JP2525415B2 - Robot teaching system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is a portable teaching device for teaching work of an industrial robot used in an explosive atmosphere where an organic solvent is used and editing work of a teaching program. The present invention relates to a robot teaching system having an intrinsically safe explosion-proof structure in which an electric spark or a high-temperature portion generated when a power supply circuit and a signal circuit of the teaching controller are normal or an accident does not ignite explosive gas.

[Conventional technology]

The intrinsically safe explosion-proof structure of electrical equipment is as described in "Industrial Safety Research Institute, Ministry of Labor, Industrial Safety Research Institute, Technical Guide, New Factory Electrical Equipment Explosion-proof Guideline (Gas Explosion 1985) Vol. An explosion-proof structure that does not ignite the specified test gas under the specified test conditions in the normal condition and the assumed abnormal condition under the specified test conditions, and does not ignite the explosive atmosphere due to high temperature. .

Up to now, in order to make an electric device an intrinsically safe explosion-proof structure, as shown in FIG. 2, a safety barrier called a barrier is used.
Pushbutton switch PB that uses Ba and Bb in an explosive atmosphere,
The signal lines connecting the electric device such as the light emitting diode D and the electric device such as the input / output device 10 used outside the explosive atmosphere were connected in series.

As shown in FIG. 3, the barrier is a resistor R, a fuse FS,
It is a unit composed of Zener diode ZD,
The voltage generated at the time of an accident such as a short circuit between cables or a ground fault is clamped by the Zener diode ZD, the current is limited by the resistor R, and the energy (voltage, current) that ignites the explosive gas is generated. The fuse FS has blown,
It prevents the occurrence of sparks.

[Problems to be solved by the invention]

However, in this conventional explosion-proof structure, a teaching controller placed in an explosion-proof atmosphere,
In the case of a robot teaching system equipped with a robot control device arranged outside the explosion-proof atmosphere, if the number of push button switches or the number of light emitting diodes of the keyboard, which is the operating means, is increased in order to enhance the function of the teaching controller, Correspondingly, the number of signal lines increases, and a barrier is required according to the signal lines. FIG. 4 shows such an example, and barriers B1 to Bn corresponding to the number of push button switches PB1 to PBn are connected. Therefore, in such a configuration, since the barrier is an expensive unit, the entire robot teaching system becomes expensive.

Further, assuming a ground fault, the maximum ground fault current is because the ground fault currents I1, I2, I3, ..., In flow through each signal line.
I1 + I2 + I3 + ... + In, which increases in proportion to the number of signal lines. For this reason, realization of the intrinsically safe explosion-proof structure itself becomes quite difficult.

Therefore, an object of the present invention is to provide a robot teaching system which is highly functional and inexpensive, and which can surely realize an intrinsically safe explosion-proof structure.

[Means for solving problems]

The above-mentioned object is to configure the operation signal circuit and the display signal circuit so that operation data and display data can be transmitted and received by a serial transfer method, and a signal line of the operation signal circuit,
This is achieved by a robot teaching system characterized in that a barrier line is serially connected to the signal line of the display signal circuit and the signal line of the power supply circuit on the robot controller side.

[Action]

By using the serial transfer method for transmitting and receiving the operation data and the display data, the number of signal lines decreases with an increase in the information amount of the display data and the operation data, and the number of expensive barriers also decreases. Therefore, high functionality is achieved and the entire system becomes inexpensive. Moreover, the short circuit current can be minimized by reducing the number of signal lines, and there is no difficulty in realizing an intrinsically safe explosion-proof structure.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral A is an area in an explosive atmosphere such as a painting work site where an organic solvent is used, and B
Is an ordinary environment area separated from the explosive atmosphere by a partition W.

A teaching controller 1 which is a portable teaching device of the robot teaching system of the present invention is arranged in a region A, and a robot controller 2 thereof is arranged in a region B. A robot body (not shown) is also installed in the area A.

The teaching controller 1 performs teaching work of a robot, editing work of teaching data, and the like, and a keyboard 3 on which a worker teaches and a robot control device 2 are provided.
LCD display 4 for displaying the display data transferred from
And a power supply unit 5. The keyboard 5 is connected with a parallel / serial converter 6 for inputting parallel push button data indicating which key has been pressed and converting it into serial data. The liquid crystal display 4 is connected with a serial / parallel converter 7 for inputting serial display data transmitted from the robot controller 2 and converting it into parallel data.

The robot controller 2 is the teaching controller 1
Serial input port 8 for inputting the serial push button data from the parallel / serial converter 6 of the above, a serial output port 9 for outputting serial display data to the serial / parallel converter 7 of the teaching controller 1, and a serial input port 8 Performs necessary processing such as calculating the operation of the robot based on the push button data from the CPU, and outputs the display data to the serial output port 9, that is, the central processing unit, that is, the CPU 10, and the power supply unit 5 of the teaching controller 1 is powered. The power supply unit 11 supplies the power.

The parallel / serial converter 6, the serial / parallel converter 7, and the power supply unit 5 of the teaching controller 1, the serial input port 8, the serial output port 9, and the power supply unit 11 of the robot controller 2 are connected to the signal line 12, 13
And a power supply line 14 to form an operation signal circuit, a display signal circuit, and a power supply circuit, respectively.

The robot controller 2 is connected to the signal lines 12 and 13 and the power line 14.
Inside, barriers 15, 16, 17 are connected in series, respectively.

 Next, the operation of the system of this embodiment will be described.

If the operator presses the keyboard 3 of the teaching controller 1 at the time of teaching, a parallel push button signal indicating which key has been pressed causes a parallel / serial converter 6 to be pressed.
The push button data is converted into serial data, passes through the signal line 12 and the barrier 15, passes through the serial input port 8 in the robot controller 2, and is fetched into the CPU 10 for processing.

On the other hand, the display data from the CPU 10 is output as serial data from the serial output port 9, passes through the barrier 16 and the signal line 12, is converted into parallel data by the serial / parallel converter 7, and is sent to the liquid crystal display 4. Here, the content of the display data is displayed on the liquid crystal.

The power supplied to the power supply unit 5 of the teaching controller 1 is supplied from the power supply unit 11 of the robot control device 2.
It is supplied through the barrier 17 and the power supply line 14.

Now, even if the signal line 13 is broken or grounded, the barrier 16 absorbs the generation of energy that can ignite the explosive gas at the accident occurrence point, so that the intrinsically safe explosion-proof property is realized.

As described above, according to the present embodiment, since the push button data and the display data are transmitted and received by the serial transfer method, the display data and the operation data having a large amount of information can be transmitted. Therefore, not only can you increase the amount of information,
Work such as editing can be performed freely, and the teaching system can be made multifunctional. Also, only three expensive barriers are needed, and the entire system becomes cheaper. Moreover, since the number of signal lines is small, the short-circuit current can be minimized, and there is no obstacle to the realization of an intrinsically safe explosion-proof structure.

Further, since the number of signal lines is small, it is possible to make the cable thin, and there is also an advantage that the teaching controller can be easily handled.

〔The invention's effect〕

As is clear from the above, according to the robot teaching system of the present invention, it is possible to surely realize a highly functional, inexpensive, and intrinsically safe explosion-proof structure. In addition, the cable can be made thin, and the teaching controller can be easily handled.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing the main configuration of a robot control system according to an embodiment of the present invention, FIG. 2 is a circuit diagram of a conventional electric device having an intrinsically safe explosion-proof structure, and FIG. 3 is its essence. FIG. 4 is a circuit diagram showing a structure of a barrier used in a safety explosion-proof structure, and FIG. 4 is a circuit diagram of an electric device having a conventional intrinsically safe explosion-proof structure when the number of pushbutton switches is large. In the figure, 1 ... Teaching controller, 2 ... Robot control device, 5 ... Power supply unit, 6 ... Parallel / serial converter, 7 ... Serial / parallel converter, 8 ... Serial input port, 9 ... Serial output port, 11 ... power supply section, 12, 13 ... signal line, 14 ... power line, 15 to 17 ...
... barrier

Claims (1)

(57) [Claims] 1. A teaching controller arranged in an explosion-proof atmosphere, and a robot controller arranged outside the explosion-proof atmosphere. These teaching controller and robot controller are provided with operation data from the teaching controller to the robot controller. In the robot teaching system, an operation signal circuit for transmitting a control signal, a display signal circuit for transmitting display data from the robot controller to the teaching controller, and a power supply circuit for supplying power from the robot controller to the teaching controller are provided. The circuit and the display signal circuit are configured so that the operation data and the display data can be transmitted and received by a serial transfer method, and the robot control device is connected to the signal line of the operation signal circuit, the signal line of the display signal circuit and the signal line of the power supply circuit. On each side A robot teaching system characterized by barrier connection to rows.