signal to the connector CN1 side and the confirmation signal is returned from the connector CN2 side, the detector 32 detects that the teaching operation device 50 is connected and does not return the confirmation signal. Detects that the teaching operation device 50 is not connected.

  In the connection port 30, a semiconductor switch 34 made of, for example, a MOSFET is connected between the connectors CN3 and CN4. The semiconductor switch 34 forms a parallel circuit with the normally closed contact 52 a of the emergency stop switch 52 when the teaching operation device 50 is connected to the connection port 30. The connector CN3 is connected to the + V power supply, and the connector CN4 is grounded via the relay RY1.

  The relay RY1 is activated when the semiconductor switch 34 is turned on when the normally closed contact 52a of the emergency stop switch 52 is closed or the teaching operation device 50 is not connected in a state where the teaching operation device 50 is connected. As a result, the coil is excited to operate a break contact RY1b and a make contact RY1a, which will be described later. The connection port 30 is provided with a drive circuit 38 and a detection circuit 40. When the detector 32 detects that the teaching operation device 50 is not connected, the drive circuit 38 turns on the semiconductor switch 34 via the gate of the semiconductor switch 34 and supplies current to the coil of the relay RY1. When it is detected that the teaching operation device 50 is connected, the semiconductor switch 34 is turned off. Further, a break contact RY1b of the relay RY1 is connected to the + V power source. The break contact RY1b is connected to the detection circuit 40.

  The detection circuit 40 checks both the opening / closing of the break contact RY1b of the relay RY1 and whether or not power is supplied to the coil of the relay RY1, and the break contact is not supplied to the coil of the relay RY1. When RY1b is open, an abnormal signal is output to the drive circuit 38. The drive circuit 38 continues the OFF operation of the semiconductor switch 34 regardless of the detection result of the detector 32 while the abnormal signal is input. The break contact RY1b is used for monitoring welding (back check) of the make contact RY1a described later. The relay RY1 of this embodiment is configured by a safety relay, and if there is a problem with the make contact RY1a that provides an emergency stop function, the break contact RY1b that should be closed after the power supply to the coil is stopped is not closed. It is guaranteed.

  The connection port 30 is provided with a parallel circuit portion K in which a make contact RY1a is connected in parallel to a series circuit of a semiconductor switch 41 as a first switch means and a capacitor C. Both ends of the parallel circuit section K are connected to terminals Ha and Hb provided in the connection port 30. The parallel circuit unit K corresponds to a switch circuit unit. The semiconductor switch 41 is composed of, for example, a MOSFET. When the detector 32 has not detected the connection of the teaching operation device 50, the semiconductor switch 41 is turned off by the detector 32. The semiconductor switch 41 is turned on via the gate when the detector 32 detects the connection of the teaching operation device 50.

  A series circuit of a relay RY2 and a diode D is connected to the + V power source provided in the robot controller 10 and the terminal Ha. In the robot control apparatus 10, a relay contact RY3a that opens and closes in conjunction with the relay RY3 is connected to the terminal Hb. In the robot control apparatus 10, the relay RY <b> 3 is connected to the operation preparation drive circuit 35 and is turned on / off by the operation preparation drive circuit 35. That is, the robot control apparatus 10 includes a CPU (central processing unit) (not shown) that controls the robot R. When the robot R is not controlled, that is, is not operating (running), the relay RY3 is turned on. A control signal for closing the relay contact RY3a is input from the CPU to the operation preparation drive circuit 35. When the robot R is operating (operating), a control signal for turning off the relay RY3 and opening the relay contact RY3a is input from the CPU to the operation preparation drive circuit 35.

The relay RY2 is turned on when the contact RY1a is closed so that the terminals Ha and Hb are conducting and when the relay RY3 is turned on.
Here, the reason why the diode D is provided is to suppress the adverse effect of the circuit in which the relay RY2 is connected to the cathode side of the diode D due to the output of the inductor component of the coil. A pulse signal generation circuit 42 is connected to the cathode side of the diode D, that is, the terminal Ha via an inverter 43. The pulse signal generation circuit 42 outputs a pulse waveform. The pulse signal generation circuit 42 corresponds to a logic signal applying unit.

  The terminal Hb of the parallel circuit section K is grounded via the relay contact RY3a, and is connected to the determination circuit 46 via the DC circuit of the DC component remover 44 and the inverter 45. The determination circuit 46 is also connected to the operation preparation drive circuit 35 and the pulse signal generation circuit 42 and corresponds to determination means. In the DC component remover 44, the voltage of the parallel circuit section K (that is, the offset voltage of the applied pulse waveform) fluctuates from the pulse waveform generated by the pulse signal generation circuit 42 by opening and closing the + V power supply or the make contact RY1a. Therefore, it is for removing this. The determination circuit 46 compares the signal from the parallel circuit unit K input via the inverter 45 with the pulse waveform output from the pulse signal generation circuit 42, and emergency stop of the robot R described later is emergency stop due to disconnection. Or an emergency stop by operating an emergency stop switch. The determination result of the determination circuit 46 is displayed on the display unit 48.

  The make contact RY2a of the relay RY2 is provided between the AC power supply AC and the servo unit 47 as a control unit, and stops the operation of the robot R by the servo unit 47 when closed. When the make contact RY2a is closed, the operation of the robot R can be controlled by the servo unit 47. The relay RY2 corresponds to relay means. The circuit from the + V power source to the ground via the relay RY2, the terminal Ha, the parallel circuit section K, and the terminal Hb constitutes an emergency stop circuit section J.

(Function)
Now, the operation of the robot control system configured as described above will be described.
In the state where the teaching operation device 50 is connected to the connection port 30, the connection between the connectors CN5 and CN1 and the connection between the connectors CN6 and CN2 are first released.

  As a result, the detector 32 turns off the semiconductor switch 41. Further, based on the detection of the detector 32 at this time, the drive circuit 38 turns on the semiconductor switch 34. For this reason, an exciting current is supplied to the relay RY1, and the make contact RY1a is closed. At this time, if the relay contact RY3a is already closed, an excitation current is supplied to the relay RY2 as a result of the make contact RY1a being closed. Therefore, the make contact RY2a is closed, so that the servo unit 47 Control over the robot R is allowed.

  Thereafter, the connection between the connectors CN7 and CN3 and between the connectors CN8 and CN4 is released, and the teaching operation device 50 is removed from the connection port 30. For this reason, in this embodiment, not only the state where the teaching operation device 50 is connected to the connection port 30, but also the state where the teaching operation device 50 including the emergency stop switch 52 is removed from the connection port 30, the robot It is possible to operate without stopping the operation of R.

Next, when the teaching operation device 50 is connected to the connection port 30, first, the connectors CN7 and CN8 are connected to the connectors CN3 and CN4 of the connection port 30 via communication lines.
Thereafter, the connectors CN5 and CN1 and the connectors CN6 and CN2 are connected via a communication line. When the connectors are connected, that is, when the teaching operation device 50 is connected to the connection port 30, the detector 32 turns on the semiconductor switch 41. Further, based on the detection of the detector 32 at this time, the drive circuit 38 turns off the semiconductor switch 34. In this state, unless the emergency stop switch 52 is operated, if the relay contact RY3a is already closed, the exciting current is supplied to the relay RY1, so the make contact RY2a is closed and the robot of the servo unit 47 is closed. Control over R is allowed. Further, the parallel circuit section K is activated by turning on the semiconductor switch 41 and closing the make contact RY1a.

  When the emergency stop switch 52 is operated in this state, the normally closed contact 52a is opened and the exciting current to the relay RY1 is cut off. For this reason, the make contact RY1a is opened. Although the semiconductor switch 41 is turned on, no direct current flows through the capacitor C. Therefore, no current flows through the direct current circuit of the semiconductor switch 41 and the capacitor C. For this reason, the exciting current of relay RY2 is interrupted. As a result, the make contact RY2a is opened, and the operation control of the robot R by the servo unit 47 is stopped. That is, the robot R comes to an emergency stop.

Next, the operation of the robot control system in a state where the teaching operation device 50 is connected to the connection port 30 as described above will be described.
With the teaching operation device 50 connected to the connection port 30 as described above, the pulse signal generation circuit 42 and the determination circuit 46 perform the following operations.

  2A, 2 </ b> B, and 2 </ b> C show the waveform output from the inverter 43 when the pulse signal is input from the pulse signal generation circuit 42 at the terminal Ha, the waveform at the terminal Hb, and the waveform output from the inverter 45. Respectively.

  The pulse signal generation circuit 42 always outputs “H (high, hereinafter the same)” and “L (low, same hereinafter)) signals alternately. This signal is inverted by the inverter 43, the pulse waveform is superimposed on the offset voltage from the + V power supply, and is input to the terminal Ha of the parallel circuit section K (see the signal (a) in FIG. 2).

  At this time, the signal at the terminal Hb can be observed only during the period when the relay contact RY3a is opened by the operation preparation drive circuit 35, that is, the period when the robot R is not operated. If the make contact RY1a is closed during this period, the signal at the terminal Hb has the same waveform as the terminal Ha, and the same signal as the logic of the generated pulse signal is output to the output side of the inverter 45. The signal is input to the determination circuit 46 (see the section t1 in FIG. 2).

  An example of the occurrence of the section t1 in the above description is two cases as shown in FIG. One is that the detector 32 operates as “connected” to the connection port 30 of the teaching operation device 50, and the detection circuit 40 detects the welding of the make contact RY1a of the relay RY1 as “absent” (normal), This is a case where the emergency stop switch 52 is not operated. The other one is that the detector 32 operates as “no” for the connection to the connection port 30 of the teaching operation device 50, and the detection circuit 40 detects the welding of the make contact RY1a of the relay RY1 as “no” (normal). This is the case.

  In addition, the operation preparation drive circuit 35 turns on the relay RY3 and closes the relay contact RY3a when the robot R is not in operation (i.e., the period during which the control signal is input from the CPU). During the period when R is not operated), the determination circuit 46 holds the output of the signal for the determination operation.

  In response to the input of the signal from the operation preparation drive circuit 35, the determination circuit 46 outputs the “L” signal output from the pulse signal generation circuit 42, the “falling” and “rising” of the input “L” signal. Are compared. Then, the determination circuit 46 determines that there is no disconnection if both are “L”. The determination result is output to the display unit 48 and displayed on the display unit 48.

Here, when the make contact RY1a is in an open state, the signal waveform at the terminal Hb becomes a differential waveform due to the differential action of the capacitor C connected in parallel.
This differential waveform passes through the direct current component remover 44 and is inverted by the inverter 45, and becomes a waveform indicated by a section t2 in FIG. Based on the comparison between the signal waveform and the signal waveform of the pulse signal generation circuit 42, the determination circuit 46 determines whether or not the connection lines L1 and L2 of the parallel circuit portion K are disconnected regardless of whether the make contact RY1a is open or closed. And the determination result is output to the display unit 48. In the period t2, the determination circuit 46 determines that there is no disconnection.

  An example of the occurrence of the interval t2 in the above description is two types as shown in FIG. One is that the detector 32 operates as “connected” to the connection port 30 of the teaching operation device 50, and the detection circuit 40 detects the welding of the make contact RY1a of the relay RY1 as “absent” (normal), This is a case where the emergency stop switch 52 is operated. In the other one, the detector 32 operates as “connected” to the connection port 30 of the teaching operation device 50, and the detection circuit 40 detects the welding of the make contact RY1a of the relay RY1 as “present” (failure). This is the case.

  Further, when the robot R is being operated, the operation preparation drive circuit 35 receives a control signal for opening the relay contact RY3a from the CPU to the operation preparation drive circuit 35. For this reason, during the period when the control signal for opening the relay contact RY3a is input (that is, the period when the robot R is not operated), the operation preparation drive circuit 35 makes a determination to the determination circuit 46. Holds the output of the signal to prevent That is, in this case, the determination of the determination circuit 46 is interrupted. Further, since the relay contact RY3a is closed, in FIG. 2B, the terminal Hb has a zero potential during the period t3.

  In FIG. 2, the period t4 shows the time when the robot R is not in operation, as in the period t2. If the connection lines L1 and L2 constituting the circuit of the parallel circuit unit K are disconnected during the period t4, the exciting current is not supplied to the relay RY2, so that the robot R is brought to an emergency stop. The connection lines L1 and L2 are connection lines on the input side and output side of the parallel circuit unit K, respectively. In the present embodiment, the connection line L1 is a connection line between the parallel circuit portion K from the cathode side of the diode D. The connection line L2 is a connection line from the parallel circuit unit K to the DC component remover 44.

  Thus, if the connection lines L1 and L2 of the parallel circuit portion K are disconnected, the terminal Hb cannot receive the pulse signal superimposed from the terminal Ha, and therefore the output of the DC component remover 44 is “L”. The signal remains as it is, and an “H” signal is output from the output side of the inverter 45 and input to the determination circuit 46. The determination circuit 46 compares the “L” signal output from the pulse signal generation circuit 42 with the input “H” signal, and determines that the connection lines L1 and L2 of the parallel circuit unit K are disconnected. The determination result is output to the display unit 48 and displayed on the display unit 48.

  An example of the occurrence of the section t4 in the above description is two types as shown in FIG. One is that the detector 32 operates as “connected” to the connection port 30 of the teaching operation device 50, and the detection circuit 40 detects the welding of the make contact RY1a of the relay RY1 as “present” (failure). This is the case. The other one is that the detector 32 operates as “connected” to the connection port 30 of the teaching operation device 50, and the detection circuit 40 detects the welding of the make contact RY1a of the relay RY1 as “not present” (normal). The emergency stop switch 52 is operated.

  In FIG. 2, a section t5 is a case where the relay contact RY3a is opened, the make contact RY1a is opened (that is,), and the semiconductor switch 41 is in an OFF state. As shown in FIG. 3, this state is a state where the teaching operation device 50 is not connected to the connection port 30, and the make contact RY1a of the relay RY1 is welded and is in a failure state. In this case, since a pulse signal is output from the pulse signal generation circuit 42, a signal as shown in FIG.

Now, this embodiment has the following effects.
(1) The robot control system and the robot control apparatus 10 according to the present embodiment include a detector 32 (detection means) that detects connection with the connection port 30 of the teaching operation device 50, and the emergency stop circuit unit J is connected in parallel. A circuit unit K (switch circuit unit) is provided. The parallel circuit section K is a make-up connected in parallel to the series circuit of the semiconductor switch 41 (first switch means) and the capacitor C which is closed when the detector 32 detects the connection of the teaching operation device 50. And a contact RY1a (relay contact). When the teaching operation device 50 is connected, the make contact RY1a opens and closes in synchronization with the opening and closing of the normally closed contact 52a of the emergency stop switch 52, and the detector 32 is not connected to the teaching operation device 50. In that case, the robot R is operated by closing the relay RY2. The robot control apparatus 10 also includes a pulse signal generation circuit 42 (logic signal applying means) that applies an “H” signal and a pulse signal (logic signal) to the parallel circuit unit K. Further, the robot controller 10 determines that the emergency stop of the robot R is performed in parallel circuit based on the logic state of the signal output from the parallel circuit unit K in a state where the “H” signal and the pulse signal (logic signal) are applied. A determination circuit 46 (determination means) is provided for determining whether the robot R is in an emergency stop due to disconnection of the part K or the emergency stop switch 52 is operated.

  As a result, when the robot R is in an emergency stop state with the teaching operation device 50 including the emergency stop switch 52 connected to the robot control device 10, is the emergency stop switch 52 operated to make an emergency stop? Alternatively, it is possible to confirm whether the emergency stop has occurred because the circuit has been disconnected.

  (2) In the embodiment of the present embodiment, the connection port 30 is provided with a parallel circuit unit K (switch circuit unit). As a result, in the present embodiment, the effect (1) can be easily realized when the connection port 30 is provided with the parallel circuit portion K.

(Second Embodiment)
Next, a second embodiment in which the movable machine control system of the present invention is embodied in a robot control system will be described with reference to FIG. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and different components will be mainly described. In the present embodiment, the parallel circuit unit H described in the first embodiment corresponds to a first parallel circuit unit, and the teaching operation device 50 corresponds to a first operation device. The emergency stop switch 52 corresponds to a first emergency stop switch.

  The robot control system according to the present embodiment is different in that a fixed teaching operation device 60 is further provided in the vicinity of the robot control device 10 according to the first embodiment or with respect to the teaching operation device 50. The teaching operation device 60 corresponds to a second operation device.

  The teaching operation device 60 is provided with an emergency stop switch 62 as a second emergency stop switch. The emergency stop switch 62 is constituted by a push button switch having a normally closed contact 62a for urgently stopping the operation of the robot R regardless of other switches. The normally closed contact 62a is connected in parallel with the capacitor C1. The normally closed contact 62a and the capacitor C1 constitute a parallel circuit unit K1 as a second parallel circuit unit.

  One terminal Hd of the parallel circuit unit K1 is connected to the terminal Hb of the parallel circuit unit K, and the other terminal He is connected to the DC component remover 44 via the terminal Hc. As a result, the parallel circuit units K and K1 constitute a series circuit unit. The series circuit unit is connected to the determination circuit 46 via the DC component remover 44 and the inverter 45. Here, among the connection lines subject to the disconnection detection of the determination circuit 46, the connection line L1 is the same as that of the first embodiment, and the connection line L2 means a connection line between the parallel circuit units K and K1. A line L3 indicates a connection line from the parallel circuit unit K1 to the DC component remover 44.

  The teaching operation device 60 and the robot control device 10 are each provided with a connector (not shown) for teaching communication. The teaching operation device 60 can communicate with a teaching communication connector of the robot control device 10 via a communication line (not shown), and teaching data is transmitted to the robot control device 10 by operating an operation key (not shown). Can be sent.

  In the emergency stop circuit J, a semiconductor switch 49 made of, for example, a MOSFET is connected between the + V power supply and the relay RY2 as second switch means. The semiconductor switch 49 is ON / OFF controlled by the determination circuit 46. The determination circuit 46 turns off the semiconductor switch 49 when the disconnection is detected, and turns on the semiconductor switch 49 when the disconnection is not detected.

(Function)
Now, the operation of the system of the second embodiment configured as described above will be described.
In the present embodiment, when the teaching operation device 50 is not connected to the connection port 30 and when it is connected, the on / off operation of the semiconductor switch 41 by the detection of the detector 32 and the on / off operation of the semiconductor switch 34 are the same. is there. Therefore, in the present embodiment, the operation of the robot R is not stopped even when the teaching operation device 50 is removed from the connection port 30 as well as the teaching operation device 50 is connected to the connection port 30. Is possible.

  Further, when the emergency stop switches 52 and 62 are operated while the teaching operation device 50 is connected to the connection port 30, or when the teaching operation device 50 is not connected to the connection port 30, When 62 is operated, the current supply to the relay RY2 is interrupted, so that the robot R stops in an emergency.

  Further, in the present embodiment, as in the first embodiment, the pulse signal generation circuit 42 operates, and the determination circuit 46 determines whether an emergency stop due to a disconnection or an emergency stop when the robot R stops emergency. It is determined whether the emergency stop is caused by the operation of the switches 52 and 62. The determination process of the determination circuit 46 is performed using the same algorithm as in the first embodiment.

When the determination circuit 46 determines that the connection lines L1 to L3 of the series circuit unit including the parallel circuit units K and K1 are disconnected, the determination circuit 46 turns off the semiconductor switch 49.
As described above, when the semiconductor switch 49 is turned off, even when the disconnected portion is naturally restored, the exciting current is not supplied to the relay RY2, and the stop of the robot R can be maintained. For this reason, after the robot R is surely stopped and held, maintenance of the disconnected portion can be performed. The determination result of the determination circuit 46 is displayed on the display unit 48 as in the first embodiment.

The second embodiment has the following features.
(1) In the system according to the present embodiment, the determination circuit 46 (determination means) causes the emergency stop of the robot R to be an emergency stop due to a disconnection in the series circuit of the parallel circuit units K and K1, or the emergency stop of the teaching operation devices 50 and 60. It can be determined whether the movable machine is in an emergency stop by operating the switches 52 and 62.

  (2) In the present embodiment, the semiconductor switch 49 is connected in series to the relay RY2, and the determination circuit 46 is connected in parallel when the teaching operation device 50 (first operation device) is not connected to the connection port 30. When it is determined that the series circuit portion including the circuit portions K and K1 is disconnected, the semiconductor switch 49 is turned off (opening operation). As a result, according to the present system, when the teaching operation device 50 is not connected to the connection port 30, when the determination circuit 46 determines that the series circuit unit is disconnected, the semiconductor switch 49 is turned off. Thereafter, the robot R can be stopped and held even when the disconnected portion is naturally restored.

  (3) In the present embodiment, a fixed teaching operation device 60 is provided in the vicinity of the robot control device 10 or directly fixed. This is advantageous when the portable teaching operation device 50 is not connected to the connection port 30. For example, in the state where the portable teaching operation device 50 is not connected to the connection port 30, if there is a ground fault at the connection line L1, the terminal Ha, etc., the emergency stop switch 62 of the teaching operation device 60 is operated. Thus, there is an advantage that the moving robot control device 10 can be emergency stopped.

(Third embodiment)
Next, a third embodiment will be described with reference to FIG.
In the first embodiment, the teaching operation device 50 and the connection port 30 are connected via a communication line. However, the third embodiment is different in that the wireless connection is possible. Specifically, instead of the teaching operation device 50, a teaching operation device 50A is provided. The teaching operation device 50A is provided with an open / close detection unit 53 that detects opening / closing of the normally closed contact 52a of the emergency stop switch 52, and a transmission / reception device 55 capable of wireless communication. The open / close detection unit 53 constantly detects the open / closed state of the normally closed contact 52 a and outputs the detection result to the transmission / reception device 55. The transmission / reception device 55 transmits the opening / closing detection result of the opening / closing detection unit 53 to the connection port 30A when communication with the connection port 30A described later is established.

  On the other hand, the robot control apparatus 10 is provided with a connection port 30 </ b> A instead of the connection port 30. In addition, as shown in FIG. 5, the same code | symbol is attached | subjected about the structure same as the structure of the connection port 30 of 2nd Embodiment, or an equivalent structure.

  The connection port 30A is provided with a transmission / reception device 33 capable of communicating with the transmission / reception device 55 of the teaching operation device 50A. The transmission / reception device 33 cannot establish communication with another teaching operation device in a state where communication with one teaching operation device 50A is established.

  When the transmission / reception device 33 establishes communication with one teaching operation device 50A as described above, the transmission / reception device 33 outputs a signal indicating that the connection has been established to the detector 32A. As a result, the detector 32A as the detecting means detects the connection with the teaching operation device 50A. If the signal indicating that the connection is established is not input, the detector 32A detects that the connection with the teaching operation device 50A is not established.

  Further, the drive circuit 38 outputs a signal indicating the opening of the normally closed contact 52a from the teaching operation device 50A regardless of whether the detector 32A is connected to the teaching operation device 50A or is connected. Unless the transmission / reception device 33 receives data, the semiconductor switch 34 is turned on via the gate of the semiconductor switch 34 to supply current to the relay RY1 (coil).

  Further, the detection circuit 40 confirms the open / closed state of the break contact RY1b of the relay RY1 when the signal indicating that the normally closed contact 52a is opened from the transmission / reception device 33. The detection circuit 40 monitors when the break contact RY1b is open even though the drive circuit 38 does not turn on the semiconductor switch 34 (that is, power is not supplied to the coil of the relay RY1). As a result, an abnormal signal is output to the display unit 48 described later, and that effect is displayed on the display unit 48.

  In a state where communication with the teaching operation device 50A is established, when a signal indicating opening of the normally closed contact 52a is input from the transmission / reception device 33 to the drive circuit 38 via the detector 32A, the drive circuit 38 causes the semiconductor switch 34 to be turned on. Turn off. As a result, the exciting current of the relay RY1 is cut off and the make contact RY1a is opened, so that the exciting current is not supplied to the relay RY2, so that the robot R stops emergency.

  Other configurations and functions of the robot control system of the third embodiment have the same configurations and functions as those of the second embodiment. With the above configuration, the third embodiment can achieve the same functions and effects as those of the second embodiment.

In addition, you may change embodiment of this invention as follows.
In each of the above embodiments, the semiconductor switches 34, 41, and 49 are configured with MOSFETs, but may be configured with bipolar transistors or the like.

  In the first to third embodiments, the teaching operation device that can give the teaching data to the robot control device 10 is the operation device, but the operation device is not limited to the teaching operation device, and the connection port 30 Any operation device may be used as long as it is detachably connected to the control device and includes an emergency stop switch.

  In the above-described embodiment, the determination result of the determination circuit 46 is displayed on the display unit 48. However, as a notifying unit, a sound generating device or a printing device that notifies the result of the sound in addition to the display device. Etc. may be changed.

  In place of the teaching operation device 60 of the second embodiment, an operation device that is not intended to input teaching data, and may be changed to an emergency stop switch and a capacitor C1 having a parallel circuit unit.

In the second and third embodiments, the semiconductor switch 49 may be omitted.
In the second embodiment, one fixed teaching operation device 60 that is not attached to and detached from the robot control device 10 is provided, but the number is not limited to one. Two or more fixed teaching operation devices including the parallel circuit unit K <b> 1 having the same configuration as the teaching operation device 60 may be connected to the robot control device 10. In this case, the parallel circuit units of the respective operation devices are connected in series to each other and connected to the DC component remover 44, the inverter 45, and the determination circuit 46.

  Also in this case, as in the second embodiment, when there is a ground fault in the connection line connected to each parallel circuit unit, the semiconductor switch 49 is turned off by the determination circuit 46 so that the robot R is Emergency stop can be made.

In each of the embodiments described above, the movable machine is the robot R, but is not limited to the robot, and may be a machine controlled by a control device.
The configuration of the connection port 30 and the teaching operation device 50 in the second embodiment may be replaced with the configuration of the connection port 30A and the teaching operation device 50A in the third embodiment.

10: Robot control device (movable machine control device),
30 ... Connection port, 32 ... Detector (detection means),
41 ... Semiconductor switch (first switch means),
42 ... Pulse signal generation circuit (logic signal applying means), 46 ... Determination circuit (determination means), 47 ... Servo unit (control unit), 49 ... Semiconductor switch (second switch means), 50 ... Teaching operation device (operation device) ), 52 ... Emergency stop switch,
52a ... Normally closed contact, J ... Emergency stop circuit, K ... Parallel circuit, switch circuit,
R: Robot (movable machine), RY1a: Make contact (relay contact),
RY2: Relay (relay means).

Claims (5)

  A connection port to which the operating device is connected in a releasable manner; a control unit that controls the movable machine; and a relay unit that opens in response to an operation of an emergency stop switch of the operating device connected to the connection port. In a movable machine control device that includes an emergency stop circuit unit and stops the movable machine via the control unit by opening the relay hand, a detection unit that detects a connection with the connection port of the operation device, The emergency stop circuit unit includes a switch circuit unit, and the switch circuit unit is connected in parallel to a series circuit of a first switch unit and a capacitor that are closed when the detection unit detects connection of the operation device. A relay circuit contact, and when the operation device is connected, the relay contact opens and closes the contact of the emergency stop switch. Open and close, and when the detecting means is not connected to the operating device, the detecting means is closed, and the relay means is closed to operate the movable machine. A logic signal applying means for applying a logic signal and an emergency stop of the movable machine based on a logic state of a signal output from the parallel circuit section in a state in which the logic signal is applied. A movable machine control device comprising: a determination unit that determines whether the movable machine is in an emergency stop due to operation or an emergency stop of the movable machine by operating the emergency stop switch.   The movable machine control device according to claim 1, wherein the switch circuit unit is provided in the connection port. A parallel circuit unit included in the switch circuit unit of the connection port is a first parallel circuit unit, and an operation device connected to the connection port in a releasable manner is a first operation device. When the stop switch is the first emergency stop switch, a second operating device including a second parallel circuit unit including a capacitor connected in parallel to the contact point of the second emergency stop switch includes the first parallel circuit unit, The second parallel circuit unit is connected to form a series circuit unit, and the series circuit unit is connected to the determination unit,
The logic signal applying means applies a logic signal to the series circuit,
The determination means is configured to make an emergency stop of the movable machine due to a disconnection of the series circuit unit based on a logic state of a signal output from the series circuit unit with the logic signal applied. The movable machine control system according to claim 2, wherein it is determined whether the movable machine is in an emergency stop by operating the first or second emergency stop switch. A second switch means is connected in series to the relay means,
The determination means opens the second switch means when it is determined that the series circuit section is disconnected when the first operating device is not connected to the connection port. The movable machine control system according to claim 3.   The movable machine control system according to any one of claims 1 to 4, wherein the operation device and the connection port can be disconnected by wire or wirelessly.

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