JPS59144901A - Generating device of emergency stop signal of robot - Google Patents

Abstract

PURPOSE:To omit an exclusive signal line by transmitting an emergency stop command signal to a robot driving controlling device through a signal line to be used for each axis moving command signal in common to input the emergency stop command signal to an emergency stop signal generating circuit. CONSTITUTION:An emergency stop switch 12 in a teaching pendant 2 is connected to a parallel/serial converting circuit 7 to convert an emergency stop command signal ES into a serial signal. The serial signal is transmitted to the driving controlling device 1 side through a driver 8, a signal line 5 and a receiver 9. A serial/parallel converting circuit 10 converts the inputted serial signal into a parallel signal, allows respective axis moving command signals to latch many latch circuits 11 for respective axes and separates the signal ES to input the signal ES to a multivibrator 20.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a robot emergency stop signal for generating an emergency stop signal to immediately stop the robot on the drive control device side of the robot 1- when an emergency stop switch provided on a teaching pendant is operated. This invention relates to a stop signal generation circuit.

In recent years, various industrial robots 1- have been actively developed, and have been introduced to various processes such as automobile body welding, painting 2 assembly, etc., and have achieved great results.

As a means for making such industrial or other robots memorize the work contents in advance, for example, as shown in FIG.
4 and a signal line 5, a teaching pendant 2 for remote control is connected, the teaching pendant 2 issues drive commands to each axis of the robot, the robot performs a desired motion, and the instructions are memorized. It is often used.

Therefore, in the teaching pendants 1 and 2, i number of axis movement command switches 6 are arranged in a row so as to be operable from the outside to command the drive/stop and movement direction of each axis (joint) of the robot.

The axis movement command signal generated by turning on each axis movement command switch 6 is converted into a serial signal by the parallel/serial conversion circuit 7, and transmitted to the robot's drive control device by the driver 8° signal line 5 and receiver 9, and serial The signals are converted into parallel signals corresponding to each axis movement command switch 6 by the /parallel conversion circuit 10, and latched by a large number of latch circuits 11, respectively.

Each axis movement command signal latched by the latch circuit 11 drives a motor for each axis of the robot body (not shown).

By the way, in such a robot teaching system, the teaching pendant 2 is equipped with a normally closed emergency stop switch 12 so that the robot 1 can be stopped immediately if an abnormality occurs in the movement of the robot 1 during teaching. The drive control device side is equipped with an emergency stop signal generation circuit using the relay 13 shown in FIG. 1 and its normally open contact 13a, and a driving power supply +V.

In addition, in order to disable the operation of the emergency stop signal generation circuit when the teaching pendant 2 is not connected, an enable/disable select switch is connected in parallel with the normally open contact 13a of the relay 1'5 and can be operated from the outside. A valid/invalid control circuit using a switch 14 is provided.

Therefore, the enable/disable select switch 14 is disabled (
When turned on), the emergency stop signal output terminals 15a and 15b are always in a conductive state (resistance 0), and the operation of the emergency stop signal generating relay 13 is disabled.

When the teaching pendant 2 is connected to the drive control device 1 of this robot, the connectors 3, 4 and the signal line 16.1
7, the emergency stop switch 12 on the teaching pendant 2 side connects the power supply +■ and the relay 13 on the drive control device 1 side.
The relay 13 is energized to close its normally open contact 13a.

In this state, enable/disable select switch 14 (
When set to the OFF) side, the operation of the relay 13 becomes effective.

That is, when the emergency stop push button 12a is pressed, the emergency stop switch 12 is turned off and the relay 13 is de-energized, so its normally open contact 13. opens and emergency stop signal output terminal 1
5a and 15b become non-conductive (infinite resistance). Thereby, an emergency stop can be performed by cutting off a driving power supply circuit to the robot body (not shown).

However, in the conventional emergency stop signal generation device for a robot, a special device is used to transmit the emergency stop command signal from the emergency stop switch on the teaching pendant to the emergency stop signal generation circuit on the drive control device side of the robot. Two signal lines 16 and 17 are required, and the cable connecting between the teaching pendant 2 and the drive control device 1 becomes thick, resulting in a problem that operability is impaired.

This invention was made by focusing on such conventional problems, and eliminates the need to use a dedicated signal line to transmit an emergency stop command signal from the teaching pendant side to the drive control device side. , the purpose is to make the connection cable thinner.

Therefore, the robot emergency stop signal generator according to the present invention transmits the emergency stop command signal from the emergency stop switch of the teaching pendant to the robot drive control device through the same signal line as each axis movement command signal of the robot. The emergency stop command signal is generated by separating the transmitted emergency stop command signal from each axis movement command signal and inputting it to an emergency stop signal generation circuit.

An embodiment of the present invention will be described below with reference to FIG. Note that although parts in FIG. 2 that correspond to those of the conventional example shown in FIG. 1 are given the same reference numerals, this does not necessarily mean that they are the same as the conventional example.

The emergency stop switch 12 of the teaching pendant 2 is
The emergency stop command signal is input to the parallel/serial conversion circuit 7 in parallel with the axis movement command signals from the multiple axis movement command switches 6, and is converted into a time-divided serial signal. converted.

If the signal line 5 connects the teaching pendant 2 and the robot drive control device 1 through the connectors 3 and 4, the serial signal output from the parallel/serial conversion circuit 7 is transferred to the driver 8. Signal 15. and is transmitted to the drive control device 1 side by the receiver 9.

The serial/parallel conversion circuit 10 converts the input serial signal into a parallel signal, latches each axis movement command signal to a large number of latch circuits 11 around each axis, and separates the emergency stop command signal BS. It is input to the input terminal A of the multivibrator 20.

This multivibrator 20 is a retriggerable monomulti that constitutes an emergency stop signal generation circuit together with a transistor 21 and a relay 13, and the reset terminal R is 0.
”, it is in the reset state.

When the output terminal 6 is set to ``1'' and the reset R is set to 1'' and the reset is released.

The input terminal A is connected between the power supply +V and periodically changes to 1'' within a certain period of time determined by the friend resistor R1 and the capacitor C.
When this happens, the output terminal Q becomes 1'', and if the input terminal A does not become 1'' within a certain period of time, the output terminal Q becomes 0''.

When the output terminal Q of the multivibrator 20 is 1'', the transistor 21 is turned on and the relay 16 is energized, so that its normally open contact 15a is closed.

The operation of the emergency stop signal generation circuit is enabled or disabled by the resistor R2 connected between the reset terminal R of the multivibrator 20 and the power source 1, and the enable/disable select switch 14 connected between the ground and the ground. Enable/
It constitutes an invalid control circuit.

According to this embodiment configured in this way, when the teaching pendant 2 is not connected to the drive control device, the multivibrator 20 is reset by setting the valid/invalid select switch 14 to the invalid (on) side. , regardless of the emergency stop command signal ES, the output terminal d becomes 1'', the 1-transistor 21 turns on,
Since the relay 13 is energized, its normally open contact 13a is closed.

Therefore, the emergency stop signal output terminal 15a.

15b is maintained in a conductive state, and the operation of the emergency stop signal generation circuit is disabled.

Connect the teaching pendant 2 to the drive control device 1 via the signal line 5, and enable the enable/disable select switch (
When set to the OFF) side, the reset terminal R of the multivibrator 20 is released from the ground and becomes 1'' by the power supply +■, thereby canceling the reset state. Therefore, the operation of the emergency stop signal generation circuit becomes effective.

However, the emergency stop push button 12 of the teaching pendant 2
While a is not pressed, the emergency stop switch 12 is closed and a signal of "1" is input to the parallel/serial conversion circuit 7, so the signal is transmitted to the drive control device 1 and output from the serial/parallel conversion circuit 10. The output emergency stop command signal US is 1'' at a predetermined period determined by time division (sufficiently shorter than the time determined by the resistor R1 and capacitor C of the multivibrator 20).' Therefore, the output terminal of the multivibrator 20 Q is 1
'', the relay 13 also continues to be excited, and the state of continuity (resistance 0) remains between the emergency stop signal output terminals 15a and 15b.

When the emergency stop push button 12a is pressed, the emergency stop switch 12 opens and the emergency stop command signal input to the parallel/serial conversion circuit 7 becomes 0'', so the signal is output from the serial/parallel conversion circuit 10 on the drive control device 1 side. The emergency stop command signal ES also becomes 0''.

As a result, the output terminal Q of the multivibrator 20 becomes 0'', turning off the transistor 21, so that the relay 16 is deenergized and its normally open contact 13a is opened.

Therefore, the connection between the emergency stop signal output terminals 15a and 15b becomes open (infinite resistance), which is output as an emergency stop signal, and an emergency stop operation is performed by directly or indirectly cutting off the power supply circuit to the robot body (not shown). will be carried out.

Note that the emergency stop signal generation circuit is not limited to the circuit shown in the above embodiment;
Any circuit that generates an emergency stop signal by inputting S may be used.

As described above, according to the present invention, the emergency stop command signal from the emergency stop switch provided on the teaching pendant is transmitted to the robot's drive control device through a signal line common to each axis movement command signal of the robot. Since the emergency stop signal is input to the emergency stop signal generation circuit, a dedicated signal line is not required to transmit the emergency stop command signal between the teaching pendant and the drive control device, and the connection cable can be made thinner. This improves the operability of the teaching pendant.

[Brief explanation of drawings]

FIG. 1 is a circuit configuration diagram showing an example of a conventional emergency stop signal generation device for a robot using a teaching pendant, and FIG. 2 is a circuit configuration diagram similar to FIG. 1 showing an embodiment of the present invention. . 1...Robot drive control device 2...Teaching bender 1- 3.4...Connector 5.16.17...Signal line 6...Axis movement command switch 7...Parallel/serial Conversion circuit 8...driver S...receiver 10...
Serial/parallel conversion circuit 12...Emergency stop switch 13...Emergency stop signal generation relay 14...Valid/invalid select switch 15a, 15b
...Emergency stop signal output terminal 20...Multi vibrator (retriggerable/mono multi)' (Mount 11 c ・0 -

Claims (1)

[Claims] 1. An emergency stop signal generation device for a robot, which includes an emergency stop switch on a teaching pendant and an emergency stop signal generation circuit on a drive control device of the robot, wherein an emergency stop command by the emergency stop switch of the teaching pendant is provided. A signal transmitting means for transmitting a signal to the drive control device through a signal line common to the movement command signal for each axis of the robot, and separating an emergency stop command signal transmitted by the signal transmission means from the movement command signal for each axis of the robot. An emergency stop signal generating device for robots 1 to 1, further comprising a circuit for inputting the signal to the emergency stop signal generating circuit.