JPH0276696A - Robot inducing device - Google Patents

Abstract

PURPOSE:To protect worker from hazard by connecting a robot inducing device with a robot control device, and incorporating such an arrangement as not to allow mode changing-over into automatic operation of robot and start of automatic operation from any place in case the robot inducing device is removed from the specified place. CONSTITUTION:A microcomputer 16 is connected with a switch 17 to judge whether or not a robot inducing device 1 is connected with a robot control device 7. If yes, the switch 17 is turned into the S side of a status line, and if no, changed over into the power supply side. When the switch 17 is on S side of status line and the input from the switch 17 at high level, the mode of the robot is changed over into automatic operation. When the switch 17 is on the power supply side and when at low level, on the other hand, changeover of robot mode into automatic operation is made impossible, and the robot remains at a standstill.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention is directed to a robot guidance device, in particular, to a robot that cannot operate automatically when removed from a predetermined location outside the robot's dangerous area. This invention relates to a robot guidance device.

(Prior Art) Most current industrial robots employ a teaching playback method, and it is necessary to teach the operating position of the robot in advance.

Conventionally, offline teaching methods have been used in which the operating position of the robot arm is calculated based on design data and the robot is operated according to the calculated value, but 1. It is difficult to predict mechanical deviations. In reality, the robot arm is currently guided to the target position manually.

Incidentally, human accidents caused by robots usually occur when the robot unexpectedly starts operating while the worker is inside the dangerous area of the robot. When operating a robot system, be sure to install a safety fence outside the dangerous area of the robot. ? If an attempt is made to enter the inside of the safety fence during IJ operation, a sensor installed at the entrance must be configured to stop automatic operation. Therefore, normal self! Pl
] The possibility of personal injury occurring during driving work is extremely low.

(Problem to be solved by the invention) However, when guiding a robot arm for teaching work, etc., one worker is allowed to enter the dangerous area of the robot and perform the work. The robot is configured to be able to switch modes and perform automatic operation while the robot's guidance device can be carried inside the dangerous area. As a result, a person outside the danger area may accidentally start automatic operation even though there is an operator inside the danger area, or a worker who is close to the robot may accidentally start automatic operation himself, resulting in an accident resulting in injury or death. There is a risk of it occurring.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide a robot guidance device that does not allow automatic operation when the robot guidance device is in a state where it can be carried within the dangerous area of the robot. It is.

[Structure of the invention]

(Means and Effects for Solving the Problems) In order to achieve the above object, the present invention provides a robot body, a robot control device for controlling the robot body, and a mode for switching between automatic operation and manual operation of the robot body. In a robot equipped with a robot control device having a changeover switch and an automatic operation start switch, when the robot guidance device is not connected to the robot control device, or even if the robot guidance device is connected, the robot guidance device is connected to the robot control device. Mode switching to automatic operation and start of automatic operation can be performed only when installed at a designated predetermined location outside the area, and the robot guidance device is connected to the robot control device, and the robot guidance device is connected to the robot control device. If the robot is removed from a designated predetermined location, the robot cannot switch to automatic operation mode or start automatic operation from any location, so it is a dangerous area for the robot. Even though a worker is working inside the robot, the robot will not be accidentally operated automatically from the outside, and one worker can be protected from the risk of personal injury.

(Example) Embodiments of the present invention will be described with reference to the drawings.

First, FIG. 4 shows the system configuration of a robot to which the present invention is applied. In FIG. 4, 1 is a robot guidance device;
7 is a robot control device, 8 is an external control device that controls the robot system from the outside, and 9 is a robot body.

The robot guidance device 1 includes a switch 2 for switching whether or not automatic operation is possible, an automatic operation start switch 3, an emergency stop switch 4, and a group of operation switches 5, including a manual guidance switch and a switch for programming in the robot language. It is equipped with operating supplies such as a display 6 that displays the contents of the program, the status of the robot, and the like.

Next, the robot guidance device, which is an embodiment of the present invention, is installed in the first
This will be explained with reference to the circuit configuration diagram shown in the figure.

In the figure, the mode changeover switch 2 is used to select between automatic and manual, and in this embodiment, the automatic mode is AUTOI and A.
This is an example of two modes, UTO2.

When ALITOI is selected, automatic operation by the robot guidance device 1 itself is enabled, and when AUTO2 is selected, automatic operation by the external control device 8 is enabled.

Moreover, when MANU is selected, the operation is switched to manual operation, and teaching work becomes possible. The switches 10, 11, and 12 are configured to be turned on only when the robot guidance device 1 is installed at a predetermined location designated outside the dangerous area of the robot operation area. When these switches are OFF, the power supply Vc
Each input voltage to the switch human power buffer 14 becomes high level by the pull-up resistor 13 connected to c, and turns ON.
When it is connected to GND, it becomes low level. The switch input buffer 14 uses an IC that operates inverted,
When the switch is turned on, the input to the microcomputer is at a high level, and when it is turned off, it is at a low level. Furthermore, these voltages input to the microcomputer 15 are connected to status lines SA corresponding to the switches 10, 11, and 12.

Output to SB and SC.

On the other hand, the robot control device 7 has a built-in microcomputer 16 that controls robot motion and processes input/output communication with an external control device. A switch 17 for determining whether or not 7 is connected is connected.

This switch 17 has a mechanism in which when the robot guidance device 1 is connected to the robot control device 7, the switch is switched to the S side of the status line, and when the robot guidance device 1 is disconnected from the robot control device 7, the switch is switched to the power side. ing. The microcomputer 16 can switch the mode to automatic operation and start automatic operation when the input from the switch 17 is at a high level, but cannot switch the mode to automatic operation when the input from the switch 17 is at a low level. It is also processed so that automatic driving cannot be started.

Therefore, the robot guidance device 1 is replaced by the robot control device 7.
or when the robot guidance device 1 is connected to the robot control device 7, the status lines SA, S
The input from the status line S obtained by ANDing B and SC is at a high level, that is, the robot guidance device 1 is installed at a designated predetermined location outside the robot's danger area, and switches 10, 11, and 12 are all turned on. The mode can be switched to automatic operation only when this happens, and automatic operation can also be started.

FIG. 2 is a circuit diagram of another embodiment of the present invention. Note that the same parts as in FIG. 1 will be described with the same reference numerals.

This embodiment is different from the previous embodiment in that the processing related to the state of the switch 10.11.12 is not performed in the robot guidance device 1, but the state of the switch 10.11.12 is transmitted to the robot control device 7. are doing.

As shown in the figure, the mode changeover switch 2 is a two-way type, and each terminal on one side is connected to the robot control device 7.
is connected to the photocoupler 18. When the robot guidance device 1 is installed at a designated predetermined location outside the dangerous area of the robot and the switches 10, 11, and 12 are turned on, the signal line for which the mode changeover switch 2 is turned on is connected to the current driver 20. The supplied current flows, and the output from the corresponding photocoupler 18 becomes low level. These signals are transmitted to the microcomputer 16 via an inverter 19. Furthermore, the microcomputer 16
enables the mode or switch corresponding to the status line that has reached a high level voltage.

Further, the robot control device 7 is provided with a switch 17 for determining whether or not the robot guidance device 1 and the robot control device 7 are connected. When the switch 17 is connected to GND, when the robot guidance device 1 and the robot control device 7 are not connected, the switch 17 is connected to GND.
7 is a mechanism connected to a power source. When the voltage of the signal line from this switch 17 to the microcomputer 16 is at a high level, the above-mentioned status signals SA and SB are
.

It is possible to switch the mode to automatic operation and start automatic operation regardless of the SC and SE levels.

Therefore, the robot guidance device 1 is replaced by the robot control device 7.
It corresponds to the automatic operation mode in which the robot guidance device 1 is connected to the robot control device 7 and the robot guidance device 1 is installed in a designated predetermined place outside the dangerous area of the robot. The mode can be switched to, or the automatic operation can be started only when the switch 10 or 11 corresponding to the automatic operation is turned on, or the switch 12 corresponding to the start of the automatic operation is turned on.

FIG. 3(a) shows the switch 10°1 of the robot guidance device 1.
Fig. 1 is a perspective view of the switch mounting part when 1 and 12 are ONL, and Fig. 3(b) is a side view of the switch 10 when the robot guidance device is removed from the predetermined place, and Fig. 1(c) is a perspective view of the switch mounting part when the robot guidance device is removed from the predetermined place. FIG. 3 is a side view of the switch 10 when the device is installed in a given case.

As shown in these figures, the switch holder 21°21'
, 21' are attached to fix the plate 22 at any location outside the danger area. There are holes in three places on the back of the robot guidance device 1, and by inserting the switch holders 21, 21' and 21' into these holes and installing the robot guidance device, the switches 1.0.11.
12 is turned ON. In this example, switches 10.11.
Reference numeral 12 is of a momentary type, and for example, when the switch holder 21 is removed from the switch 10, it is automatically turned off.

〔Effect of the invention〕

As explained above, according to the present invention, when an elderly worker is working within the dangerous area of a robot, a third party or the worker himself cannot accidentally start automatic operation, so one worker can can be protected from danger.

[Brief explanation of the drawing]

Fig. 1 is a circuit diagram of one embodiment of the present invention, Fig. 2 is a circuit diagram of another embodiment of the invention, and Fig. 3(a) is a mounting part of the switch of the robot guidance device of Fig. 1. Figure (b) is a side view of the switch 10 when the guidance device in Figure (a) is removed from its predetermined location, Figure (C) is Figure (a).
) Switch 1 when the guidance device is installed at the specified location
FIG. 4 is a side view of 0 and is a configuration diagram of a robot system to which the present invention is applied. 1... Robot guidance device 2... Mode changeover switch 3... Automatic operation start switch 4... Emergency stop switch 5... Operation switch group 6...
Display 7...Robot control device 8...External control device 9...Robot main body 10, 11, 1
2, 17...Switch 13...Pull-up resistor
14... Switch manual buffer 15.16...
Microcomputer 18...Photocoupler
19... Inverter 20... Current driver
21.21', 21'...Switch holder 22.
...Switch holder mounting plate (8733) Patent attorney Yoshiaki Inomata (and one other person) (b) (C) (a)

Claims (1)

[Claims] The robot includes a robot body, a robot control device that controls the robot body, and a robot guidance device that has a mode changeover switch that switches between automatic operation and manual operation of the robot body, and an automatic operation start switch. Mode switching to automatic operation occurs only when the device is not connected to the robot control device, or even if it is connected, the robot guidance device is installed at a designated predetermined location outside the robot's danger area. Operation can be started, and when the robot guidance device is connected to the robot control device and the robot guidance device is removed from a designated predetermined location, the robot can enter automatic operation mode from any location. A robot guidance device characterized in that it is configured so that switching and starting of automatic operation cannot be performed.