JPH06206183A - Safety device for industrial robot - Google Patents

Abstract

PURPOSE:To obtain a safety device for an industrial robot which can easily restart the instruction work when an emergency switch is opened. CONSTITUTION:When an emergency switch 21 installed in an instruction box for instructing the robot work is opened, the robot work instruction is intercepted by carrying out the safe control without emergency-stop-controlling an industrial robot through a safe control means 33. The robot work is instruction is restarted through the safe control means 33 by the restoration of the emergency switch 21. Accordingly, when the emergency switch 21 is opened, the trouble of reset at a controller 1 for the industrial robot is eliminated, and the necessity of continuously pushing the emergency switch 21 for a long time is obviated. Accordingly, the instruction operation is facilitated, and the insturuction work can be carried out efficiently.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device for an industrial robot that controls robot operation when an abnormality occurs during teaching of robot work.

[0002]

9 to 11 are views showing a safety device for a conventional industrial robot. FIG. 9 is a front view of a teaching box operated when teaching robot work, and FIG. 10 is a rear view of FIG. FIG. 11 and FIG. 11 are overall configuration diagrams conceptually showing the safety device of the industrial robot. In the figure, (1) is a control device for an industrial robot, (2) is a mechanism part of the industrial robot, (3) is a teaching box operated when teaching an industrial robot (not shown) robot work, (3a) Is a display unit provided in the teaching box (3), (4) is a servo amplifier, (5) is a motor power supply, (6) is a contact of a motor power supply / interruption contactor, and (7) is a motor power supply / interruption Exciting coil of contactor, (8) is mechanical part
(2) Contact point of brake opening / closing relay, (9) is excitation coil of brake opening / closing relay of mechanism section (2), (10) is contact point of open / close detection relay of emergency switch described later, (11) Is an exciting coil of an emergency switch open / close detection relay, which will be described later.

Reference numeral (12) is a power supply for a brake and an emergency switch which will be described later, (13) is a reset switch for resetting an alarm, (14) is a computer unit for controlling the controller (1) of the industrial robot, ( 15) is the ROM in which the control program is written, and (16) is the RA used for control processing.
M, (17) is an input port, (18) is an output port, (19) is an electric motor provided in the mechanism part (2) of the industrial robot, and (20) is provided in the mechanism part (2) of the industrial robot. A brake, (21) is an emergency switch called a deadman switch provided on the back of the teaching box (3), and (22) is an emergency switch (21) enable / disable switch provided on the surface of the teaching box (3). Has been.

The conventional safety device for an industrial robot is constructed as described above, and the emergency switch (21) is provided on the back surface of the teaching box (3) used for teaching the industrial robot about the robot work. If the emergency switch (21) is not pressed during the teaching work of the industrial robot, it will be an emergency stop, the servo will be turned off, and the brake (20) provided in the mechanical part (2) of the industrial robot will brake and the motor power supply (5) is cut off.
The function of this emergency switch (21) is to simply remove the hand from the emergency switch (21) when the industrial robot runs away due to a failure during teaching of robot work.
Opens to stop the industrial robot in an emergency. And, generally, it is composed of a cable and a relay without software.

Then, the teaching of robot work is performed as described below. That is, first, the emergency switch (21) provided in the teaching box (3) is made invalid, and the enable / disable switch (22) is made invalid, regardless of the state of the emergency switch (21). ), The excitation coil (9) of the mechanism brake opening / closing relay, and the excitation coil (11) of the emergency switch (21) opening / closing detection relay are supplied with + 24V of the power supply (12), and the power supply (12) is turned on. throw into. As a result, the computer unit (14) starts up the control device (1) of the industrial robot by using the RAM (16) and the like according to the control program written in the ROM (15).

The control device (1) of the industrial robot is started up by the following process. That is, first, a closing command for the motor power supply (5) is issued to the output port (18) to excite the exciting coil (7) of the motor power supply / interruption contactor. As a result, the contact (6) of the motor power supply / interruption contactor is closed, and the motor power supply (5) is connected to an external power supply (not shown). After that, when the electric motor power source (5) reaches a sufficient voltage after a certain period of time, a servo ON command is output to the output port (18). This makes the servo amplifier
(4) starts servo control of the electric motor (19).

After that, when the servo lock is reached after a certain period of time, a brake 20 release command is output to the output port 18 to excite the exciting coil 9 of the mechanical brake opening / closing relay. As a result, the contact (8) of the mechanical brake opening / closing relay is closed and the brake (20) is released. In this way, the control device (1) for the industrial robot is started up, and then the teaching box
The teaching operation of the robot work by (3) is performed.

When the teaching operation of the robot work is started,
Press the emergency switch (21) provided on the teaching box (3), enable the emergency switch (21) enable / disable switch (22) with the emergency switch (21) pressed, and teach the robot work in this state. Do the operation. Then, if an unintended operation such as a runaway occurs in the industrial robot during the teaching operation of the robot work, the teaching worker immediately returns to the emergency switch (21).
Release. As a result, the emergency switch (21) is opened and the exciting coil (7) of the motor power supply / interruption contactor, the exciting coil (9) of the mechanical brake opening / closing relay and the emergency switch (2
1) The excitation coil (11) of the open / close detection relay is deenergized, and the contact (6) of the motor power supply / interruption contactor, the contact (8) of the mechanical brake open / close relay and the emergency switch (21) open / close detection Relay contact (10) is opened.

As a result, the electric motor power source (5) is cut off, the brake (20) is braked, the opening of the emergency switch (21) is transmitted to the computer unit (14) through the input port (17), and the display device is displayed. The operation of the emergency switch (21) is displayed in (3a). At the same time, an emergency stop signal is issued and the output port (18) is reset. This allows the output port
As for the output of (18), a command to shut off the electric motor power source (5), a command to brake the brake (20), and a command to turn off the servo are issued, the servo control is immediately interrupted, and the industrial robot stops, that is, an emergency stop.

In order to restart the teaching work, the emergency switch (21) and the enable / disable switch (22) are disabled again, and then the teaching worker goes to the control device (1) of the industrial robot. Press the reset switch (13) installed on the control unit (1) of the above. As a result, the computer unit (14) reads the signal through the input port (17), the emergency stop is released, and the industrial robot controller described above is released.
The control device (1) of the industrial robot is started by restarting the startup of (1). In addition, the emergency switch (2
The operation display of 1) is deleted. After that, the teaching work is performed by operating the teaching box (3) described above for restarting the teaching work.

[0011]

In the conventional safety device for the industrial robot as described above, if the operator accidentally releases the emergency switch (21) during teaching work, the emergency switch (21) is opened. In case of emergency, it will be an emergency stop. At this time, the teaching operator purposely goes to the control device (1) of the industrial robot, presses the reset switch (13) installed in the control device (1) of the industrial robot, and ) Is restarted to control the industrial robot control device.
There was the trouble of starting (1). Moreover, the emergency switch (21) must be kept pressed during the teaching operation for a long time, which is a pain for the teaching operator.

Because of these annoyances and pains, the teaching box (3) may be used with the emergency switch (21) and the valid / invalid switch (22) disabled during teaching work.
There was a risk that the safety of teaching work would be impaired.

The present invention has been made to solve the above problems, and an object thereof is to obtain a safety device for an industrial robot which can easily restart the teaching work when the emergency switch is opened during the teaching work. To do.

[0014]

In a safety device for an industrial robot according to a first aspect of the present invention, a teaching box operated when teaching the robot work to the industrial robot, and the teaching box is provided in the teaching box. Emergency switch that operates in an emergency, the display device provided on the teaching box, and the operation of the emergency switch that activates the industrial robot servo cutoff command, the industrial robot braking command, and the industrial robot motor power supply Issue a shutoff command and a display command of the emergency switch operation to the display device, and restart the operation when the emergency switch is restored to restart the industrial robot servo connection command, industrial robot brake release command, and industrial robot motor power connection. And a safety control means for issuing a command to erase the display of the emergency switch operation to the display device and restarting the robot work teaching. That.

Further, in the industrial robot safety device according to the second aspect of the present invention, when the safety control means of the first aspect of the present invention repeatedly opens and closes the emergency switch frequently. In addition, a function to erase the accumulated pulse when the accumulated pulse of the position loop of the servo control exceeds the specified value when the servo is shut off when the emergency switch is opened is added to prevent the operation part of the industrial robot from falling.

According to a third aspect of the present invention, there is provided a safety device for an industrial robot according to the first aspect of the present invention, wherein the safety control means according to the first aspect of the present invention applies to the industrial robot when the emergency switch is opened. After the time required for the complete operation of the brake has elapsed, a function of commanding the servo cutoff to suppress the lowering of the operating part of the industrial robot is added.

Further, in the industrial robot safety device according to a fourth aspect of the present invention, the safety control means of the first aspect of the present invention is servo-connected when the emergency switch is closed. After that, a function is added for instructing the servo gain of servo control to rise for a certain period of time, suppressing the lowering of the operating portion of the industrial robot, and shortening the lowering return time of the operating portion of the industrial robot.

In a safety device for an industrial robot according to a fifth aspect of the present invention, the safety control means of the first aspect of the present invention causes the mode changeover switch of the industrial robot to be in the teaching mode. This adds the ability to activate the emergency switch.

[0019]

In the invention according to claim 1 of the present invention configured as described above, the safety work control is interrupted by the operation of the emergency switch without interrupting the industrial robot through the safety control means to perform the emergency stop control. Is done. When the emergency switch is restored, the robot work teaching can be restarted via the safety control means.

In the invention according to claim 2 of the present invention configured as described above, the robot work teaching is interrupted by the operation of the emergency switch without performing the emergency stop control of the industrial robot via the safety control means. Safety control is performed. Further, the recovery of the emergency switch makes it possible to restart the robot work teaching via the safety control means. Further, when the emergency switch is repeatedly opened and closed in a short time, the descending of the industrial robot operating unit due to gravity is suppressed.

In the invention according to claim 3 of the present invention configured as described above, the robot work teaching is interrupted by the operation of the emergency switch without performing the emergency stop control of the industrial robot via the safety control means. Safety control is performed. Further, the recovery of the emergency switch makes it possible to restart the robot work teaching via the safety control means. Furthermore, the tendency of the industrial robot operating section to descend due to gravity is suppressed when the emergency switch is opened.

In the invention according to claim 4 of the present invention configured as described above, the robot work teaching is interrupted by the operation of the emergency switch without performing the emergency stop control of the industrial robot via the safety control means. Safety control is performed. Further, the recovery of the emergency switch makes it possible to restart the robot work teaching via the safety control means. Further, immediately after the emergency switch is closed, the industrial robot operating unit returns to its original position after slightly descending due to gravity, but the descending amount and the returning time at this time are reduced.

In the invention according to claim 5 of the present invention configured as described above, the robot work teaching is interrupted by the operation of the emergency switch without performing the emergency stop control of the industrial robot via the safety control means. Safety control is performed. Further, the recovery of the emergency switch makes it possible to restart the robot work teaching via the safety control means. Furthermore, the emergency switch is automatically activated by setting the mode change switch of the industrial robot to the teaching mode.

[0024]

【Example】

Example 1. 1, FIG. 2, FIG. 4 and FIG. 6 to FIG. 8 are views showing an embodiment of the present invention, and FIG. 3 and FIG. 5 are views of a conventional industrial robot safety device for explaining an embodiment of the present invention. FIG. 1 is a diagram showing the situation, FIG. 1 is an overall configuration diagram conceptually showing a safety device of an industrial robot, and FIG. 2 is an emergency switch ON / OF of FIG.
The time chart of the main part of the safety device of the industrial robot corresponding to F, FIG. 3 is the time chart showing the descending amount of the industrial robot operating part when the emergency switch of the conventional safety device of the industrial robot is repeatedly turned on / off in a short time. FIG. 4 is a time chart showing the descending amount of the industrial robot operating unit when the emergency switch of the safety device for the industrial robot of FIG. 1 is repeatedly turned on / off in a short time.

FIG. 5 is a time chart showing the descending amount of the industrial robot operating part when the emergency switch of the conventional industrial robot safety device is turned off, and FIG. 6 is the emergency switch of the industrial robot safety device of FIG. 1 turned off. FIG. 7 is a time chart showing the descending amount of the industrial robot operating section at this time.
FIG. 8 is a block diagram conceptually showing the servo control of the safety device of the industrial robot, and FIG. 8 shows the industrial robot operating unit when the emergency switch is turned on in the safety device of the industrial robot of FIG. 1 and the conventional safety device of the industrial robot. It is a time chart which compared the descending amount.

In the figure, (1) is a control device for an industrial robot, (2) is a mechanical part of the industrial robot, (3) is a teaching box operated when teaching an industrial robot (not shown) for robot work, (4) is the servo amplifier, (5) is the motor power supply,
(6) is the contact of the motor power supply / interruption contactor, (7) is the exciting coil of the motor power supply / interruption contactor, (8)
Is the contact point of the brake opening / closing relay of the mechanical section (2), and (9) is the mechanical section
(2) An exciting coil of the brake opening / closing relay, (10) is a contact point of an emergency switch opening / closing detection relay described later, and (11) is an exciting coil of an emergency switch opening / closing detection relay described later.

(12) is a power supply for a brake and an emergency switch, which will be described later, (13) is a reset switch for resetting an alarm, (14) is a computer unit for controlling the control device (1) of the industrial robot, ( 15) is the ROM in which the control program is written, and (16) is the RA used for control processing.
M, (17) is an input port, (18) is an output port, (19) is an electric motor provided in the mechanism part (2) of the industrial robot, and (20) is provided in the mechanism part (2) of the industrial robot. The trigger, (21), is an emergency switch called a deadman switch provided on the back surface of the teaching box (3).

(23) is an output port, (24) is a delay circuit, (25)
Is a mode switch, (26) is a position loop controller, (2
7) is a speed loop controller, (28) is a current loop controller, (29)
Is a differentiator, (30) is an integrator, (31) is a current detector, (32) is an encoder, and (33) is a safety control means consisting of the main part of the circuit of the controller (1) of the industrial robot.

Robot work is taught to the safety device for an industrial robot having the above-described structure as described below. That is, first, when the mode changeover switch (25) is set to the teaching mode, the other one contact of the mode changeover switch (25), which is a double line, similarly enters the teaching side to release the short circuit of the emergency switch (21), The emergency switch (21) is automatically activated.

At this time, if the emergency switch (21) is not turned on, the exciting coil of the motor power supply / interruption contactor
(7), power supply (12) to the exciting coil (9) of the brake open / close relay and the emergency switch (21) to the exciting coil (11) of the open / close detection relay
+ 24V power is not supplied, and the contact (6) of the motor power supply / interruption contactor, the contact (8) of the brake opening / closing relay, and the contact (10) of the emergency switch (21) open / close detection relay are all turned off. ing. Also output port (18) and output port
(23) has also been reset and is in the state of point A shown in FIG. That is, the motor power (5) is cut off, and the brake
(20) is in the braking state, and the servo is turned off, which is the safest state. Further, the display device (3a) provided in the teaching box (3) displays that the emergency switch (21) is not turned on.

If the emergency switch (21) is turned on, the exciting coil of the motor power supply / interruption contactor
(7), the excitation coil (9) of the brake open / close relay and the excitation coil (11) of the open / close detection relay of the emergency switch (21) are supplied with power (1
2) + 24V power supply is supplied. As a result, the contact (6) of the motor power supply / interruption contactor, the contact (8) of the brake opening / closing relay, and the contact (10) of the emergency switch (21) and opening / closing detection relay are all turned on. The output port (18) and the output port (23) are also reset and are in the state of point B shown in FIG. That is, the electric motor power supply (5) is supplied, the brake (20) is released, and the servo-ON is enabled for the teaching operation. Also, emergency switch (21)
When is ON, it is displayed on the display device (3a) provided in the teaching box (3) that the emergency switch (21) is ON.

In the above operation, the emergency switch (21) is turned on.
Even if FF is done, the industrial robot does not stop in an emergency and the
The teaching operation becomes possible only by turning on (21).
Therefore, when the emergency switch (21) is turned off, the control device (1) for the industrial robot is reset and reset, and the control device (1) for the industrial robot described above is restarted,
The annoyance of starting up the control device (1) for the industrial robot is eliminated. For this reason, the teaching work of the robot work can be easily restarted, and the necessity of pressing the emergency switch (21) for a long time during the teaching work of the robot work is reduced, so that the emergency switch ( 21) The teaching work can be performed easily without being pressed by pressing the button.

The restart of teaching work from the state in which the emergency switch (21) is OFF will be described below with reference to FIG. That is, the state where the emergency switch (21) is OFF is point A, and when the emergency switch (21) is now ON, the exciting coil (7) of the motor power supply / interruption contactor, the brake opening / closing relay + 24V of power supply (12) to the exciting coil (9) and the exciting coil (11) of the open / close detection relay of the emergency switch (21)
Power is supplied. As a result, the contact (10) of the emergency switch (21) open / close detection relay is immediately turned on. The computer unit (14) reading this from the input port (17) immediately outputs an ON signal of the motor power source (5) from the output port (18) to excite the exciting coil (7) of the motor power supply / interruption contactor. As a result, the contact (6) of the motor power supply / interruption contactor is turned on, and power is supplied to the motor power supply (5).

Next, the computer unit (14) starts monitoring the voltage of the electric motor power source (5), and when the voltage reaches the specified voltage, outputs a servo ON signal from the output port (23) to turn on the servo. After the servo is turned on, the computer unit (14) outputs a command for releasing the brake (20) to the output port (18) with a delay of about 15 milliseconds until the servo is completely locked, and the brake opening / closing relay is excited. Energize the coil (9).
As a result, the contact (8) of the brake opening / closing relay is turned on and the brake (20) is released. In this way, the safety control means (3
The teaching operation of the robot work is enabled via 3) and the teaching work is restarted.

Next, the operation of turning off the emergency switch (21) from the state in which the emergency switch (21) is on is shown in FIG.
Explained by. That is, the emergency switch (21) is ON
The emergency switch (21) is O now.
When FF is applied, the power supply (12) is supplied from the excitation coil (7) of the motor power supply / interruption contactor, the excitation coil (9) of the brake opening / closing relay, and the emergency switch (21) of the switching coil detection relay. + 24V power supply is shut off. As a result, the contact (6) of the motor power supply / interruption contactor, the contact (8) of the brake opening / closing relay, and the contact (10) of the emergency switch (21) opening / closing detection relay are immediately turned off, and the motor power (5) Is cut off, and the brake (20) operates. However, the servo is not turned off immediately, but is delayed by about 50 milliseconds through the delay circuit (24) and the output port (23) outputting the servo on is reset and the servo is turned off.

This servo OFF prevents the operating part of the industrial robot from descending when the servo is OFF. Fig. 5 shows the descending state of the operating part of the industrial robot when the servo is turned off by the safety device of the conventional industrial robot.
If the servo turns off at the same time that (21) turns off, the brake (2
It goes down considerably before the braking of 0) works.

On the other hand, in this embodiment, as shown in FIG. 6, when the emergency switch (21) is detected to be OFF, the contact point (6) of the motor power supply / interruption contactor and the contact point of the brake opening / closing relay ( After turning off 8), the servo is turned off with a delay of about 50 milliseconds until the brake 20 is fully braked. As a result, the amount of lowering of the operating portion of the industrial robot when the servo is off can be significantly reduced. The above is the operation when the emergency switch (21) is turned off. This allows the emergency switch
When (21) is turned off, it is possible to reduce the descent of the operating portion of the industrial robot due to its own weight, and it is possible to facilitate the teaching operation of the teaching work of the robot work and improve the efficiency.

Further, in the safety device of the conventional industrial robot, the emergency switch (21) is repeatedly turned ON / OFF in a short time.
The emergency switch (21) as shown in FIG.
At the time point of F, the accumulated pulse in the position loop of the servo control, that is, the pulse for counting the descending amount of the operating portion of the industrial robot, which is indicated by the hatched portion in FIG. 3, is reset. Therefore, the emergency switch (21) is turned on again.
When it does, the amount of fall is accumulated and counted as a pulse from that point. Then, when a sufficient time has elapsed, the accumulated pulse is discharged by the position control and returns to the position where the accumulated pulse is reset, but when viewed from the initial position, the accumulated pulse is lowered by the reset amount.

That is, if ON / OFF is repeated at intervals shorter than the time until the fall caused by turning on the single-shot emergency switch (21) shown by the dotted line in FIG. 3 is repeated, accumulated pulse resets accumulate every time. Will be a big drop.

In contrast to the lowering of the operating portion of the industrial robot, in this embodiment, as shown in FIG. 4, the accumulated pulse is not reset when the servo is turned off when the emergency switch (21) is turned off. To do. Also, if this causes too many accumulated pulses, the emergency switch (2
1) A considerable amount of movement may occur when it is turned on, which may cause a danger in use.Therefore, set a specified value for accumulated pulse reset, and if accumulated pulses exceed this specified value, This shall be reset.
As a result, when the emergency switch (21) is repeatedly turned on and off in a short time, it is possible to prevent the operating part of the industrial robot from being lowered due to its own weight, and to facilitate and improve the teaching operation of the teaching work of the robot work. be able to.

Also, in this embodiment, the emergency switch (21)
In order to reduce the descending amount of the operating part of the industrial robot when is turned on and to shorten the descending recovery time, the speed loop gain of the speed loop controller (27) in the servo control block shown in FIG. Immediately after) is turned on, it should be raised above normal for a certain period of time. As a result, as shown in FIG. 8, in comparison with the conventional safety device for an industrial robot shown by the dotted line, the descending amount can be reduced to about 1/4 and the descending recovery time can be reduced by the control to which this embodiment shown by the solid line is applied. It can be reduced to about 1/2. This reduces the descending of the operating part of the industrial robot due to its own weight immediately after turning on the emergency switch (21),
Further, it is possible to shorten the return time from the descent, facilitate the teaching operation of the teaching work of the robot work, and improve the efficiency.

The constant time during which the speed loop gain is increased is a period (when the position command is not input as shown in FIG. 7).
Command) and the movement command with the gain increased is not output. This is a measure considering safety in order to temporarily reduce the margin from the normal gain having a sufficient margin.

Further, by setting the mode changeover switch (25) of the control device (1) of the industrial robot to the teaching mode, the emergency switch (21) is immediately activated via the safety control means (33). Therefore, it is possible to prevent the teaching operation from being performed while the emergency switch (21) is not functioning during the teaching work of the robot work, and it is possible to improve the safety.

[0044]

As described above, the invention according to claim 1 of the present invention is a teaching box operated when teaching an industrial robot to perform a robot work, and an emergency switch provided in the teaching box and operating in an emergency. And a display device provided in the teaching box, and a servo cutoff command for the industrial robot, a braking operation command for the industrial robot brake, a command for shutting off the motor power supply for the industrial robot, and a display device by operating the emergency switch. Issuing an emergency switch operation display command and restarting when the emergency switch is restored to restart the industrial robot servo connection command, industrial robot brake release command, industrial robot motor power connection command, and display device The safety control means is provided to issue a display erasing command of the switch operation to restart the robot work teaching.

As a result, the robot work teaching is interrupted and safety control is performed without the emergency stop control of the industrial robot via the safety control means by the operation of the emergency switch. When the emergency switch is restored, the robot work teaching can be restarted via the safety control means. Therefore, when the emergency switch is opened, the trouble of going to the control device of the industrial robot and resetting it is eliminated.
It is possible to easily restart the teaching work of the robot work. In addition, there is an effect that the pain of pressing the emergency switch for a long time during the teaching work of the robot work is released and the teaching operation is facilitated and the teaching operation is made efficient.

As described above, the invention according to claim 2 of the present invention is an industrial robot in which safety switch means of the invention according to claim 1 of the present invention is used when the opening and closing of the emergency switch is frequently repeated. In order to prevent the operation part from falling, a function to erase the accumulated pulse when the accumulated pulse of the position loop of the servo control exceeds the specified value when the servo is cut off when the emergency switch is opened is added.

As a result, the robot work teaching is interrupted by the operation of the emergency switch without performing the emergency stop control of the industrial robot via the safety control means, and the safety control is performed. Further, the recovery of the emergency switch makes it possible to restart the robot work teaching via the safety control means. further,
When the emergency switch is repeatedly opened and closed in a short time, the industrial robot operating unit is prevented from descending due to gravity. Therefore, when the emergency switch is opened, the troublesomeness of going to the control device of the industrial robot and resetting is eliminated, the teaching work of the robot work can be easily restarted, and the teaching work of the robot work can be performed for a long time. You will be relieved of the pain of pressing the emergency switch over time. Also,
When the emergency switch is repeatedly opened and closed for a short period of time, the descending of the industrial robot operating unit due to gravity is suppressed, and the teaching operation is facilitated and the teaching operation is efficiently performed.

Further, as described above, the invention according to claim 3 of the present invention provides the safety control means of the invention according to claim 1 of the present invention with the brake of the industrial robot when the emergency switch is opened. After the time required for complete operation has passed, a function is added to command the servo cutoff to suppress the lowering of the operating part of the industrial robot.

As a result, the robot work teaching is interrupted by the operation of the emergency switch without performing the emergency stop control of the industrial robot via the safety control means, and the safety control is performed. Further, the recovery of the emergency switch makes it possible to restart the robot work teaching via the safety control means. further,
When the emergency switch is opened, the tendency of the industrial robot operating part to descend due to gravity is suppressed. Therefore, when the emergency switch is opened, the troublesomeness of going to the control device of the industrial robot and resetting is eliminated, the teaching work of the robot work can be easily restarted, and the teaching work of the robot work can be performed for a long time. You will be relieved of the pain of pressing the emergency switch over time. Further, it is possible to reduce the descent of the operating portion of the industrial robot due to its own weight when the emergency switch is opened, which has the effect of facilitating the teaching operation of the teaching work of the robot work and streamlining the teaching operation.

Further, as described above, the invention according to claim 4 of the present invention provides the safety control means of the invention according to claim 1 of the present invention with a predetermined time after the servo connection when the emergency switch is closed. The servo gain of the servo control is instructed to increase and the function of suppressing the descent of the operating part of the industrial robot and the function of shortening the descent recovery time of the operating part of the industrial robot are added.

As a result, the robot work teaching is interrupted by the operation of the emergency switch without performing the emergency stop control of the industrial robot via the safety control means, and the safety control is performed. Further, the recovery of the emergency switch makes it possible to restart the robot work teaching via the safety control means. further,
Immediately after closing the emergency switch, the industrial robot operating unit is slightly lowered due to gravity and then returns to the original position, but the amount of lowering and the return time at this time are reduced. Therefore, when the emergency switch is opened, the troublesomeness of going to the control device of the industrial robot and resetting is eliminated, the teaching work of the robot work can be easily restarted, and the teaching work of the robot work can be performed for a long time. You will be relieved of the pain of pressing the emergency switch over time.

Further, the lowering of the operating portion of the industrial robot due to its own weight immediately after closing the emergency switch can be reduced, and the return time from the lowering can be shortened, facilitating the teaching operation of the teaching work of the robot work. This has the effect of streamlining teaching operations.

Further, as described above, the invention according to claim 5 of the present invention makes it possible to prevent the safety control means of the invention according to claim 1 of the invention from setting the mode changeover switch of the industrial robot to the teaching mode. It is the addition of the function to enable the switch.

Therefore, the robot work teaching is interrupted by the operation of the emergency switch without performing the emergency stop control of the industrial robot via the safety control means, and the safety control is performed. Further, the recovery of the emergency switch makes it possible to restart the robot work teaching via the safety control means. Furthermore, the emergency switch is automatically activated by setting the mode change switch of the industrial robot to the teaching mode. Therefore, when the emergency switch is opened, the troublesomeness of going to the control device of the industrial robot and resetting is eliminated, the teaching work of the robot work can be easily restarted, and the teaching work of the robot work can be performed for a long time. You will be relieved of the pain of pressing the emergency switch over time.

Therefore, there is an effect that the teaching operation of the teaching work of the robot work is facilitated and the teaching operation is made efficient. In addition, it is possible to prevent the teaching operation from being performed while the emergency switch is not functioning during the teaching work of the robot work, and there is an effect of improving safety.

[Brief description of drawings]

FIG. 1 is a diagram showing a first embodiment of the present invention, and is an overall configuration diagram conceptually showing a safety device for an industrial robot.

FIG. 2 is a time chart of a main part of a safety device of an industrial robot corresponding to the emergency switch ON / OFF shown in FIG.

FIG. 3 is a time chart showing the descending amount of the industrial robot operating unit when the emergency switch of the safety device of the conventional industrial robot is repeatedly turned on / off in a short time.

4 is a time chart showing the descending amount of the industrial robot operating unit when the emergency switch of the safety device for the industrial robot of FIG. 1 is repeatedly turned ON / OFF in a short time.

FIG. 5 is a time chart showing the descending amount of the industrial robot operating unit when the emergency switch of the conventional industrial robot safety device is turned off.

6 is a time chart showing the descending amount of the industrial robot operating unit when the emergency switch of the safety device for the industrial robot of FIG. 1 is turned off.

7 is a block diagram conceptually showing servo control of the safety device of the industrial robot of FIG.

8 is a time chart comparing the descending amount of the industrial robot operating unit when the emergency switch is turned on in the industrial robot safety device of FIG. 1 and the conventional industrial robot safety device.

FIG. 9 is a front view of a teaching box that is operated when teaching robot work.

FIG. 10 is a rear view of FIG.

FIG. 11 is an overall configuration diagram conceptually showing a conventional safety device for an industrial robot.

[Explanation of symbols]

 3 Teaching Box 3a Display Device 5 Electric Motor Power Supply 20 Brake 21 Emergency Switch 33 Safety Control Means

Claims (5)

[Claims] 1. A teaching box operated when teaching robot work to an industrial robot, an emergency switch provided in the teaching box and operating in an emergency, a display device provided in the teaching box, and the emergency switch. By issuing a servo cutoff command of the industrial robot, a braking operation command of the industrial robot braking device, a motor power supply cutoff command of the industrial robot, and a display command of the emergency switch operation to the display device. Also, the emergency switch is restored to perform a re-operation and the servo connection command for the industrial robot, the brake release command for the brake, the motor power supply connection command for the industrial robot, and the display erase command for the emergency switch operation on the display device. And a safety control means for restarting the teaching of the robot work. 2. A teaching box operated when teaching an industrial robot a robot work, an emergency switch provided in the teaching box and operating in an emergency, a display device provided in the teaching box, and the emergency switch. By issuing a servo cutoff command of the industrial robot, a braking operation command of the industrial robot braking device, a motor power supply cutoff command of the industrial robot, and a display command of the emergency switch operation to the display device. And the operation of the emergency robot is restarted by the recovery of the emergency switch, the industrial robot servo connection command, the industrial robot brake release command, the industrial robot motor power supply connection command, and the display device's emergency switch operation command. A display deletion command is issued to enable the robot work teaching to be restarted, and the emergency switch is repeatedly opened and closed. By operating the above-mentioned emergency switch, when the servo is cut off by opening the emergency switch, when the accumulated pulse of the position loop of the servo control exceeds a specified value, the accumulated pulse is erased to prevent lowering of the operating part of the industrial robot. A safety device for an industrial robot equipped with a control means. 3. A teaching box operated when teaching an industrial robot a robot work, an emergency switch provided on the teaching box and operating in an emergency, a display device provided on the teaching box, and the emergency switch. By issuing a servo cutoff command of the industrial robot, a braking operation command of the industrial robot braking device, a motor power supply cutoff command of the industrial robot, and a display command of the emergency switch operation to the display device. And the operation of the emergency robot is restarted by the recovery of the emergency switch, the industrial robot servo connection command, the industrial robot brake release command, the industrial robot motor power supply connection command, and the display device's emergency switch operation command. A display erasing command is issued to enable the robot work teaching to be restarted, and when the emergency switch is opened, the industry A safety device for an industrial robot, comprising: safety control means for instructing the servo cutoff after a lapse of a time required to completely operate a brake of the robot to suppress a lowering of an operating portion of the industrial robot. 4. A teaching box operated when teaching robot work to an industrial robot, an emergency switch provided in the teaching box and operating in an emergency, a display device provided in the teaching box, and the emergency switch. By issuing a servo cutoff command of the industrial robot, a braking operation command of the industrial robot braking device, a motor power supply cutoff command of the industrial robot, and a display command of the emergency switch operation to the display device. And the operation of the emergency robot is restarted by the recovery of the emergency switch, the industrial robot servo connection command, the industrial robot brake release command, the industrial robot motor power supply connection command, and the display device's emergency switch operation command. A display erasing command is issued to enable the robot work teaching to be restarted, and when the emergency switch is closed, the server Safety control means for instructing an increase in the servo gain of the servo control for a certain period of time after connecting to the robot to suppress the lowering of the operating portion of the industrial robot and shortening the lowering return time of the operating portion of the industrial robot. Safety device for industrial robots. 5. A teaching box operated when teaching an industrial robot a robot work, an emergency switch provided in the teaching box and operating in an emergency, a display device provided in the teaching box, and the emergency switch. By issuing a servo cutoff command of the industrial robot, a braking operation command of the industrial robot braking device, a motor power supply cutoff command of the industrial robot, and a display command of the emergency switch operation to the display device. And the operation of the emergency robot is restarted by the recovery of the emergency switch, the industrial robot servo connection command, the industrial robot brake release command, the industrial robot motor power supply connection command, and the display device's emergency switch operation command. A display erase command is issued to enable the robot work teaching to be restarted, and the industrial robot mode switch is taught. A safety device for an industrial robot, comprising: a safety control unit that activates the emergency switch by setting the emergency mode.