JP5558148B2 - Movable machine control device and movable machine control system - Google Patents

Description

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

  Conventionally, in a control system for a movable machine including a teaching operation device having an emergency stop switch circuit and a robot control device, the robot is generally operated in a state where the teaching operation device and the robot control device are not connected. It has been broken. 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.

  Further, Patent Document 2 discloses a configuration in which a teaching operation device including an emergency stop switch circuit 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, even if the operator does not intend, the operation of the robot is stopped by stopping the function of the servo amplifier that servo-controls the drive motor of the robot once every time the work mode is switched. The function of the emergency stop circuit is checked.

Japanese Patent No. 2672417 Japanese Patent No. 4085952 Japanese Patent No. 4137932

  By the way, in Patent Document 1 and Patent Document 2, when a teaching operation device including an emergency stop switch circuit is detached from a robot control device, it can be operated without stopping the operation of the robot. However, Patent Document 1 and Patent Document 2 do not have a method that can automatically check the mechanism that does not stop the robot operation when the teaching operation device is removed, and the failure of the emergency stop switch circuit or human error. If there is an emergency, the robot may not stop even if the emergency stop switch is operated.

  Although Patent Document 3 can automatically check the function of the emergency stop switch circuit, it is necessary to temporarily stop the operation of the robot (movable machine) by reducing the function of the servo amplifier. For this reason, when the teaching operation device is attached to the robot control device, there is a problem that if the robot is in operation (for example, during production), the function cannot be diagnosed until the operation is stopped and confirmed.

  An object of the present invention is to provide a semiconductor connected in parallel to an emergency stop switch circuit when an operation device having an emergency stop switch circuit is operated without stopping the operation of the movable machine even if it is detached from the movable machine control device. An object of the present invention is to provide a movable machine control system in which a switch is provided to check the operation of a semiconductor switch when the operating device is in a disconnected state, thereby improving safety.

  Another object of the present invention is to connect in parallel to the emergency stop switch circuit when the operation device having the emergency stop switch circuit is removed from the movable machine control device without stopping the operation of the movable machine. An object of the present invention is to provide a movable machine control device that can improve the safety by providing a semiconductor switch to be operated and checking the operation of the semiconductor switch when the operation device is in a disconnected state.

In order to solve the above problems, the invention described in claim 1 is a movable machine control device that includes a relay unit, and controls the movable machine to be movable when the relay unit is excited. In a movable machine control device capable of selecting a connection state in which communication is possible and a non-connection state in which communication is not possible with respect to an operation device having an emergency stop switch circuit for making an emergency stop of the machine. When connected in parallel with the stop switch circuit, the emergency stop switch circuit is enabled by turning off, thereby enabling the relay means to be de-energized. On the other hand, when the operating device is in the unconnected state, the switch is turned on. By doing so, the semiconductor switch that invalidates the stop of the movable machine due to the excitation of the relay means and the removal of the emergency stop switch circuit is provided. And Ji means, into said semiconductor switch means is ON operated, whether the relay contact of the relay means by off operation of the semiconductor switch at the time width not off operation, said semiconductor switch means is operating normally are summarized as mobile machine control device characterized by one of comprises diagnostic means for performing diagnosis.

  According to a second aspect of the present invention, there is provided an operation device according to the first aspect, wherein the relay unit, the semiconductor switch unit, and the diagnostic unit are multiplexed, and the operation device has a multiplexed emergency stop switch circuit. It is possible to select a connection state where communication is possible and a non-connection state where communication is impossible.

According to a third aspect of the present invention, in the first or second aspect, the connection state is realized by a wired or wireless connection with the operation device.
According to a fourth aspect of the present invention, there is provided a movable machine control device according to any one of the first to third aspects, a connected state in which communication is possible with the movable machine control device, and a non-connected state incapable of communication. The gist of the present invention is a movable machine control system including an operation device having the emergency stop switch circuit for making an emergency stop of the movable machine.

  According to the movable machine control device of the first aspect of the present invention, when the semiconductor switch connected in parallel to the emergency stop switch circuit is provided and the operating device and the movable machine control device are brought into the non-connected state, the semiconductor switch The operating device is disconnected from the movable machine control device by turning on the movable machine control device, and the movable machine control device alone can operate the movable machine. And, since the semiconductor switch is diagnosed during the ON operation, the emergency stop function can be performed without stopping the operating movable machine even when the operating device and the movable machine control device are returned to the connected state. Can be confirmed.

  According to the movable machine control device of the second aspect of the invention, the safety of the emergency stop function can be improved by performing the diagnosis of the semiconductor switch on each of the multiplexed semiconductor switch means.

  According to a third aspect of the present invention, in the movable machine control device in which the movable machine control device and the operating device are connected to each other in a wired or wireless manner, according to any one of the first and second aspects. The effect of can be easily realized.

  According to the movable machine control system of the invention of claim 4, the effect described in any one of claims 1 to 3 can be easily realized.

1 is a block circuit diagram of a robot control apparatus according to a first embodiment embodying the present invention. Signal waveform diagram. The block circuit diagram of the robot control apparatus of 2nd 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, CN11, and CN12. The teaching operation device 50 is detachable with respect to the connectors CN1 to CN4, CN11 and CN12 of the connection port 30 via communication lines connected to the confident connectors CN5 to CN8, CN9 and CN10.

  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 normally closed contacts 52a and 52b for urgently stopping the operation of the robot R regardless of other switches. The circuit of the normally closed contact 52a, that is, the first emergency stop switch circuit SC1 as an emergency stop switch circuit is connected to the connectors CN3 and CN4 of the connection port 30 via the connectors CN7 and CN8 and the communication line.

  The circuit of the normally closed contact 52b, that is, the second emergency stop switch circuit SC2 as an emergency stop switch circuit is connected to the connectors CN11 and CN12 of the connection port 30 via the connectors CN9 and CN10 and the communication line. Thus, the emergency stop switch circuit is duplicated.

  The teaching operation device 50 and the connection port 30 are each provided with a teaching communication connector (not shown). A connector used for teaching data communication (not shown) of the teaching operation device 50 is detachable from a teaching communication connector 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, between the connectors CN3 and CN4, for example, a first semiconductor switch 34 as a semiconductor switch means made of a MOSFET is connected. The first semiconductor switch 34 forms a parallel circuit with the first emergency stop switch circuit SC1 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 a + V power supply, and the connector CN4 is grounded via a first relay RY1 as relay means. The relay RY1 corresponds to relay means.

The first relay RY1 is in a state where the teaching operation device 50 is connected (hereinafter referred to as a connected state), and the normally closed contact 52a of the emergency stop switch 52 is open , or the teaching operation device 50 is not connected. In a state (hereinafter referred to as a non-connected state), the first semiconductor switch 34 is turned on, and the coil is excited to turn on a first make contact RY1a described later.

The connection port 30 is provided with a first drive circuit 38 and a first diagnostic circuit 40. The first diagnostic circuit 40 corresponds to diagnostic means.
When the detector 32 detects that the teaching operation device 50 is not connected, the first drive circuit 38 outputs a gate control signal to the first semiconductor switch 34 via the gate of the first semiconductor switch 34. It is turned on to supply an exciting current to the coil of the first relay RY1. The first drive circuit 38 turns off the first semiconductor switch 34 when the detector 32 detects that the teaching operation device 50 is connected. The first diagnosis circuit 40 is connected to the output terminal of the first semiconductor switch 34 so as to monitor the on / off operation of the first semiconductor switch 34.

The function of the first diagnostic circuit 40 will be described later.
The connection port 30 is provided with a second semiconductor switch 34A, a second drive circuit 38A, a second relay RY3, and a second diagnostic circuit 40A. The second semiconductor switch 34A, the second drive circuit 38A, the second relay RY3, and the second diagnostic circuit 40A are respectively the first semiconductor switch 34, the first drive circuit 38, the first relay RY1, and the first diagnostic circuit 40. Since they have the same configuration and the same function, detailed description is omitted. The second diagnostic circuit 40A corresponds to a diagnostic unit.

  The second relay RY3 is turned on when the teaching operation device 50 is connected and the normally closed contact 52b of the emergency stop switch 52 is open or when the teaching operation device 50 is not connected. By the operation, the coil is excited and the second make contact RY3a described later is operated. The second relay RY3 is connected between the connectors CN11 and CN12. In this way, the semiconductor switch, the drive circuit, the relay, and the diagnostic circuit are duplicated. The relay RY3 corresponds to relay means.

A first make contact RY1a and a second make contact RY3a are connected between the terminals Ha and Hb of the connection port 30 and between the terminals Hc and Hd, respectively.
Relays RY2 and RY4 are respectively connected between the + V power supply and the terminal He provided in the main body of the robot control apparatus 10, and between the + V power supply and the terminal Hg. The terminals He and Hg are connected to the terminals Ha and Hc through connection lines, respectively. Further, the terminals Hb and Hd of the connection port 30 are connected to the terminals Hf and Hh provided on the main body of the robot control apparatus 10 through connection lines and are grounded.

  The make contacts RY2a and RY4a of the relays RY2 and RY4 form a series circuit, and are provided between the AC power supply AC and the servo unit 47 as a control unit, and operate the robot R by the servo unit 47 when closed. Stop. When both the make contacts RY2a and RY4a are closed, the servo unit 47 can control the operation of the robot R.

  The circuit from the + V power source to the ground via the relay RY2, the terminal He, the terminal Ha, the first make contact RY1a, the terminal Hb, and the terminal Hf constitutes the first emergency stop circuit portion J1. The circuit from the + V power source to the ground via the relay RY4, the terminal Hg, the terminal Hc, the second make contact RY3a, the terminal Hd, and the terminal Hh constitutes a second emergency stop circuit portion J2.

(Operation of the embodiment)
Now, the operation of the robot control system configured as described above will be described. For convenience of explanation, the teaching operation device 50 will be described from the connected state.

With the teaching operation device 50 connected to the connection port 30, first, the connection between the connectors CN5 and CN1 and the connection between the connectors CN6 and CN2 are released.
The detector 32 outputs the detection result of the disconnection between the connectors CN5 and CN1 and between the connectors CN6 and CN2 to the first drive circuit 38 and the second drive circuit 38A. Based on this detection, the first drive circuit 38 and the second drive circuit 38A turn on the first semiconductor switch 34 and the second semiconductor switch 34A. For this reason, the exciting current is supplied to the first relay RY1 and the second relay RY3, and the first make contact RY1a and the second make contact RY3a are closed. As a result, the exciting current is supplied to the relays RY2 and RY4, and the make contacts RY2a and RY4a are closed, thereby permitting the servo unit 47 to control the robot R.

  Thereafter, a connector (not shown) used for connection between the connectors CN7 and CN3, between the connectors CN8 and CN4, and teaching data communication (not shown) of the teaching operation device 50, and a connector for teaching communication (not shown) of the connection port 30 No) and the teaching operation device 50 is removed from the connection port 30. For this reason, in the present embodiment, the teaching operation device 50 can be operated without stopping the operation of the robot R even when the teaching operation device 50 including the emergency stop switch 52 is disconnected as well as the teaching operation device 50 is connected. Is possible.

  The first diagnostic circuit 40 and the second diagnostic circuit 40A are in a state where the teaching operation device 50 is not connected to the connection port 30 and the exciting current is supplied to the coils of the first relay RY1 and the second relay RY3. Always perform diagnostic processing. In the present embodiment, this diagnosis processing is always performed. However, when the teaching operation device 50 is operated without being stopped, the teaching operation device 50 may be periodically performed. .

  This diagnosis process is a process of diagnosing whether or not each semiconductor switch is operating normally by turning off the gate control signals of the first semiconductor switch 34 and the second semiconductor switch 34A in a short time width. That is, the first drive circuit 38 and the second drive circuit 38A output gate control signals described later to the first semiconductor switch 34 and the second semiconductor switch 34A, respectively.

  Here, the setting of the OFF time width of the gate control signal of the first semiconductor switch 34 is based on the characteristics of the relay, and the a contact of the first relay RY1 (that is, the first make contact RY1a) is opened. Only the coil that is the first relay RY1 is set to satisfy the condition for turning off. In other words, the OFF time width of the gate control signal is determined so that the energy stored in the first relay RY1 (coil) is released from the time when the gate control signal is turned OFF to ON before the contact a operates. This is the time width until the control signal is turned back ON.

Since the setting of the OFF time width of the gate control signal of the second semiconductor switch 34A is the same as that of the first semiconductor switch 34, the description thereof is omitted.
Therefore, when the first semiconductor switch 34 and the second semiconductor switch 34A are normal by such a gate control signal, an ON / OFF applied voltage synchronized with the gate control signal is applied to the first relay RY1 and the second relay RY3, respectively. Is done.

  The first diagnosis circuit 40 determines whether the on / off applied voltage and the set gate control signal output from the first drive circuit 38 are synchronized via the output terminal of the first semiconductor switch 34. Diagnose. If synchronized, the first diagnosis circuit 40 diagnoses (determines) that the first semiconductor switch 34 is normal, and applies the set gate control signal to the first semiconductor switch 34 of the first drive circuit 38. To continue. On the contrary, if not synchronized, the first diagnosis circuit 40 diagnoses (determines) that the first semiconductor switch 34 is abnormal, and turns off the first semiconductor switch 34 with respect to the first drive circuit 38. Then, the supply of the excitation current to the first relay RY1 is stopped.

The diagnosis of the second semiconductor switch 34A by the second diagnosis circuit 40A is performed in the same manner as the first diagnosis circuit 40.
In FIG. 2, in the period from t1 to t3, the teaching operation device 50 is in a disconnected state and outputs a gate control signal having a diagnostic OFF period, and in response to the coil of the first relay RY1 (or the second relay RY3) The applied voltage is in a synchronized state.

  Next, when the teaching operation device 50 is connected to the connection port 30, first, the connectors CN7 and CN8 and the connectors CN9 and CN10 are connected to the connectors CN3 and CN4 and the connectors CN11 and CN12 of the connection port 30 via the communication line. Connect each one. In addition, a connector (not shown) used for teaching data communication (not shown) of the teaching operation device 50 and a connector (not shown) for teaching communication of the connection port 30 are connected.

  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 first drive circuit 38 and the second drive circuit 38A are based on the detection of the detector 32, and the first semiconductor switch 34 and the second semiconductor switch 34A are turned off. In FIG. 2, it is shown that the detector 32 detects the connection to the connection port 30 of the teaching operation device 50 at t4, and the gate control signal changes from ON to OFF at t5 after the set time tm. It is shown that it is held OFF. As a result, the first relay RY1 (or the second relay RY3) is turned off.

  In this state, unless the emergency stop switch 52 is operated, the exciting current is supplied to the first relay RY1 and the second relay RY3, so the make contact RY2a is closed and the control of the servo unit 47 with respect to the robot R is allowed. Is done. FIG. 2 also shows that at t5, the emergency stop switch 52 is operated, the normally closed contacts 52a and 52b are opened, and the first relay RY1 and the second relay RY3 are turned off.

Now, this embodiment has the following effects.
(1) In the robot control apparatus 10 of the present embodiment, the first and second semiconductor switches 34 and 34A have first and second emergency stop switch circuits SC1 and SC2 (emergency stop switch) of the teaching operation device 50 (operation device). Circuit 1), the first and second emergency stop switch circuits SC1 and SC2 are enabled by turning off, and the first relay RY1 and the second relay RY3 (relay means) are excited. Make it resolvable.

  The first and second semiconductor switches 34 and 34A are turned on when the teaching operation device 50 is not connected, thereby energizing the first relay RY1 and the second relay RY3 to cause the first and second emergency stops. The stop of the robot R due to the disconnection of the switch circuits SC1 and SC2 is invalidated. The first and second make contacts RY1a and RY3a of the first relay RY1 and the second relay RY3 are not turned off between the first and second semiconductor switches 34 and 34A. (2) First and second diagnosis circuits 40 and 40A (diagnosis means) for diagnosing the semiconductor switches 34 and 34A are provided.

  As a result, the robot controller 10 needs to stop the robot R when returning to the connected state by performing diagnosis on the first and second semiconductor switches 34 and 34A when the teaching operation device 50 is not connected. There is no.

  (2) In the robot control apparatus 10 of the present embodiment, diagnosis is performed in each of the multiplexed first and second semiconductor switches 34 and 34A, thereby improving the safety of the emergency stop function. be able to.

  (3) In the robot control device 10 according to the present embodiment, the teaching operation device 50 is connected in a wired manner. As a result, the robot control apparatus 10 can easily realize the effects (1) to (2).

(Second Embodiment)
Next, a second 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 second 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 open / close detection units 53A and 53B for detecting the open / close of the normally closed contacts 52a and 52b of the emergency stop switch 52, and a transmission / reception device 55 capable of wireless communication. The open / close detectors 53 </ b> A and 53 </ b> B always detect the open / close state of the normally closed contacts 52 a and 52 b and output the detection result to the transmission / reception device 55. When the communication device 55 establishes communication with a connection port 30A described later, the transmission / reception device 55 transmits the open / close detection results of the open / close detection units 53A and 53B to the connection port 30A. Note that one ends of the normally closed contacts 52a and 52b are connected to a + V power source.

  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. 3, 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.

  The first and second drive circuits 38, 38A are normally closed contacts from the teaching operation device 50A in both the state where the detector 32A is not connected to the teaching operation device 50A and the state where it is connected. Unless the transmission / reception device 33 receives a signal indicating the opening of 52a, 52b, the first semiconductor switch 34 is turned on to supply a current to the relay RY1 (coil).

  When communication with the teaching operation device 50A is established, when a signal indicating opening of the normally closed contacts 52a and 52b is input from the transmission / reception device 33 to the drive circuits 38 and 38A via the detector 32A, 38A turns off the first semiconductor switch 34 and the second semiconductor switch 34A. As a result, the exciting current of the relay RY1 is cut off, and the first make contact RY1a and the second make contact RY3a are opened, so that no exciting current is supplied to the relays RY2 and RY4, so that the robot R stops emergency. .

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

In addition, you may change embodiment of this invention as follows.
In the first and second 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 embodiment, the movable machine is the robot R. However, the movable machine is not limited to the robot, and may be a machine controlled by a control device.
In each of the above-described embodiments, the first relay RY1, the second relay RY3 (relay means), the first and second semiconductor switches 34 and 34A (semiconductor switch means), the first and second diagnostic circuits 40 and 40A (diagnostic means) ) And the second emergency stop switch circuits SC1 and SC2 (emergency stop switch circuits). Of course, these can be multiplexed more than triple.

10: Robot control device (movable machine control device),
30 ... Connection port, 32 ... Detector (detection means),
50 ... Teaching operation device (operation device), 52 ... Emergency stop switch,
52a ... Normally closed contact,
J1 ... 1st emergency stop circuit part J1, J2 ... 2nd emergency stop circuit part J2,
R ... Robot (movable machine),
RY1 ... first relay (relay means), RY1a ... first make contact (relay contact), RY3 ... second relay (relay means), RY3a ... second make contact (relay contact),
SC1 ... first emergency stop switch circuit (emergency stop switch circuit),
SC2: Second emergency stop switch circuit (emergency stop switch circuit).

Claims (4)

A movable machine control device that includes a relay unit and controls the movable machine to be movable when the relay unit is excited, and is capable of communicating with an operation device having an emergency stop switch circuit that performs an emergency stop of the movable machine. In a movable machine control device capable of selecting a connected state and a non-connected state incapable of communication,
When the operating device is connected in parallel with the emergency stop switch circuit in the connected state, the emergency stop switch circuit is activated by turning off, thereby enabling the excitation of the relay means, while the operation Semiconductor switch means that, when the device is turned on in the disconnected state, excites the relay means and invalidates the stop of the movable machine due to the removal of the emergency stop switch circuit;
Diagnosing whether or not the semiconductor switch means is operating normally by turning off the semiconductor switch means for a time span during which the relay contact of the relay means is not turned off while the semiconductor switch means is on. A movable machine control device comprising diagnostic means for performing the operation.   The relay means, the semiconductor switch means, and the diagnostic means are configured to be multiplexed, and with respect to an operating device having a multiplexed emergency stop switch circuit, a communicable connection state and a non-communicable non-connection The movable machine control device according to claim 1, wherein the state can be selected.   The movable machine control device according to claim 1, wherein the operation device is a wired or wireless device that realizes the connection state.   An operation device capable of selecting a movable machine control device according to any one of claims 1 to 3 and a connected state in which communication with the movable machine control device is communicable and a non-connected state incapable of communication. A movable machine control system including an operating device having the emergency stop switch circuit for making an emergency stop of the movable machine.

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