JP2024036733A - emergency stop system - Google Patents

Abstract

The present invention provides an emergency stop system that can appropriately bring equipment to an emergency stop whether it is used alone or in conjunction with other equipment. [Solution] The emergency stop system included in the first equipment that is operated while being connected to the second equipment by a connecting part J includes a first emergency stop button 14 and a detection switch that detects the connection with the second equipment. A first safety circuit 30 including 35A and 35B is provided. When the second equipment is not connected to the first safety circuit 30, the detection switches 35A and 35B enable the operation of the first emergency stop button 14. [Selection diagram] Figure 8

Description

The present invention relates to an emergency stop system for equipment connected to other equipment.

In equipment with moving parts, such as component mounting equipment that mounts components on boards, measures are taken to prevent workers from accidentally touching moving parts and injuring themselves, and to protect the equipment in the event of an equipment malfunction. As a safety mechanism for the purpose of maintenance, an emergency stop switch is provided to forcibly stop moving parts and the like (for example, Patent Document 1). Patent Document 1 has a working device (automatic exchange device) that moves along an array of a plurality of component mounting devices arranged in a line, and a monitoring unit (sensor) included in the working device detects when a person enters a monitoring area. When an intrusion is detected, the moving motor of the work equipment is brought to an emergency stop, and when an emergency stop switch installed in a position that can be operated by a person is operated, the power supply to the work equipment is cut off and the work equipment is brought to an emergency stop. A system is disclosed that allows

Japanese Patent Application Publication No. 2020-119578

By the way, in the conventional technology including Patent Document 1, the supply of power is started while the component mounting device and the work device are connected and integrated, so the emergency stop function of the emergency switch and the monitoring unit is limited after the system is started. However, in the case of a system in which inactive equipment is inserted into and removed from an activated equipment and used in an integrated manner, the following problems occur. In other words, even if other equipment that is inactive is connected to the activated equipment and power is supplied to it, the time it takes to complete the activation processing of the sensor circuits, etc. of the other equipment is longer than that of the activated equipment. There is a problem that the emergency stop switch and the emergency stop function of the monitoring unit do not function properly. There was room for further improvement.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an emergency stop system that can appropriately stop equipment whether it is used alone or in conjunction with other equipment.

The emergency stop system of the present invention is an emergency stop system provided in a first piece of equipment that is operated by being connected to a second piece of equipment via a connecting part, and wherein a first emergency stop button is connected to the second piece of equipment. a first safety circuit including a detection switch that detects the operation of the first emergency stop button by the detection switch when the second equipment is not connected. becomes effective.

According to the present invention, equipment can be appropriately brought to an emergency stop even when used alone or in conjunction with other equipment.

A perspective view of an automatic guided vehicle and a transported robot according to an embodiment of the present invention (a) (b) Configuration explanatory diagrams of an automatic guided vehicle and a transported robot according to an embodiment of the present invention A block diagram showing the configuration of a control system of an automatic guided vehicle and a transported robot according to an embodiment of the present invention An explanatory diagram showing a state before the first sensor circuit is activated in the first safety circuit included in the emergency stop system according to an embodiment of the present invention An explanatory diagram showing a state in which activation processing of the first sensor circuit is completed in the first safety circuit included in the emergency stop system according to an embodiment of the present invention An explanatory diagram showing a state in which the first emergency stop button is pressed in the first safety circuit included in the emergency stop system according to an embodiment of the present invention An explanatory diagram showing a state in which an automatic guided vehicle sensor included in a first safety circuit included in an emergency stop system according to an embodiment of the present invention has detected a failure. An explanatory diagram showing a state before a second safety circuit is connected to a first safety circuit provided in an emergency stop system according to an embodiment of the present invention An explanatory diagram showing a state immediately after a second safety circuit is connected to a first safety circuit provided in an emergency stop system according to an embodiment of the present invention An explanatory diagram showing a state in which activation processing of the second sensor circuit is completed in the second safety circuit connected to the first safety circuit included in the emergency stop system according to an embodiment of the present invention An explanatory diagram showing a state after a first period has elapsed after a second safety circuit is connected to a first safety circuit provided in an emergency stop system according to an embodiment of the present invention An explanatory diagram showing a state in which the second emergency stop button is pressed in the second safety circuit connected to the first safety circuit included in the emergency stop system according to an embodiment of the present invention An explanatory diagram showing a state in which a transported robot sensor included in a second safety circuit connected to a first safety circuit provided in an emergency stop system according to an embodiment of the present invention detects a failure. An explanatory diagram showing a state where the second safety circuit is being disconnected from the first safety circuit provided in the emergency stop system according to an embodiment of the present invention Timing diagram when the second safety circuit is connected to the first safety circuit provided in the emergency stop system according to an embodiment of the present invention Timing diagram when the second safety circuit is disconnected from the first safety circuit provided in the emergency stop system according to an embodiment of the present invention

An embodiment of the present invention will be described in detail below with reference to the drawings. The configuration, shape, etc. described below are examples for explanation, and can be changed as appropriate depending on the specifications of the automatic guided vehicle, the transported robot, and the emergency stop system. Hereinafter, corresponding elements in all drawings will be denoted by the same reference numerals, and redundant explanation will be omitted.

First, an overview of the automatic guided vehicle 10 and the transported robot 20 will be described with reference to FIGS. 1 and 2. FIG. 2(a) shows the automatic guided vehicle 10 and the transported robot 20 before connection. FIG. 2(b) shows the automatic guided vehicle 10 and the transported robot 20 after being connected.

In FIG. 1, an automatic guided vehicle 10 is equipped with an automatic guided vehicle sensor 11, such as a LiDAR or a stereo camera, capable of measuring the distance to an object at the front end. The automated guided vehicle 10 runs on the floor of the production line while recognizing its own position and surrounding safety using the automated guided vehicle sensor 11, following instructions sent from an operation control device (not shown), etc. 20 to the designated facility or location. The conveyed robot 20 has a function of accommodating members used in production line equipment therein, and delivering the housed members to the equipment when connected to the equipment.

Note that the automatic guided vehicle 10 (first equipment) is an example of a transport means that connects and transports the robot 20 to be transported, and may be a transport vehicle on which a worker rides. Further, the conveyed robot 20 (second equipment) may be one that is connected to the automatic guided vehicle 10 (first equipment), and does not need to be connected to the equipment of the production line.

In FIG. 2, the automatic guided vehicle 10 includes an automatic guided vehicle connection section 12 at the rear. The transported robot 20 is provided with a transported robot connecting portion 21 at the top thereof. The automatic guided vehicle 10 and the transported robot 20 are connected to each other by the automatic guided vehicle connection section 12 and the transported robot connection section 21 . The automatic guided vehicle connection unit 12 and the transported robot connection unit 21 are provided with a plurality of connectors C (see FIG. 3) that are interfaces for transmitting electrical signals and electric power. Furthermore, the automatic guided vehicle connecting section 12 and the transported robot connecting section 21 include a connecting mechanism (not shown) that physically connects the automatic guided vehicle 10 and the transported robot 20. In this way, the automatic guided vehicle connecting section 12 and the transported robot connecting section 21 constitute a connecting section J that connects the automatic guided vehicle 10 (first equipment) and the transported robot 20 (second equipment).

In FIG. 2, the automatic guided vehicle 10 is equipped with detection buttons 13A and 13B for detecting connection with the automatic guided vehicle connection section 12 at the rear. In this example, the automatic guided vehicle 10 includes two detection buttons 13A and 13B with the automatic guided vehicle connection section 12 in between. The transported robot 20 is equipped with a transported robot sensor 22 such as LiDAR or a stereo camera that can measure the distance to an object at the rear. The automatic guided vehicle 10 to which the transported robot 20 is connected runs by itself while recognizing its own position and the safety of its surroundings based on information acquired by the transported robot sensor 22 in addition to the automatic guided vehicle sensor 11.

The automatic guided vehicle 10 makes an emergency stop when the automatic guided vehicle sensor 11 detects an obstacle or the like while traveling alone. Further, the automatic guided vehicle 10 and the transported robot 20 make an emergency stop when the automatic guided vehicle sensor 11 or the transported robot sensor 22 detects an obstacle or the like while the automated guided vehicle 10 and the transported robot 20 are connected and traveling. Note that the automatic guided vehicle sensor 11 and the transported robot sensor 22 provided in the automatic guided vehicle 10 and the transported robot 20 are not limited to one each. For example, the automatic guided vehicle 10 may be configured to further include an automatic guided vehicle sensor that recognizes the rear and sides while traveling alone. Further, the transported robot 20 may be configured to further include a transported robot sensor that recognizes the safety of the front side and the sides while being connected to equipment on the production line.

In FIGS. 1 and 2, a first emergency stop button 14 is arranged on the top surface of the automatic guided vehicle 10 so that a worker or the like can emergency stop the automatic guided vehicle 10. When the first emergency stop button 14 is operated (pressed) while the automatic guided vehicle 10 is traveling alone or with the transported robot 20 connected, the automatic guided vehicle 10 comes to an emergency stop.

A second emergency stop button 23 is arranged on the front surface of the robot 20 to be transported. The second emergency stop button 23 has a function of causing the automatic guided vehicle 10 to come to an emergency stop, similar to the first emergency stop button 14, when the transported robot 20 is connected to the automatic guided vehicle 10. Further, when the second emergency stop button 23 is connected to equipment of a production line, it has a function of causing an emergency stop of the connected equipment.

Note that the placement positions of the first emergency stop button 14 and the second emergency stop button 23 shown in FIGS. 1 and 2 are merely examples, and the positions of the first emergency stop button 14 and the second emergency stop button 23 shown in FIGS. The position may be any position as long as it can be easily operated by a worker or the like with respect to the transported robot 20.

Next, with reference to FIG. 3, the configuration of the control system of the automatic guided vehicle 10 and the transported robot 20 will be described. The automatic guided vehicle 10 includes a first safety circuit 30, a power source 15 such as a battery, a cutoff circuit 16, and a first drive circuit 17. The transferred robot 20 includes a second safety circuit 40 and a second drive circuit 24. The first safety circuit 30 and the second safety circuit 40 are connected to each other via a plurality of connectors C of the connection part J (the automatic guided vehicle connection part 12 and the transported robot connection part 21).

The first safety circuit 30 is directly powered by the power source 15 . The first drive circuit 17 is supplied with power from the power source 15 via the cutoff circuit 16 . Power is supplied to the second safety circuit 40 from the power source 15 of the automatic guided vehicle 10 via the connector C. Power is supplied to the second drive circuit 24 of the transported robot 20 from the power source 15 of the automatic guided vehicle 10 via the cutoff circuit 16 and the connector C. The first drive circuit 17 is a circuit that controls the voltage and current that drive the motor that causes the automatic guided vehicle 10 to travel. The second drive circuit 17 is a circuit that controls the voltage and current that drive the motor that causes the robot 20 to travel.

In FIG. 3 , the first safety circuit 30 includes a first sensor circuit 31 . The first sensor circuit 31 is a circuit that controls various sensors including the automatic guided vehicle sensor 11. When power is supplied to the first sensor circuit 31 and the startup process that makes the automatic guided vehicle sensor 11 etc. usable is completed, a startup process completion signal is transmitted from the first sensor circuit 31, and the first sensor The circuit switch 33 is closed (see FIG. 5). The second safety circuit 40 includes a second sensor circuit 41. The second sensor circuit 41 is a circuit that controls various sensors including the transported robot sensor 22. When power is supplied to the second sensor circuit 41 and the startup process that makes the transported robot sensor 22 etc. usable is completed, a startup process completion signal is transmitted from the second sensor circuit 41, and the second sensor circuit 41 Circuit switch 42 is closed (see FIG. 10).

When the cutoff circuit 16 receives the power cutoff signal from the first safety circuit 30, the cutoff circuit 16 cuts off the power supply from the power source 15. That is, when the power cutoff signal is transmitted from the first safety circuit 30, the power supply to the first drive circuit 17 is cut off. Further, when the transferred robot 20 is connected, the power supply to the second drive circuit 24 is also cut off.

In this way, the first safety circuit 30 and the cutoff circuit 16 are connected to the emergency stop circuit provided in the automatic guided vehicle 10 (first equipment) that operates while being connected to the transported robot 20 (second equipment) by the connecting part J. This is System S. Further, the automatic guided vehicle 10 (first equipment) includes a power source 15 that supplies power to the automatic guided vehicle 10 (first equipment). Further, the power source 15 also supplies power to the transported robot 20 (second equipment) via the connecting portion J when the transported robot 20 (second equipment) is connected. When an emergency stop state occurs (the emergency stop button is operated), the emergency stop system S transmits a power cutoff signal to supply power to the second drive circuit 24 of the transported robot 20 (second equipment). cut off the supply of

Further, the power source 15 supplies power to the transported robot 20 (second equipment) through a plurality of routes including a route via the cutoff circuit 16 and a route not via the cutoff circuit 16 . With this configuration, in the emergency stop system S, even if an emergency stop state (operation of an emergency stop button, detection of a failure by a sensor) occurs while power is being supplied to the transported robot 20, the first safety circuit 30 and the second safety circuit 40 are not interrupted. That is, even if the first emergency stop button 14 or the second emergency stop button 23 is operated while power is being supplied to the transported robot 20, the first safety circuit 30 and the second safety circuit 40 The power supply to is not cut off. Thereby, it is possible to return to the normal operating state immediately after coming out of the emergency stop state.

Next, the configuration of the first safety circuit 30 will be described with reference to FIG. 4. The first safety circuit 30 includes a first sensor circuit 31, a safety relay unit 32, a first sensor circuit switch 33, a first emergency stop button 14, a first emergency stop switch 34, detection switches 35A, 35B, It includes off-delay circuits 36A and 36B.

Safety relay unit 32 includes four terminals I1 to I4. When a short circuit occurs between the terminals I1 and I4 of the safety relay unit 32 and between the terminals I2 and I3, the emergency stop by the first safety circuit 30 becomes effective. When either the terminal I1 and the terminal I4 or the terminal I2 and the terminal I3 change from a short circuit state to an open state while the emergency stop is enabled, the safety relay unit 32 sends a power cutoff signal to the cutoff circuit 16. Send (emergency stop). That is, the first safety circuit 30 includes a circuit between terminals I1 and I4 (hereinafter referred to as "A system circuit") and a circuit between terminals I2 and I3 (hereinafter referred to as "B system circuit"). It is determined that an emergency stop condition has occurred when at least one of the circuits (referred to as "circuits", etc.) becomes open.

In FIG. 4, the first sensor circuit 31 closes the normally open first sensor circuit switch 33 when the startup process is completed. Further, the first sensor circuit 31 opens the first sensor circuit switch 33 when the automatic guided vehicle sensor 11 detects a failure after startup. The first sensor circuit switch 33 includes an A-system first sensor circuit switch 33a and a B-system first sensor circuit switch 33b. The first emergency stop switch 34, which is normally closed, becomes open when the first emergency stop button 14 is operated (pressed). The first emergency stop switch 34 includes a first emergency stop switch 34a of the A system and a first emergency stop switch 34b of the B system.

The detection switches 35A and 35B, which are normally closed, become open when the detection buttons 13A and 13B are operated (pressed). The detection switch 35A includes an A-system detection switch 35Aa and a start switch 35Ab that starts the off-delay circuit 36A. The detection switch 35B includes a B-system detection switch 35Ba and a start switch 35Bb that starts the off-delay circuit 36B.

In FIG. 4, off-delay circuits 36A and 36B are in a closed state when activated by activation switches 35Ab and 35Bb, and are in an open state after a predetermined time when they are no longer activated by activation switches 35Ab and 35Bb. The off-delay circuit 36A includes an A-system delay switch 36Aa. The off-delay circuit 36B includes a B-system delay switch 36Ba.

A first sensor circuit switch 33a, a first emergency stop switch 34a, and a detection switch 35Aa are connected in series to the A-system circuit. Furthermore, a delay switch 36Aa is connected to the A-system circuit in parallel with the detection switch 35Aa. A first sensor circuit switch 33b, a first emergency stop switch 34b, and a detection switch 35Ba are connected in series to the B-system circuit. Furthermore, a delay switch 36Ba is connected to the B-system circuit in parallel with the detection switch 35Ba. In this way, the first safety circuit 30 is made redundant (duplicated) with two circuits of the A system and the B system. The first safety circuit 30 also includes detection switches 35A and 35B that detect connection between the first emergency stop button 14 and the transported robot 20 (second equipment).

Next, the function of the first safety circuit 30 will be explained with reference to FIGS. 4 to 7. FIG. 4 shows the first safety circuit 30 immediately after the automatic guided vehicle 10 is powered on and before the start-up process of the first sensor circuit 31 is completed. That is, since the activation process of the first sensor circuit 31 has not been completed, the first sensor circuit switch 33 is in an open state. In this state, the A-system circuit and the B-system circuit are open, and power is supplied to the first drive circuit 17 as in the case of an emergency stop, regardless of whether or not the first emergency stop button 14 is operated. is blocked.

FIG. 5 shows the first safety circuit 30 after the activation process of the first sensor circuit 31 is completed. That is, by starting the first sensor circuit 31, the first sensor circuit switch 33 is in a closed state. Further, since the robot 20 to be transported is not connected and the detection buttons 13A and 13B are in a state before being operated, the detection switches 35A and 35B are in a closed state. Further, off-delay circuits 36A and 36B are also closed. In this state, the A-system circuit and the B-system circuit are closed, and the operation by the first emergency stop button 14 and the emergency stop by the first sensor circuit 31 are effective.

In this way, when the transported robot 20 (second equipment) is not connected, the first safety circuit 30 switches the first emergency stop button 14 by the detection switches 35A, 35B or the off-delay circuits 36A, 36B. The operation by the first sensor circuit 31 and the operation of the first sensor circuit switch 33 by the first sensor circuit 31 are effective.

FIG. 6 shows a state in which the operation by the first emergency stop button 14 and the emergency stop by the first sensor circuit 31 are effective (FIG. 5), and the first emergency stop button 14 is operated (pressed). A safety circuit 30 is shown. That is, the first emergency stop switch 34 is opened by operating the first emergency stop button 14 (arrow a). As a result, the A-system circuit and the B-system circuit are opened, a power cutoff signal is sent from the safety relay unit 32 to the cutoff circuit 16, and the power supply from the power source 15 to the first drive circuit 17 is cut off. (emergency stop).

FIG. 7 shows a state in which the operation by the first emergency stop button 14 and the emergency stop by the first sensor circuit 31 are effective (FIG. 5), and the automatic guided vehicle sensor 11 included in the first sensor circuit 31 detects a failure. The first safety circuit 30 is shown after detection. That is, the first sensor circuit switch 33 is in an open state due to the first sensor circuit 31 . As a result, the A-system circuit and the B-system circuit are opened, a power cutoff signal is sent from the safety relay unit 32 to the cutoff circuit 16, and the power supply from the power source 15 to the first drive circuit 17 is cut off. (emergency stop).

Next, the configuration of the second safety circuit 40 will be described with reference to FIG. 8. The second safety circuit 40 includes a second sensor circuit 41 , a second sensor circuit switch 42 , a second emergency stop button 23 , and a second emergency stop switch 43 . The second safety circuit 40 is connected to the first safety circuit 30 via a plurality of (here, four) connectors C provided in the connecting portion J. When the second sensor circuit switch 42 and the second emergency stop switch 43 of the second safety circuit 40 are connected to the first safety circuit 30, the first sensor circuit switch 42 of the first safety circuit 30 and the first emergency stop switch 34 to form an A-system circuit and a B-system circuit.

The second sensor circuit 41 closes the second sensor circuit switch 42 when the startup process is completed. Furthermore, when the transported robot sensor 22 detects a failure after startup, the second sensor circuit 41 opens the second sensor circuit switch 42 . The second sensor circuit switch 42 includes an A-system second sensor circuit switch 42a and a B-system second sensor circuit switch 42b. The second emergency stop switch 43, which is normally closed, is opened by operating the second emergency stop button 23. The second emergency stop switch 43 includes a second emergency stop switch 43a of the A system and a second emergency stop switch 43b of the B system.

Next, the functions of the first safety circuit 30 and the second safety circuit 40 connected to the first safety circuit 30 will be described with reference to FIGS. 8 to 13 and 15. FIG. 8 shows the states of the first safety circuit 30 and the second safety circuit 40 before the transported robot 20 is connected to the automatic guided vehicle 10 (time T0 in FIG. 15). That is, the first safety circuit 30 is in a state where operation by the first emergency stop button 14 and emergency stop by the first sensor circuit 31 shown in FIG. 5 are effective. Further, power is not supplied to the transported robot 20, the second sensor circuit 41 of the second safety circuit 40 has not yet been activated, and the second sensor circuit switch 42 is in an open state.

FIG. 9 shows a state immediately after the transported robot 20 is connected to the automatic guided vehicle 10 (time T1 in FIG. 15). That is, power is supplied to the second safety circuit 40 and second drive circuit 24 of the transported robot 20 from the power source 15 of the automatic guided vehicle 10 via the connector C of the connecting portion J (see FIG. 3). . Further, the second safety circuit 40 is connected to the first safety circuit 30 via the connector C of the connecting portion J. However, in the second safety circuit 40, the activation process of the second sensor circuit 41 has not been completed, and the second sensor circuit switch 42 is in an open state.

Furthermore, in the first safety circuit 30, the detection switches 35A and 35B are in the open state due to the operation of the detection buttons 13A and 13B (arrow b), but the off-delay circuits 36A and 36B are in the closed state. Therefore, the A-system circuit and the B-system circuit are in a closed state within the first safety circuit 30. In this state, only the operation by the first emergency stop button 14 and the emergency stop by the first sensor circuit 31 are effective.

FIG. 10 shows that after the transported robot 20 is connected to the automatic guided vehicle 10 and after the start-up process of the second sensor circuit 41 is completed (time T2 in FIG. 15), the second sensor circuit switch 42 is in the closed state. The first safety circuit 30 and the second safety circuit 40 are shown (time T3 in FIG. 15). That is, by starting the second sensor circuit 41, the second sensor circuit switch 42 is in a closed state. On the other hand, the off-delay circuits 36A and 36B of the first safety circuit 30 are still kept closed. Therefore, the A-system circuit and the B-system circuit are in a closed state within the first safety circuit 30. In this state, only the operation by the first emergency stop button 14 and the emergency stop by the first sensor circuit 31 are effective.

FIG. 11 shows that a predetermined period of time (first The first safety circuit 30 and the second safety circuit 40 are shown after a period T41) has passed (time T4 in FIG. 15). That is, the off-delay circuits 36A and 36B of the first safety circuit 30 are in an open state.

Thereby, the first sensor circuit switch 33a, the first emergency stop switch 34a, the second sensor circuit switch 42a, and the second emergency stop switch 43a are connected in series to the A-system circuit. Further, a first sensor circuit switch 33b, a first emergency stop switch 34b, a second sensor circuit switch 42b, and a second emergency stop switch 43b are connected in series to the B-system circuit. In this state, in addition to the operation by the first emergency stop button 14 and the emergency stop by the first sensor circuit 31, the operation of the second emergency stop button 23 and the emergency stop by the second sensor circuit 41 are also effective. . In this way, the connected first safety circuit 30 and second safety circuit 40 are made redundant (duplicated) by two circuits of the A system and the B system.

FIG. 12 shows a state in which the operation by the first emergency stop button 14 and the second emergency stop button 23 and the emergency stop by the first sensor circuit 31 and the second sensor circuit 41 are enabled (after time T4 in FIG. 15). ) (FIG. 11) shows the first safety circuit 30 and the second safety circuit 40 when the second emergency stop button 23 is operated (pressed). That is, by operating the second emergency stop button 23 (arrow c), the second emergency stop switch 43 is brought into an open state. As a result, the A-system circuit and the B-system circuit are opened, a power cutoff signal is transmitted from the safety relay unit 32 to the cutoff circuit 16, and the first drive circuit 17 and the second drive circuit from the power source 15 are The power supply to 24 is cut off (emergency stop).

FIG. 13 shows a state in which the operation by the first emergency stop button 14 and the second emergency stop button 23 and the emergency stop by the first sensor circuit 31 and the second sensor circuit 41 are effective (after time T4 in FIG. 15). ) (FIG. 11) shows the first safety circuit 30 and the second safety circuit 40 after the transported robot sensor 22 included in the second sensor circuit 41 detects a fault. That is, the second sensor circuit switch 42 is opened by the second sensor circuit 41 . As a result, the circuits of the A system and the B system become open, a power cutoff signal is transmitted from the safety relay unit 32 to the cutoff circuit 16, and the first drive circuit 17 and the second drive circuit from the power source 15 are The power supply to 24 is cut off (emergency stop).

In this way, when the transported robot 20 (second equipment) is connected, the first safety circuit 30 connects to the second emergency stop button 23 included in the transported robot 20 (second equipment). The detection switches 35A and 35B enable operation by the second emergency stop button 23 and emergency stop by the second sensor circuit 41. (Figures 11-13). Furthermore, the first safety circuit 30 operates during the first period T41 (see FIG. 15) after the detection switches 35A and 35B detect the connection of the transported robot 20 (second equipment). Off-delay circuits 36A and 36B are provided in which operation by the first emergency stop button 14 and emergency stop by the first sensor circuit 31 are enabled regardless of the state of the circuit 40 (FIGS. 9 and 10).

In the first period T41, after the transferred robot 20 (second equipment) is connected, the operation by the second emergency stop button 23 and the emergency stop by the second sensor circuit 41 are performed in the second safety circuit 40. It is longer than the time required for it to become effective (startup processing time T31). Specifically, the startup processing time T31 (see FIG. 15) is the time required for startup processing of the sensor circuit (second sensor circuit 41) provided in the transported robot 20 (second equipment).

While power is being supplied to the transported robot 20 (second equipment) from the power source 15 of the automatic guided vehicle 10 (first equipment) (after the first period T41 has elapsed), the first emergency stop button is pressed. 14 or the second emergency stop button 23 is operated, the first drive circuit 17 of the automatic guided vehicle 10 (first equipment) and the second drive circuit 24 of the transported robot 20 (second equipment) are operated. The power supply to is cut off (emergency stop) (Fig. 12). Further, when the transported robot sensor 22 included in the second sensor circuit 41 detects a failure after the first period T41 has elapsed, the supply of power to the first drive circuit 17 and the second drive circuit 24 is cut off. (Emergency stop) (Fig. 13).

Next, with reference to FIGS. 14, 16, and 8, the functions of the first safety circuit 30 and the second safety circuit 40 when the second safety circuit 40 is disconnected from the first safety circuit 30 will be explained. explain. FIG. 14 shows the states of the first safety circuit 30 and the second safety circuit 40 immediately after starting the work of separating the transported robot 20 from the automatic guided vehicle 10 (time T5 in FIG. 16). Here, the detection switches 35A and 35B are configured to detect disconnection of the transported robot 20 (second equipment) before the second safety circuit 40 is disconnected from the first safety circuit 30. The arrangement and shape of the buttons 13A and 13B, and the structure of the connecting portion J and connector C are designed.

That is, although the second safety circuit 40 is connected to the first safety circuit 30 via the connector C of the connecting portion J, the detection switches 35A and 35B are closed by operating the detection buttons 13A and 13B (arrow d). It is in a state. Further, the off-delay circuits 36A and 36B are also activated and are in a closed state. Therefore, the A-system circuit and the B-system circuit are in a closed state within the first safety circuit 30. In this state, only the operation by the first emergency stop button 14 and the emergency stop by the first sensor circuit 31 are valid, and the operation by the second emergency stop button 23 and the emergency stop by the second sensor circuit 41 are invalid. It is.

In this way, when the first safety circuit 30 is connected to the second safety circuit 40, when the detection switches 35A, 35B are closed by operating the detection buttons 13A, 13B, the first safety circuit 30 is closed. The state is the same as when it is not connected (see FIG. 8).

As explained above, the emergency stop system S of this embodiment is an emergency stop system that is provided in the first equipment (automated guided vehicle 10) that operates while being connected to the second equipment (transported robot 20) by the connecting part J. The stop system S includes a first emergency stop button 14 and a first safety circuit 30 including detection switches 35A and 35B that detect connection with second equipment. In the first safety circuit 30, when the second equipment is not connected, the detection switches 35A and 35B enable operation of the first emergency stop button 14. Thereby, even when used in conjunction with other equipment, the equipment can be appropriately brought to an emergency stop.

Note that in the above description, the transported robot 20 is used as another equipment (second equipment), and the automatic guided vehicle 10 is used as an example of equipment to which other equipment is connected (first equipment), and the emergency stop of this embodiment is Although the system S has been described, the emergency stop system S is not limited to this combination. For example, the first equipment may be production equipment fixed to a production line. Alternatively, the configuration may be such that the first equipment is connected to the second equipment, and then the second equipment is further connected to the third equipment. In that case, the second safety circuit 40 of the second equipment, like the first safety circuit 30, is configured to include a detection switch for detecting connection with the third equipment and an off-delay circuit.

To provide an emergency stop system that can appropriately bring equipment to an emergency stop even when used alone or in conjunction with other equipment.

10 Automatic guided vehicle (first equipment)
14 First emergency stop button 15 Power source 20 Transported robot (second equipment)
23 Second emergency stop button 30 First safety circuit 35A, 35B Detection switch 36A, 36B Off-delay circuit 40 Second safety circuit J Connection part S Emergency stop system T41 First period

The emergency stop system of the present invention is an emergency stop system provided in a first piece of equipment that is operated by being connected to a second piece of equipment via a connecting part, and wherein a first emergency stop button is connected to the second piece of equipment. a first safety circuit including a detection switch that detects the first safety circuit, and the first safety circuit includes a second emergency stop button provided on the second equipment when the second equipment is connected. It is connected to a second safety circuit via the connection part, and the detection switch enables operation by the second emergency stop button in addition to the first emergency stop button, and the second equipment is connected. If not, the detection switch enables the operation of the first emergency stop button.

Claims (14)

An emergency stop system provided in a first equipment that operates while being connected to a second equipment by a connecting part,
a first safety circuit including a first emergency stop button and a detection switch that detects connection with the second equipment;
The first safety circuit is an emergency stop system in which the detection switch enables operation of the first emergency stop button when the second equipment is not connected. When the second equipment is connected, the first safety circuit is connected to a second safety circuit including a second emergency stop button included in the second equipment via the connecting portion, and The emergency stop system according to claim 1, wherein the detection switch also enables operation by the second emergency stop button. The first safety circuit is configured to perform the first emergency stop regardless of the state of the second safety circuit during a first period after the detection switch detects connection of the second equipment. 3. The emergency stop system according to claim 2, further comprising an off-delay circuit that becomes effective when operated by a button. 3. The first period is longer than the time required for the second emergency stop button to become effective in the second safety circuit after the second equipment is connected. Emergency stop system as described in . The emergency stop according to claim 4, wherein the time required for the operation by the second emergency stop button to become effective is the time required for activation processing of a second sensor circuit included in the second safety circuit. system. The emergency stop according to any one of claims 2 to 5, wherein the detection switch detects disconnection of the second equipment before the second safety circuit is disconnected from the first safety circuit. system. The first equipment includes a power source that supplies power to the first equipment,
When the second equipment is connected, the power source also supplies power to the second equipment via the connection part,
When the first emergency stop button or the second emergency stop button is operated while power is being supplied to the second equipment, power is supplied to the second drive circuit of the second equipment. The emergency stop system according to claim 2, wherein the supply of is cut off. The power source supplies power to the second equipment through a plurality of routes,
Even if the first emergency stop button or the second emergency stop button is operated while power is being supplied to the second equipment, the power supply to the second safety circuit is not cut off. , The emergency stop system according to claim 7. The first equipment includes a power source that supplies power to the first equipment,
When the second equipment is connected, the power source also supplies power to the second equipment via the connection part,
When the first emergency stop button or the second emergency stop button is operated while power is being supplied to the second equipment, power is supplied to the first drive circuit of the first equipment. The emergency stop system according to claim 2, wherein the supply of is also interrupted. Even if the first emergency stop button or the second emergency stop button is operated while power is being supplied to the second equipment, the power supply to the first safety circuit is not cut off. 10. The emergency stop system according to claim 9. The emergency stop system according to claim 1, wherein the first safety circuit is redundant. The emergency stop system according to claim 2, wherein the first safety circuit and the second safety circuit are redundant. The first safety circuit is
a first sensor circuit;
a first sensor circuit switch opened and closed by the first sensor circuit,
The first safety circuit according to claim 1, wherein when the second equipment is not connected, the detection switch enables the first sensor circuit to operate the first sensor circuit switch. Emergency stop system as described. The second safety circuit is
a second sensor circuit;
a second sensor circuit switch opened and closed by the second sensor circuit,
The first safety circuit according to claim 2, wherein when the second equipment is connected, the detection switch enables the second sensor circuit to operate the second sensor circuit switch. Emergency stop system.

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