JPS636607A - Emergency stopping device - Google Patents

Abstract

PURPOSE:To surely stop the operations of controllers by transmitting sequentially the abnormality of a certain controller to other ones through a transmitting means and stopping the operation of each controller. CONSTITUTION:The manipulator controllers 10-12 of an emergency stopping device contain the overall abnormality contacts T1-T3 which are opened in case either one of items for detection of abnormality including the overcurrent of a servomotor, the runaway of a CPU, etc., becomes abnormal. While the abnormal stop signal generating means 13-15 produces signals to stop the operations of controllers 10-12 when the contacts T1-T3 are opened. Furthermore the controllers 10-12 contain the transmission means, i.e., relay coils R10-R60 for transmission of the open states of contacts T1-T3 as the abnormality occurrence information among those controllers. Thus the abnormal state of one of controllers 10-12 can be surely transmitted to other ones.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to an emergency stop device such as a manipulator (robot) controller, and particularly relates to an emergency stop device when a system is configured with a plurality of manipulator controllers. .

(Prior Art) For example, when an abnormality occurs in a manipulator controller, this abnormality must be detected and the manipulator controller must be stopped.

Items for this abnormality detection include overcurrent of the servo motor that moves the manipulator arm, runaway of the CPU (central processing unit), disconnection in the encoder for detecting the position of the manipulator arm, and even a manual emergency stop switch. If an abnormality occurs in any one of these abnormality detection items, the manipulator controller will stop. However, abnormality detection is performed for each manipulator controller separately, and therefore, this stoppage is only for the manipulator controller in which the abnormality has occurred. Therefore, when a system is configured by combining a plurality of manipulator controllers, each manipulator executes work operations in association with each other, so it is impossible for only one manipulator to stop. Therefore, in the case of such a system configuration, the emergency stop switches in each manipulator controller 1, 2, and 3 are pulled out to the outside and the sequence controller 4
The sequence controller 4 centrally monitors each emergency stop switch.

However, in such a configuration, each manipulator controller 1.2.3 can be reliably stopped when the emergency stop switch is activated, but if an overcurrent occurs to a servo motor other than the emergency stop switch that is not centrally monitored. Only the manipulator controller of the servo motor to which an overcurrent flows can be stopped. Therefore, the other manipulator controllers will operate until their own emergency stop switches are activated, and if a system is configured with a plurality of manipulator controllers, the work operations will not match and problems will occur.

(Problems to be Solved by the Invention) As described above, countermeasures against the occurrence of an abnormality in a system configured with a plurality of manipulator controllers are insufficient.

SUMMARY OF THE INVENTION In order to achieve the above object, it is an object of the present invention to provide an emergency stop device that can reliably stop all controllers when an abnormality occurs in any of a plurality of controllers that operate in conjunction with each other.

[Structure of the Invention] (Means for Solving Problems) The present invention provides a comprehensive normal contact that operates even when receiving any one of various abnormal signals, and this general abnormal contact. An abnormal stop signal generation means that generates an abnormal stop signal when activated or receives abnormality information from the outside; In this emergency stop device, each controller that operates in conjunction with each other is provided with a transmission means for receiving and transmitting information, and these controllers are connected in series to form an abnormality transmission line between the controllers.

(Function) By providing such a means, when an abnormality occurs in one controller, the abnormality occurrence information is transmitted to each controller one after another from the transmission means, and the controller that receives this abnormality occurrence information issues an abnormality stop signal. An abnormal stop signal is generated in the generating means and the device is stopped.

(Example) Hereinafter, a first example of the present invention will be described with reference to a configuration diagram of an emergency stop device shown in FIG.

In the figure, reference numerals 10, 11, and 12 indicate manipulator controllers, and these manipulator controllers 10.
11.12 includes various abnormality detection items such as overcurrent of the servo motor that moves the manipulator arm, runaway of the CPU (central processing unit), disconnection of the encoder for detecting the position of the manipulator arm, and emergency stop switch. General abnormality contacts T1, T2, and T3 are provided, which become open when an abnormality occurs in any one of them. Also, 13
．． 14.15 is an abnormality stop signal generation means, which is activated when each general abnormality contact T1, T2, T3 in each manipulator controller 10.11.12 is in an open state or when abnormality occurrence information is received from the outside. When an abnormal stop signal is generated, the manipulator controller 10.11.
12 is stopped. Then, each manipulator controller 10.11.12 sends the open state of each general abnormality contact TI, T2, T3 as abnormality occurrence information to other manipulator controllers 10.11.12, and sends it to other manipulator controllers 10.11.12. 11.12
The controller is equipped with a transmission means for transmitting abnormality occurrence information received from the controller to the pond manipulator controller 1o111.12.

Here, the specific configuration of the abnormal stop signal generating means 13, 14, 15 and the transmitting means will be explained. Each manipulator controller 10.11.12 has a DC 'IIV
Relay coil RIO1R3 receiving power supply from cc
0 and R50 are provided, and relay coils R20, R40, and R60 whose other ends are grounded are also provided. Then, the make contacts alO1a30 and a50 of each relay coil R10, R30, and R50 are connected to the terminal h1, respectively.
0. h1'l, h20. h21, h30. It is connected between h31. Also, each terminal g12 and Q13.92
Make contacts a12 and a21, a32 and a41, and a52 and 861 of each relay coil R10, R20, R30, R40, R50, and R60 are connected in series between 2 and g23, and between g32 and 033, respectively.

The abnormal stop signal generating means 13, 14, 15 includes make contacts a11, a20, . a31 and a40. a51 and a60
are connected in series.

Then, these manipulator controllers 10.11
．． The respective terminals of 12 are successively connected by cables 16 and 17 to form first and second abnormality transmission lines. That is, the first abnormal transmission line is as follows.

°Terminals h10 and Q20 and terminals h11 and 021 are connected to form a series circuit of relay coil R30, make contact a10, and general fault contact T2, and roughly terminal h20
and Q30 and terminals h21 and Q31 are connected to relay coil R50, make contact a30, and general abnormality contact T3.
A series circuit is formed. - On the other hand, the second abnormal transmission line is as follows. Manipulator controller 12
Connect terminal g32 between and 11, 22 and C]
33 and h23 are connected, DC z i v cc, make contact a 52. A 61, a series circuit of relay coil R40 is formed, and terminals g22, h12 and Q are connected between manipulator controllers 11 and 10.
23 and h13 are connected, DC power supply Vcc, make contact a 32. a 41, and a series circuit of relay coil R20 is formed. Note that jumper wires 18 and 19 are connected between the terminals g10 and gll in the manipulator controller 10 and between the terminals h32 and h33 in the manipulator controller 12.

Next, the operation of the apparatus configured as described above will be explained. Normally, each relay coil R10 ~ as shown in Figure 1.
R60 is supplied with power and is in an energized state, so its make contacts (all contacts in FIG. 1) are in a closed state.

For example, when an overcurrent flows through the servo motor in the manipulator controller 11 and the general abnormality contact T2 opens, the relay coil R30 is deenergized and its make contacts a30, a31. a32 is in an open state. Therefore,
An abnormal stop signal is sent from the abnormal stop signal generating means 14, and the operation of the manipulator controller 11 is stopped. Now, when the make contacts a30 and a32 are in the open state, this open state is transmitted as abnormality occurrence information to the first abnormality transmission line, and thus the relay coil R50 in the manipulator controller 12 and the relay coil R20 in the manipulator controller 10 are connected. The force is broken. As a result, the make contacts a50, a51, and a52 in the manipulator controller 12 are opened, and an abnormal stop signal is sent from the abnormal stop signal generating means 15, and the operation of the manipulator controller 12 is stopped. At the same time, the second The make contacts a20 and a21 in the manipulator controller 10 are brought into an open state by the abnormality transmission line, and an abnormality stop signal is sent from the abnormality stop signal generating means 13, so that the operation of the manipulator controller 10 is stopped.

In this way, in the first embodiment, the transmission means includes relay coils R10, R30, R50 and relay coil R20.
Since the configuration is such that the deenergization of each relay coil is transmitted one after another as abnormality occurrence information through the first and second abnormality transmission lines connected to R40 and R60, multiple manipulator controllers 1o, 11.12 and the When a system is configured with the above number of manipulator controllers, when an abnormality occurs in one manipulator controller, the other manipulator controllers can be reliably stopped. Therefore, even if each manipulator controller is performing related work, all the manipulator controllers can be stopped while the work entrainment state of the manipulator controller in which an abnormality has occurred and the other manipulator controllers are the same, and the entire system will be affected. There is no.

Furthermore, multiple manipulator controllers can be easily connected via cables, and even in a large system configuration, each controller can be stopped at the same time when an abnormality occurs.

Next, a modification of the first embodiment will be described with reference to FIG. 2. The device shown in FIG. 2 is the device shown in FIG. 1 without the jumpers WA18 and WA19. That is, each manipulator controller 10.11.
12 has relay coils R70 and R90 with one end grounded.
, R110 and its break contact a7
0, a90, and allo are respectively relay coil RIO,
It is connected between R30, R50 and the general abnormality contacts T1, T2, T3. In addition, each manipulator controller 10.11.12 has relay coils R80, R100,
R120 is provided. and relay coil R80
make contacts a80 and a81 are respectively make contacts a
20 and a21 in parallel, and relay coil R1
Make contacts aloo and alol of 00 are connected in parallel to make contacts a40 and a41, respectively, and make contacts a120 and a121 of relay coil R120 are connected in parallel to make contacts a60 and a61, respectively. Therefore, the break contact a70 is between terminals Q10 and Qll.
This has the same effect as a jumper wire, and even if the make contact a61 is in the open state, the make contact a121 is in the closed state, making the jumper wire between the terminals h32 and h33 unnecessary.

Next, a second embodiment of the present invention will be described with reference to FIG. Note that the same parts as in FIG. 1 are given the same reference numerals. Each manipulator controller 20.21.22 is provided with a relay coil LIO1L20, L30 and its make contacts j21 and a2, λ3 and a4, 25 and 26. In addition, each relay coil M10. M2O, M2
O and its contacts ra1-13, m4-16, m7-l
119 are provided respectively. Furthermore, relay coils N10, N20, N30 and their break contacts b10
, bll, b12, relay coil P10, p
20. p30 and its make contacts p1, p2, p3
and p4, p5 and p6 are provided, respectively. Each manipulator controller 20, 21, 22 is cascaded by each cable 23, 24, so that normally the relay coil N10 in the manipulator controller 20 is not energized and its break contact b10 is in the closed state, and Relay coils MIO and M2O are energized and each contact 1 and 12. 13 and 14 are respectively connected to contact z
connected to fIl. Here, relay coil M30
is not energized and its contacts 117 and 18 are connected to contact 5Ill.
The break contact I19 is in an open state. Therefore, normally, the terminal k31. from the DC power supply Vcc in the manipulator controller 22. lol
21 in the manipulator controller 21 through contact m5. m4, contact RI2 in the manipulator controller 20; II Furthermore, general abnormality contacts T1 and T2
, T3, and a relay coil L30 form a series circuit.

Here, when any one of the general abnormality contacts TI, T2, and T3 opens, the energization of the relay coil 30 is released. As a result, the make contact J25 in the manipulator controller 22 becomes open, an abnormal stop signal is sent from the abnormal stop signal generating means 15, and the operation of the manipulator controller 22 is stopped. At the same time, the make contact 26 is also opened, so that the energization of the relay coil P20 in the manipulator controller 21 forming the abnormality transmission line is released. Therefore, the make contact p3 in the abnormal stop signal generating means 14 is in an open state, and
The operation of the manipulator controller 21 is stopped, and the make contact p4 is opened, and the energization of the relay coil PIO in the manipulator controller 20 is released. As a result, the make contact p1 in the abnormal stop signal generating means 13 becomes open, and the operation of the manipulator controller 20 is stopped.

8 In this manner, in the second embodiment, if any one of the general abnormality contacts T1, T2, and T3 becomes open, this is used as abnormality occurrence information and is sequentially transmitted from the manipulator controller 22 to 21.20. The manipulator controller 20
．． If an abnormality occurs in any one of the controllers 21 and 22, the other manipulator controllers can also immediately stop operating. Therefore, even with the configuration of the second embodiment, the same effects as those of the first embodiment can be achieved.

Note that the present invention is not limited to the above embodiments, and may be modified without departing from the spirit thereof.

For example, the present invention can be applied to a stop device when an abnormality occurs between controllers that operate in conjunction with each other instead of a manipulator controller. Further, although the abnormality transmission line is configured with a relay, it can be configured with a non-contact configuration using a photocoupler or the like.

[Effects of the Invention] As described in detail above, according to the present invention, it is possible to provide an emergency stop device that can reliably stop all the controllers when an abnormality occurs in any of the plurality of controllers that operate in conjunction with each other.

[Brief explanation of drawings]

1 is a block diagram showing a first embodiment of the emergency stop device according to the present invention, FIG. 2 is a block diagram showing a modification of the device shown in FIG. 1, and FIG. 3 is a block diagram showing a second embodiment of the device according to the present invention. Fig. 4 is a block diagram of a conventional device. 10.11.12... Manipulator controller, 1
3.14.15...Abnormal stop signal generation means, 16°1
7... Cable, RIO, R20, R30, R40,
R50°R60...Relay coil, T1. T2. T3
... General abnormal contact, LIO, L20. L30...
Relay coil, Mlo. M2O, M2O...Relay coil, N 10. N
20. N 30...Relay coil, Plo, R2
0, R30...Relay coil.

Claims (1)

[Claims] A general abnormality contact that operates even if any one of the various abnormality signals is received, and an abnormality stop signal that generates an abnormality stop signal when this general abnormality contact is activated or when abnormality information is received from the outside. Abnormal stop signal generating means;
Sending out the operation of the general abnormality contact as abnormality occurrence information,
and a transmission means for receiving and transmitting abnormality occurrence information received from the outside is provided in each controller that operates in conjunction with each other, and these controllers are connected in series to form an abnormality transmission line between the controllers. Features an emergency stop device.