JPS597581A - Compensation circuit for service interruption of prefabricated robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] The present invention relates to a power failure compensation circuit for a single assembly robot, and particularly relates to a power failure compensation circuit that can reliably maintain the current state even when the power is turned on again in the event of a power failure. It is something.

A conventional circuit of this type is shown in FIG.

(1) is a register (latch), and data lines +a~(
G is connected. (21 is a driver connected to register (1), and constitutes a drive signal supply circuit together with register +1). (3) is a keep relay.

(41 is the set coil of the keep relay (31), (5) is the reset coil of the keep relay (31), and each is excited by the signal from the driver (2). (6) is the contact of the keep relay (31). This is a command to drive the drive device of the 2-assembly robot.

Next, the operation of this conventional circuit will be explained. First, when the data line 1411 in Figure 2 becomes active, the set coil (4) of the keep relay (3) is excited.

For example, when an a contact switch (6) is used as a relay contact, the contact closes. Therefore, beyond the contact point (6).

If an assembly robot drive device is provided in which the hand opens when the contact closes, the hands of the two assembly robots will release the object to be chucked by activating the data line 1411.

On the other hand, when the data line decoy becomes active, the reset coil (5) of the keep relay +31 is energized, so the contact (6) opens, contrary to the above. This causes the hand of the assembly robot to close, thereby grasping the object to be chucked.

When performing the above-mentioned double series operation, the two data lines f4G and 111 are selectively activated so that they are never activated at the same time. This is the keep relay (3)
This is because they cannot operate at the same time due to their nature.

Note that if neither of the data lines (a) and (b) are active, the previous operating state is maintained as is, so the hand of the two-assembly robot will maintain its previous state.

The conventional circuit operates as described above, so when a power outage occurs, the set coil (4) and reset coil (5)
) is not in a de-energized state, the hand of one assembled robot will maintain its state before the power outage due to the operation of the keep relay (3).

However, in this conventional circuit, the previous state can be maintained in the event of a power outage, but at the same time as the power is turned on again after the power outage is resolved, the data line (either one of The drawback was that the state of the assembly robot's hand could not be maintained in some cases.Furthermore, in order to maintain the state immediately before the power outage, it is conceivable to back up the power outage with a battery, but in this case, the cost would be high, and There were drawbacks such as the overall size of the device.

This invention was made to eliminate the drawbacks of the conventional ones as described above, and with a simple circuit configuration, it is possible to reliably maintain the robot's hand in the state before the power outage even after the power is turned on again. The purpose is to provide a power failure compensation circuit for assembly robots.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 shows a circuit according to an embodiment of the present invention, in which a master reset circuit is provided in addition to the conventional circuit.
It is composed of an integrating circuit consisting of a resistor and a capacitor, and a Schmitt trigger inverter 211.The signal from this master reset circuit is supplied to the register (1:) via the lead wire ■, and the register (latch) (1)
The device is reset when the power is turned on again. Note 1
In the figure (to) is the diode for discharging the capacitor (to) when the power is turned off or during a power outage. In FIG. 2, the same or equivalent parts as in FIG. 1 are given the same reference numerals.

Next, the operation of the embodiment circuit shown in FIG. 2 will be explained. In this circuit, the operation when the power is turned off due to a power outage is the same as the conventional example shown in FIG. 1, and the state of the hand of the assembly robot before the power outage is maintained. However, when the power is turned on again after the power outage is resolved, the following operations occur. That is, when the power is turned on again, the register (latch) (1) is reset by the integrating circuit consisting of a resistor and a capacitor and the Schmitt trigger inverter Q11, so that Keep relay (3
) is held in the previous state for a predetermined time, that is, the keep relay (31 set coil (4), reset coil +51
This will keep it in the state it was in when it was not activated. Therefore, during that time, the data line +41. By rewriting Ill to an inactive state, the nodes of one assembly robot can maintain the state they were in before the power outage even after the power is turned on again.

In addition, although the above embodiment was explained using the 7-end chucking of the 2-assembly robot, 1. For example, a drive device that drives the vertical movement of the robot arm with an air cylinder, etc.
It can be applied to all assembly robot drive devices that use switches with a latch function as a measure against power outages, such as when commands are issued using relay contacts.

As described above, according to the present invention, it is possible to reliably maintain the drive device of an assembly robot, such as a node chucking device, in the state before the power outage at a low cost and with a small device during a power outage. Of course, even after the power is turned on again, the state before the power outage can be reliably maintained as it is, which has the effect of safely operating without dropping the object to be chucked.

[Brief explanation of the drawing]

FIG. 1 is a circuit diagram showing a power outage compensation circuit using a keep relay to prevent power outages in conventional assembly robots. FIG. 2 is a circuit diagram illustrating a power failure compensation circuit that takes into consideration state retention after power is turned on again according to an embodiment of the present invention. In the drawings, the same or corresponding parts are denoted by the same reference numerals. Agent Shin Kuzuno −

Claims (1)

[Claims] (1: A keep relay having a relay contact for instructing the driving of a drive device of an assembly robot, a set coil for keeping the relay contact in an on state, and a reset coil for keeping the relay contact in an off state; An assembly characterized by comprising a drive signal supply circuit that supplies an excitation signal that selectively excites the set coil or reset coil of the keep relay, and a master reset circuit that resets the drive signal supply circuit with a time constant when the power is turned on. A power failure compensation circuit for a robot. (2) A power failure compensation circuit for an assembly robot according to claim 11, characterized in that the master reset circuit is constituted by an integrating circuit and a Schmitt trigger inverter. (3) Drive signal supply Claim (2) characterized in that the circuit is constituted by a register and a driver that supplies a signal to a keep relay, and the register is reset by a signal from a master reset circuit.
Power failure compensation circuit for the assembly robot described in Section 2.