JPS6399185A - Safety device for self-propelling type robot - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a robot equipped with a manipulator, and particularly to a self-propelled robot that also has a traveling function.

"Conventional technology" Conventionally, in a robot equipped with a manipulator, if the software that controls its operation is destroyed,
Since the manipulator may operate in an unpredictable manner, resulting in a so-called runaway state, it is necessary to surround the installation location, that is, the maximum operating range of the manipulator, with a fence to ensure safety, and to ensure safety by enclosing the area outside the fence. A switch is installed in a safe location so that the robot can be safely brought to an emergency stop.

"Problems to be Solved by the Invention" In recent years, so-called self-propelled robots have been developed in which robots are mounted on trackless carts that are equipped with a drive device and do not have a guide mechanism such as rails. Due to the functionality of such self-propelled robots, it is impossible to ensure safety using fences. Furthermore, since it is a pathless type, the robot's '2IX power source is also battery-powered, and therefore an emergency stop switch must also be attached to the robot (or trolley) itself.

However, the running control of such a self-propelled robot,
If both the control and operation control of the manipulator become uncontrollable, in the worst case, the cart will move while swinging the manipulator, causing the problem that the emergency stop of the Lohonoto will result in a national electric train.

The present invention has been proposed in view of the above circumstances, and is characterized by providing a safety device that can stop a self-propelled robot even if it runs out of control.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a self-propelled robot in which a manipulator is mounted on a self-propelled trolley, a power supply mounted on the trolley, and an nq-labeled trolley. and a trolley drive circuit and a manipulator drive circuit that respectively operate the drive motors provided in the manipulator,
A switching means is provided for selectively connecting both drive circuits to the power source.

"Operation" Due to the presence of the switching means, either the truck or the manipulator is always in a stopped state.

"Example" Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

The figure is a block diagram showing the configuration of the power supply system of the self-propelled robot, and reference numeral 1 in the figure indicates a battery that supplies power to both the self-propelled cart and the manipulator. This battery 1 is connected to a DC/DC converter 3 via a power switch 2, and this DC/DC converter 3 is connected to a control circuit 1 consisting of a CPU etc. that controls the self-propelled robot. It supplies voltage. moreover,
An inverter 5 is connected to the control circuit 4,
This inverter 5 operates a relay 6 connected to a battery l in parallel to the DC/DC converter 3.

The B contact 6b of the relay 6 is interposed between the battery 1 and a truck drive circuit 8 that drives a motor 7 (provided for running or changing direction) provided on the truck. Further, the A contact 6a of the relay 6
is interposed between the battery 1 and a manipulator drive circuit IO that drives a motor 9 (provided for rotating the wrist in each direction) that operates the manipulator.

The self-propelled robot configured as described above moves the cart to a predetermined position and performs necessary work by operating the manipulator in a predetermined order according to a program stored in the control circuit 4. be able to. The control circuit 4 supplies a control signal to the relay 6 as necessary, and depending on the presence or absence of this control signal, the relay 6 is switched to an energized state or a demagnetized state, thereby controlling the motor for driving the bogie. 7,
Alternatively, the motor 9 for driving the manipulator is alternatively connected to the pantry 1, so that a predetermined operation can be performed.

With such a configuration, the motors 7 and 9 cannot operate at the same time, so even if the program stored in the control circuit 4 is destroyed, the robot will run out of control. The power switch 2 can be operated without any great danger because either the trolley moves with the robot stopped or the manipulator operates with the trolley stopped. It can be stopped reliably.

Note that the power source of the robot is not limited to batteries, and it goes without saying that a safety device can be similarly provided even if the self-propelled robot is connected to an AC power source via a power cable.

Further, it goes without saying that a changeover switch of another type may be used in place of the relay.

Furthermore, in the above embodiment, the control circuit system and the various driving motor systems are connected in parallel to the same battery, but they may be separated; in this case, the motor driving Ti Of course, a switching means such as a relay is provided between the source and the drive circuit of each motor.

``Effects of the Inventionj'' As is clear from the above explanation, the present invention provides a self-propelled robot in which a manipulator is mounted on a self-propelled trolley, and a power supply mounted on the trolley and a power supply installed in the trolley and the manipulator. Since switching means for selectively connecting both drive circuits to the power source is provided between the bogie drive circuit and the manipulator drive circuit that operate the drive motors, the bogie drive mechanism and the manipulator Even if only one of the drive mechanisms of the robot becomes operable and the operation program stored in the control circuit is destroyed, safety is ensured by minimizing runaway of the robot. It has the effect of being able to.

[Brief explanation of the drawing]

The drawing is a block diagram showing one embodiment of the present invention. 1...Battery (power supply), 4...Control circuit, 6...Relay (selector switch), 6a
...A contact, 6b...B contact, 7...
...Motor, 8...Dolly drive circuit, 9...
・Motor, IO... Drive circuit for manipulator.

Claims (1)

[Claims] In a self-propelled robot in which a manipulator is mounted on a self-propelled cart, a power source mounted on the cart, a cart drive circuit and a manipulator drive circuit that operate drive motors provided on the cart and the manipulator, respectively. A safety device for a self-propelled robot, characterized in that a switching means for selectively connecting both drive circuits to the power source is provided between the two drive circuits.