JPH08206988A - Emergency stop device of robot - Google Patents

Abstract

PURPOSE: To provide a highly reliable emergency stop device with which an emergency stop practicable in actual operation of a robot controlled by a program. CONSTITUTION: An emergency stop commanding apparatus of a robot by remote control which is composed of a robot control device 5, a robot driving device 4, an emergency stop commanding device 1, an emergency stop receiver 3 and a transmitting passage 2, is composed of an emergency stop push button 11, juxtaposed instantaneous circuit 12 and delay circuit 13 to individually input an output signal of the emergency stop push button 11 and a transmitter 14 to output a serial signal by using parallel signals of the instantly generating circuit 12 and the delay circuit 13 as input. The emergency stop receiver 3 is composed of a receiver 31 and a serial-parallel separating device 32 connected in series to the receiver 31, and an emergency stop device of a robot which transmits a parallel signal of the emergency stop push button 11 after being turned into a serial signal and reseparates a received signal into a parallel signal and inputs an emergency stop command signal to the robot control device 5 and the robot driving device 4, is constituted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an emergency stop device for a remotely controlled robot, and is particularly suitable for transmitting an emergency stop signal.

[0002]

2. Description of the Related Art As a conventional technique, a control device for controlling a robot according to a program stored in advance,
In this teaching device, a teaching pendant equipped with an emergency stop switch in a normally closed state at an external terminal and a teaching playback type robot that causes an emergency stop of the robot when an emergency stop signal is output from the emergency stop switch are provided. Connect a normally open push button switch between the terminals of the external connection terminals that correspond to both terminals of the stop switch, and connect or disconnect the teaching pendant or programming device while maintaining the robot operating state. There are things to do (for example,
Japanese Utility Model Publication No. 4-98594).

[0003]

However, since the conventional technique is dedicated to teaching and programming,
It is good for teaching and programming, but it does not work during actual operation according to pre-teached or programmed control. Therefore, an object of the present invention is to provide a highly reliable emergency stop device that applies an emergency stop during the actual operation of a robot that is previously taught or controlled according to programmed control.

[0004]

In order to solve the above-mentioned problems, the present invention provides a robot controller 5 for controlling a robot according to a program stored in advance, and a robot drive for driving the robot in accordance with a command from this controller. A remote control robot emergency stop device comprising a device 4, an emergency stop command device, an emergency stop receiving device, and a transmission path 2 provided between the emergency stop command device and the emergency stop receiving device, The device is an emergency stop push button 11, and an attached instantaneous output circuit 12 and a delay circuit 13 for individually inputting output signals of the emergency stop push button 11 and a serial signal using the parallel signals of the instantaneous output circuit 12 and the delay circuit 13 as inputs. Is connected to the emergency stop receiving device in series with the receiving device 31 and the receiving device 31. In serial / parallel separating device 32, it constitutes an emergency stop device of the robot.

[0005]

The [action] said means, the emergency stop push button 11 the operator presses, this output signal, the instantaneous circuit 12 outputs a one shot HI signal a time, t _b to both the delay circuit 13 is HI signal a The HI signal b having the same level is output with a delay for a predetermined time t. This HI
The signal a and the HI signal b are serialized by the transmitter 14,
The data is transmitted to the receiving device 31 via the transmission path 2 and the receiving device 3
Serial / parallel separation device 3 connected in series to 1
At 2 again, the HI signal a and the HI signal b are parallelized again, and the emergency stop signal is individually input to the robot drive device 4 and the robot control device 5.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the present invention,
FIG. 2 is a timing chart of the output signal. The output signal of the emergency stop push button 11 operated by the operator is branched into two, and one is the instantaneous circuit 1 for sampling this signal.
The other is input to the delay circuit 13 including a sample hold 13a for holding the output signal of the emergency stop push button 1 and a delayed timer 13b connected in series to the sample hold 13a. As shown in FIG. 2, the instantaneous circuit 12 is set to 1 at the same time as sampling.
The shot HI signal a is output as it is. Delay circuit 3, the outgoing time HI signal a by t _a delay for a predetermined time t, and outputs a HI signal b at the same level. The output signals of the instantaneous circuit 12 and the delay circuit 13 are input to the transmission device 14 and, as shown in FIG. 2, a serial signal composed of the HI signal b delayed by t _{b for} one shot of the HI signal a and continued for a predetermined time t. Send c. The emergency stop push button 11, the flash circuit 12, and the delay circuit 13 constitute the emergency stop command device 1.

The serial signal c is input to a receiving device 31 in a remote place via a wired or wireless transmission path 2,
This received signal is input to the serial / parallel separation device 32 connected in series, and separates the HI signal a and the HI signal b from the serial signal c. The receiving device 31 and the serial / parallel separation device 32 constitute the emergency stop receiving device 3. The HI signal a is input to the robot drive device 4, and the HI signal b is input to the robot control device 5. First, the robot drive device 4 receiving the HI signal a puts the robot 6 into an emergency stop. Next, the robot control device 5 receiving the HI signal b commands the robot drive device 4 to perform an emergency stop.
At this time, if the robot drive device 4 has already applied the emergency stop to the robot 6, the emergency stop command given by the robot controller 5 is ignored. However, when the robot driving device 5 does not apply the emergency stop to the robot 6, the emergency stop command issued by the robot control device 5 becomes effective,
The robot 6 makes an emergency stop.

[0008]

As described above, according to the present invention, an emergency stop command instructed by an operator is temporarily converted into parallel signals having two different timings, and a serial signal is transmitted at the time of transmission. Since the emergency stop receiving device provided in the above converts it into a parallel signal again and inputs it to the robot drive device and the robot control device individually, redundancy occurs in the emergency stop command and reliability is improved.

[0009]

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a timing chart showing an embodiment of the present invention.

[Explanation of symbols]

 1 Emergency Stop Command Device 11 Emergency Stop Push Button 12 Instantaneous Circuit 13 Delay Circuit 13a Sample Hold 13b Delay Timer 14 Transmitter 2 Transmission Line 3 Emergency Stop Receiver 31 Receiver 32 Serial / Parallel Separator 4 Robot Drive 5 Robot Control Device 6 Robot

Claims (1)

[Claims] 1. A robot control device (5) for controlling a robot according to a program stored in advance, a robot drive device (4) for driving the robot according to a command from this control device, an emergency stop command device, and an emergency stop reception. A remote control robot emergency stop device comprising a device and a transmission line (2) provided between the emergency stop command device and the emergency stop receiving device, wherein the emergency stop command device is an emergency stop push button (1).
1), an attached instantaneous output circuit (12) and a delay circuit (13) for individually inputting the output signals of the emergency stop push button (11)
And a transmitter (14) which receives the parallel signals of the instantaneous circuit (12) and the delay circuit (13) and outputs a serial signal, and the emergency stop receiver is a receiver (31) and a receiver ( 31) An emergency stop device for a robot comprising a serial / parallel separation device (32) connected in series to 31).