WO1995009718A1 - Robots industriels et procede de commande d'arret d'urgence - Google Patents

Robots industriels et procede de commande d'arret d'urgence Download PDF

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Publication number
WO1995009718A1
WO1995009718A1 PCT/JP1994/001671 JP9401671W WO9509718A1 WO 1995009718 A1 WO1995009718 A1 WO 1995009718A1 JP 9401671 W JP9401671 W JP 9401671W WO 9509718 A1 WO9509718 A1 WO 9509718A1
Authority
WO
WIPO (PCT)
Prior art keywords
emergency stop
switch
teaching device
robot
turned
Prior art date
Application number
PCT/JP1994/001671
Other languages
English (en)
Japanese (ja)
Inventor
Hirochika Mochida
Yuji Watanabe
Takashi Nagano
Takao Hattori
Kenji Ishii
Masanori Iwashita
Taro Harima
Tohru Katae
Takaaki Nishimura
Tomoyuki Kobayashi
Makoto Okada
Kimikazu Sato
Original Assignee
Mitsubishi Denki Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to TW083109220A priority Critical patent/TW267128B/zh
Application filed by Mitsubishi Denki Kabushiki Kaisha filed Critical Mitsubishi Denki Kabushiki Kaisha
Priority to KR1019950700801A priority patent/KR0155062B1/ko
Publication of WO1995009718A1 publication Critical patent/WO1995009718A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50198—Emergency stop

Definitions

  • the present invention relates to an industrial robot having an emergency stop function for shutting off power in an emergency, and an emergency stop control method therefor.
  • Devices that involve mechanical movements such as robots, generally require an emergency stop function to shut off power in an emergency.
  • FIG. 7 and 8 are block diagrams of a conventional industrial robot.
  • FIG. 8 is a partial detailed view of FIG.
  • 12b is a robot control device
  • 2 is a mechanical unit to be controlled, for example, a robot main body.
  • the robot body 2 has a robot arm, a brake, and the like (not shown).
  • Reference numeral 30c is a teaching device
  • 3c is an emergency stop switch provided on the teaching device 30c
  • 3d is a teaching switch provided on the teaching device 30c and comprising a predetermined number of switches (not shown). Group.
  • the emergency stop switch 3c is a push button switch that operates in an alternate action manner
  • 3c1 is a contact of the emergency stop switch 3c. That is, each time the emergency stop switch 3c is pressed, the open / close state of the contact 3c1 is reversed.
  • the contact 3c1 is normally closed unless the operator presses the emergency stop switch 3c for the purpose of stopping the operation.
  • 4b is an emergency stop reception circuit
  • 5 is a drive or the like for controlling the brakes and the robot arm of the robot body 2 by a program or the like stored in the inside, and also receiving a signal from the emergency stop reception circuit 4b.
  • a drive control unit that operates to stop the movement of the robot arm and the like based on the emergency stop signal, for example, a power transmission control unit.
  • these brakes and mouth bot arm are provided on the robot body 2.
  • 8 is very Dedicated connector for stop cancellation.
  • the robot control device 12b includes a power transmission control unit 5 and an emergency stop reception circuit 4a.
  • Reference numeral 200 denotes an emergency stop switch group having switches 200a to 20On.
  • Switches 20 Oa to 20 On are switches that operate in an alternate-action manner like emergency stop switch 3 c. Are attached to each position of the device so that they can be easily operated wherever they are. Also, the contacts of switch 200a to switch 200On are connected in series, and each contact is normally closed unless pressed by the operator for the purpose of emergency stop. ing.
  • the emergency stop reception circuit 4a has a relay 4a1.
  • the emergency stop switch 3c When the teaching device 30c is mounted via the connector 12b1 of the robot controller 12b, the emergency stop switch 3c is in the closed state. 3c1, the series-connected switches 200a to 200n, and the excitation winding of the relay 4a1 are connected in series, and this series-connected series body It is configured such that predetermined DC electricity is applied to both ends of the. Also, if the relay 4a1 is in the non-excited state, the contact 4a11 of the relay 4a1 is opened, so that the driving of the robot arm and the like is prevented and the emergency stop state is set. It is configured. For convenience of explanation, the contacts 4a11 are drawn in the power transmission control unit 5 in FIG.
  • the teaching device 30c When the teaching device 30c is attached to the robot control device 12b via the connector 12b1, the signal from each switch of the switch group 3d is output. The line is connected to the power transmission control unit 5.
  • the state of the contact 3c1 of the emergency stop switch 3c provided in the teaching device 30c is detected by the emergency stop reception circuit 4a inside the robot controller 12b, and the contact 3c is detected. If 1 is in the open state, the power of the robot arm, etc. is shut off, the brake is applied, and an emergency stop state is set.
  • the above operation is performed by the operation of the emergency stop switch 3c, but when any one of the switches 200a to 200c is pressed. Also, the excitation of the relay 4a1 of the emergency stop reception circuit 4a is released, and the contact 4a11 of the relay 4a1 is opened to enter the emergency stop state.
  • the robot teaching device is mounted on the robot control device only when it is necessary for the work, and is removed when it is unnecessary.
  • the reason for this is that the teaching device 30c should be left as it is without installing the emergency stop cancel connector 8
  • the emergency stop reception circuit 4a determines that the emergency stop switch 3c has been pressed and puts the robot in an emergency stop state.
  • FIG. 10 is a partial detailed view of FIG.
  • an emergency stop cancel switch is provided in the robot controller, and the emergency stop cancel switch required in the case of the conventional example shown in FIGS. 7 and 8 is used.
  • Dedicated connector 8 is unnecessary.
  • 12a is a robot control device
  • 6a is an emergency stop cancel switch.
  • the emergency stop cancel switch 6a is a toggle type switch having a contact 6a1.
  • the emergency stop cancel switch 6a is a side where the contact 6a1 is open unless a switching operation is performed by an operator for the purpose of putting the emergency stop cancel state or the like. Has been defeated.
  • the contact 6a1 of the emergency stop cancel switch 6a and the teaching device 3c are connected.
  • the emergency stop switch 0c of 0c and the contact 3c1 of 3c are connected in parallel.
  • a switch group 200 is connected in series with the parallel-connected body connected in parallel, and a predetermined voltage is applied to both ends of the series body.
  • the operation of the switch group 200 is the same as that of the conventional example shown in FIGS.
  • the emergency stop cancel switch 6a is provided in the robot control device 12a, and the emergency stop cancel switch is provided before the teaching device 30c is removed.
  • the above problem is solved by turning on 6a and closing contact 6a1.
  • the emergency stop switch 3 such as the teaching device 30c as shown in FIGS. 7 and 8 is used. If you want to remove the device with c, attach a special connector 8 for the emergency stop cancel instead. There was annoyance that it was necessary. 'In the conventional device shown in Figs. 9 and 10, the emergency stop cancel switch 6a is accidentally turned on, the contact 6a1 is closed, and the teaching device 30c is used. When a device with an emergency stop switch was mounted and operated, there was a problem that the emergency stop switch 3c would not work the original emergency stop function.
  • An object of the present invention is to provide an industrial robot and an emergency stop control method thereof that can prevent the danger of operating in a state where there is no operation.
  • an industrial robot capable of preventing an emergency stop state when a device having an emergency stop switch such as a teaching device is mounted or removed, and an emergency stop control method therefor. For this purpose. Disclosure of the invention
  • An industrial robot includes a mechanism having a robot arm and the like, a drive control of the robot arm and the like based on a predetermined program and a predetermined emergency stop. It has a drive control unit that forcibly stops the movement of the robot arm etc. by a signal, and a switch and an emergency stop switch for teaching the position of the robot arm etc. to the drive control unit.
  • the teaching device which is electrically connected to the drive control unit by being attached to the specified plug, the emergency stop cancel switch, and the emergency stop switch under predetermined conditions When operated, an emergency stop signal is output, and the teaching device is not attached to the specified plug and the emergency stop cancel switch is not turned on.
  • Equipment And the emergency stop cancel switch And an emergency stop control unit that outputs an emergency stop signal when the power is turned on.
  • one of the pins of the connector is short-circuited on the teaching device side, and the above-mentioned teaching device is attached via the signal line from this pair of pins. This is to detect whether or not it is running.
  • the emergency stop control unit starts after a predetermined time has elapsed. An emergency stop signal is output.
  • the emergency stop switch when the emergency stop switch is operated under predetermined conditions, the movement of the robot arm or the like is forcibly performed.
  • the switch for teaching the position of the robot arm, etc., and the teaching device having the emergency stop switch are attached to the specified plug. Even if the emergency stop cancel switch is not inserted and the teaching device is attached to the specified plug, the emergency stop cancel switch is The emergency stop control unit controls the movement of the mouth bot arm etc. to be forcibly stopped while the power is on.
  • the emergency stop control unit is configured to forcibly stop the movement of the bot arm and the like.
  • the emergency stop control unit in the industrial robot outputs an emergency stop signal when the emergency stop switch is operated under a predetermined condition, and outputs an emergency stop signal. It has a switch for instructing the position of the bot arm etc. to the drive control unit and an emergency stop switch, and can be attached to the specified plug. A state in which the emergency stop cancel switch is not turned on even if the teaching device electrically connected to the drive control unit is not attached to the specified plug, and the teaching device is not The emergency stop cancel switch is turned on even if it is attached to the specified connector. Outputs an emergency stop signal.
  • one of the pins of the plug is short-circuited on the teaching device side, and it is determined whether or not the above-mentioned teaching device is mounted via the signal line from this pair of pins. Is detected.
  • the emergency stop signal is sent from the emergency stop control unit only after the predetermined time has elapsed. Is output.
  • the emergency stop control method for an industrial robot is characterized in that, when the emergency stop switch is operated under predetermined conditions, the movement of the robot arm or the like is forcibly stopped.
  • a teaching device having a switch for teaching the position of a robot arm or the like and an emergency stop switch is not attached to a predetermined plug and an emergency stop canceller switch When the switch is not inserted, or when the teaching device is attached to the specified plug and the emergency stop cancel switch is turned on, the movement of the mouth-bottom arm is forcibly stopped. Control by the emergency stop control unit.
  • FIG. 1 is a block diagram showing a schematic configuration of an industrial robot according to Embodiments 1, 2, and 3 of the present invention
  • FIG. FIG. 3 is a partially detailed block diagram showing the case of the first embodiment of the present invention
  • FIG. 3 is a partially detailed block diagram showing the case of the second embodiment of the present invention in FIG.
  • FIG. 4 is a partial block diagram showing the third embodiment of the present invention in FIG. 1
  • FIG. 5 is a flowchart showing the operation of the fifth embodiment of the present invention.
  • FIG. 6 is a flow chart showing the operation of the sixth embodiment of the present invention
  • FIG. 7 is an emergency stop dedicated connector.
  • FIG. 8 is a block diagram showing a schematic configuration of a conventional industrial robot using the evening
  • FIG. 8 is a partial block diagram of FIG. 7, and
  • FIG. 9 is an emergency stop key.
  • FIG. 10 is a block diagram showing a schematic configuration of another conventional industrial robot using the cancel switch.
  • FIG. 10 is a partial detailed block diagram in FIG.
  • 2 is the robot body to be controlled
  • 3a is the emergency stop switch of the teaching device
  • 3b is the emergency stop switch of the teaching device
  • 3c is the emergency stop switch of the teaching device.
  • Switch, 4a is emergency stop reception circuit
  • 5 is drive control section
  • 6a is emergency stop cancel switch
  • 7a is emergency stop monitor circuit
  • 7b is emergency stop monitor circuit
  • 8b is a connector dedicated to the emergency stop canceller
  • 11a is the robot controller
  • 11b is the robot controller
  • 12a is the robot controller
  • 12b is the robot controller
  • 16a is emergency stop cancel switch
  • 21a is emergency stop control
  • 21b is emergency stop control
  • 30a is teaching device
  • 3Ob is teaching device
  • 3 0 c is a teaching device. Best mode for implementing
  • FIG. 1 and 2 are block diagrams of an industrial robot according to a first embodiment of the present invention.
  • FIG. 2 is a partial detailed view of FIG. 1 in the first embodiment.
  • reference numeral 30a denotes a teaching device
  • 3a denotes an emergency stop switch provided in the teaching device 30a.
  • the emergency stop switch 3a is a push-button switch that operates in an alternate-action manner and has a contact 3a1 in addition to the contact 3c1. are doing. That is, each time the emergency stop switch 3a is pressed, the open / close state of the contact 3c1 and the contact 3a1 is reversed. The contacts 3c1 and 3a1 are closed unless the operator presses the emergency stop switch 3a for emergency stop or the like.
  • the emergency stop cancel switch 16 a is an emergency stop cancel switch that operates in a toggle operation mode. Therefore, the emergency stop cancel switch 16a has a contact 16a1 in addition to the contact 6a1.
  • the emergency stop cancel switch 6a is on the side where the contacts 6a1 and 16a1 are open unless the operator performs a switching operation for the purpose of putting the emergency stop cancel state etc. Has been defeated.
  • 7a is an emergency stop monitor circuit, and 105 is an emergency stop judgment circuit.
  • the emergency stop accepting circuit 4a and the emergency stop switch group 200 are the same as those in the conventional example shown in FIG.
  • the power transmission control unit 5 is the same as the conventional example shown in FIG. 10 except that the contact 4a 11 used is changed to another contact.
  • the relay 7a1 provided in the emergency stop monitor circuit 7a is excited.
  • the winding and the contact 3a1 of the emergency stop switch 3a and the contact 16a1 of the emergency stop cancel switch 16a are connected in series. A predetermined electricity is applied to both ends of the series body.
  • the emergency stop determination circuit 105 has a relay 106, and the excitation winding of the relay 106 and the normally open contact point of the relay 4a1 of the emergency stop reception circuit 4a 4a11 and the normally closed contact 7a11 of relay 7a1 of the emergency stop monitor circuit 7a are connected in series, and a specified voltage is applied to both ends of this series connection. .
  • the relay 106 When the relay 106 is de-energized, the normally open contact 106a of the relay 106 is opened, and the mouth-bot body is connected via the contact 106a.
  • Emergency stop operation such as the power of the robot arm of No. 2 is cut off and the brake is applied. That is, the relay 4a1 in the emergency stop reception circuit 4a is de-energized or the relay 7a1 in the emergency stop monitor circuit 7a is energized to be controlled.
  • an emergency stop operation such as braking is performed.
  • the relay 4a1 When the robot can be operated, the relay 4a1 is in the excited state and the relay 7a1 is in the non-excited state.
  • the contact 106 a is drawn in the power transmission control unit 5 for convenience of explanation.
  • the emergency stop control unit 21a sends a signal to the power transmission control unit 5 to instruct the power transmission control unit 5 to perform an emergency stop operation such as shutting off the power of the robot arm and applying a brake. If it is called a signal, this emergency stop signal will be sent through the contact 106a of this relay 106.
  • the emergency stop cancel switch 16a when the teaching device 30a is attached to the robot control device, the emergency stop cancel switch 16a is not turned on, that is, the contact 6 When a1 and contact 16a1 are open, the robot can be operated.
  • the emergency stop cancel switch 16a is turned on, that is, the contact 6a1 and the contact 16 When a1 is in the closed state, the robot can be operated.
  • the relay 4a1 of the emergency stop reception circuit 4a is turned off.
  • the energized state causes the contact 4a 11 to be opened, and the power transmission control unit 5 cuts off the drive power of the robot arm and performs an operation such as applying a brake.
  • the relay 7a1 of the emergency stop monitor circuit 7a is connected to the emergency stop of the teaching device 30a. De-energized state remains irrespective of the operation of stop switch 3a.
  • the teaching device 30a is plugged in 1 while the emergency stop cancel switch 16a is accidentally closed, that is, the contacts 6a1 and 16a1 are closed.
  • the robot controller is mounted on the robot controller 11a via 1a1 will be described.
  • the relay 7a1 of the emergency stop monitor circuit 7a is energized via the contact 3a1 and the contact 16a1, so that the contact 7a11 is opened.
  • the driving power of the robot arm is cut off, and an operation such as applying a brake is performed.
  • the robot is put into an emergency stop state so that the robot cannot be operated while the erroneous operation is being performed.
  • the emergency stop cancel switch 16a is turned on while the teaching device 30a is mounted on the robot control device, the emergency stop state is similarly set.
  • the operation by the emergency stop switch group 2 (L 0 is the same as in the conventional example.
  • the part including the emergency stop reception circuit 4a, the emergency stop monitor circuit 7a, and the emergency stop determination circuit 105 is referred to as an emergency stop control unit 21a.
  • a case where the teaching device 3 0 a In accordance with an embodiment of this is device connection closure 1 1 a 1 S, a case where not attached to the S INV, the emergency stop key Ya Nserusui pitch 1 6 a Emergency stop switch 3a is operated so that the movement of the robot arm etc. is forcibly stopped, where C is when it is turned on and Cl NV when it is not turned on.
  • the case is T
  • the case where no operation is performed is T INV
  • ⁇ is the logical product
  • + is the logical sum operator.
  • FIGS. 1 and 3 are block diagrams of an industrial robot according to a second embodiment of the present invention.
  • FIG. 3 is a partial detailed view of FIG. 1 in the second embodiment.
  • the relay 7a1 having the contact 7a11 of the emergency stop monitor circuit 7a in the first embodiment has the delay operation in which the relay 7a1 has the contact 7b11.
  • the relay is changed to the relay 7b1 and the emergency stop judgment circuit 105 in the first embodiment is replaced with the emergency stop judgment circuit 105b having the contact 4a11 and the contact 7b11.
  • the second embodiment is the same as the first embodiment except that the robot controller 11a is changed to the robot controller 11b as well as the robot controller 11a.
  • the emergency stop cancel switch 16a is not turned on when the teaching device 30a is mounted on the robot control device. And the robot can be operated. If the teaching device 30a is not mounted on the robot controller 11b, the emergency stop cancel switch 16a is turned on. The robot can be operated according to the conditions.
  • the emergency stop cancel switch 16a is turned on and the contact 6a is turned on while the teaching device 30a is strongly attached to the robot control device. Even if 1 and contact 16a1 are closed, if the duration of this state is less than or equal to the operation time of the delayed relay 7b, contact 7b1 of relay 7b1 The on-off state of does not change. Therefore, the teaching device 30a must be removed from the control device 11b within this operation time, or the emergency stop cancel switch 6a must be shut off and the contacts 6a1 and 16 If a1 is returned to the open state, the robot does not enter the emergency stop state. When the teaching device 30a is mounted on the robot controller 11b, the emergency stop cancel switch 16a is switched immediately after the mounting, and the contacts 6a1 and 16a1 are opened. If this happens, the emergency stop will not occur.
  • the operation of the emergency stop switch group 200 is the same as that of the conventional example.
  • the part consisting of the emergency stop reception circuit 4a, the emergency stop monitor circuit 7b, and the emergency stop judgment circuit 105b is Emergency stop control unit 21 shall be called.
  • FIG. 1 and 4 are block diagrams of an industrial robot according to a third embodiment of the present invention.
  • FIG. 4 is a detailed view of a part of FIG. 1 in the third embodiment.
  • 3Ob is a teaching device and 3n is an emergency stop switch provided in the teaching device 3Ob.
  • the teaching device 30a is changed to the teaching device 3Ob, and by this change, the emergency stop switch 3a is changed to the emergency stop switch 3b. Is the same as in Example 2.
  • the emergency stop switch 3b does not have the contact 3a1 in the emergency stop switch 3a of the second embodiment, and the plug of the teaching device 30a connected to the contact 3a1 is used.
  • the pair of pins on the teaching device 30b corresponding to the pair of pins on 11a1 is short-circuited by conductors.
  • the execution is started.
  • the mouth bot is in an emergency stop state.
  • the state where the emergency stop cancel switch 16a is turned on continues for a predetermined time or more while the teaching device 3Ob is mounted on the robot control device 11b (that is, If the teaching device 30b is mounted on the robot control device and the contacts 6a1 and 16a1 remain closed for more than a specified time, the mouth boat is in the emergency stop state.
  • the emergency stop cancel switch 16a when the teaching device 3Ob is mounted on the robot controller, the emergency stop cancel switch 16a is turned on and the contacts 6a1 and 16a1 are closed. Even after that, within a predetermined time, the teaching device 30b should be removed from the robot control device 11b, or the emergency stop cancel switch 16a should be switched to contact 6a1 and contact 16a. a1 cannot be returned to the open state, and the robot does not enter the emergency stop state.
  • the teaching device 30b is set to the robot.
  • switch the emergency stop cancel switch 16a to open the contact 6a1 and contact 16a1 or set the teaching device 30b to robot If the robot is removed from the robot controller 1 1b, the robot does not enter the emergency stop state.
  • the teaching device 30b it is possible to operate the teaching device 30b so as not to put the robot into an emergency stop state when attaching / detaching the teaching device 30b to / from the robot control device 11b.
  • the emergency stop cancellation is performed.
  • the robot can be operated without the switch 16a being turned on.
  • the emergency stop cancel switch can be operated.
  • the robot can be operated under the condition that 16a is inserted. Therefore, it is possible to prevent the erroneous operation of continuing the operation by installing the teaching device 30b with the emergency stop cancel switch 6a turned on, and improving the safety of the robot. What you can do Needless to say.
  • the emergency stop cancel switch 16a when the teaching device is mounted on the robot control device, the emergency stop cancel switch 16a is turned on, and the contacts 6a1 and 16 are turned on.
  • the emergency stop switch 3a of the teaching device When a1 is in the closed state, the emergency stop switch 3a of the teaching device is pressed and the emergency stop state is released when the contacts 3a1 and 3c1 are opened.
  • the emergency stop cancel switch 16a is turned on while the teaching device 30b is mounted, and the contacts 6a1 and 16a1 are closed.
  • the emergency stop state occurs regardless of the open / close state of the contact 3c1 of the emergency stop switch 3b of the teaching device 30b.
  • the operation of the emergency stop switch group 200 is the same as in the conventional example.
  • the emergency stop monitor circuit 7b instead, an emergency stop monitor circuit 7a and an emergency stop determination circuit 105 similar to those in the first embodiment may be used.
  • the emergency stop control circuit 21a is configured by a window, but the same operation may be realized by a software. That is, the CPU (not shown) executes the system program stored in the system memory (not shown) of the drive control unit 5. This may be achieved by doing so.
  • FIG. 7 is a flowchart showing an emergency stop operation.
  • the operation shown in the flow chart is configured to be executed every minute time from the start step S500.
  • step S501 it is determined whether or not the emergency stop cancel switch 16a is turned on. If the switch is turned on, the process proceeds to step S503. Proceed to step S502. Although the emergency stop cancel switch 16a has two contacts, it may have one contact in this embodiment.
  • step S502 it is determined whether or not the teaching device 30a is mounted. If so, it is determined that the teaching device 30a is normal, and the process proceeds to step S504. Proceed to step S505 as a stop.Note that whether or not the teaching device 30a or 30B is mounted is determined by the contact 3a in the teaching device 30a. Judgment is made based on the signal from 1 and the signals from the two short-circuited pins in the teaching device 30b.
  • step S503 if teaching device 30a or teaching device 30b is not installed, it is normal and proceed to step S504, and if it is installed, emergency stop is performed. Proceed to step S505 as the action to be performed.
  • the teaching device 30a or the teaching device 30B is mounted and the emergency stop cancel switch 16a is turned on by the software. If the teaching device 30a and the teaching device 30B are not installed and the emergency stop cancel switch 16a is not turned on, the emergency stop is performed. In other cases, the emergency stop cancel switch 16a is turned on and off, and the teaching device 30a and the teaching device 30b are attached to the connector 11a1 and not attached. Emergency stop operation based on the status can be disabled Embodiment 6.
  • the emergency stop control unit 21b is configured by a hardware, but the same operation may be realized by software.
  • FIG. 7 is a flowchart showing an emergency stop operation.
  • the operation shown in this flow chart is configured to be executed every minute time from the start step S600.
  • step S601 it is determined whether or not the emergency stop cancel switch 16a has been turned on. If it has been turned on, it is determined in step S604 that it has not been turned on. Proceed to step S602. Although the emergency stop cancel switch 16a has two contacts as in the fifth embodiment, the emergency stop cancel switch 16a may have one contact.
  • step S602 it is determined whether or not the teaching device 30a or 30b is mounted, and if so, the process proceeds to step S603 to initialize the delay time integration. After resetting the integrated value to 0, it proceeds to step S609 as normal and proceeds to step S608 as an emergency stop if mounted. Whether the teaching device 30a or the display device 30B is mounted is determined by the signal from the contact 3a1 in the teaching device 30a, and short-circuited in the teaching device 30b. The determination based on the signals from the two connected pins is the same as in the fifth embodiment.
  • step S604 if the teaching device 30a or the teaching device 30b is not mounted, the process proceeds to step S603, the delay time calculation is initialized, and the integrated value is calculated. After resetting to 0, it is determined to be normal and the process proceeds to step S609, and if it is attached, the delay time is integrated at step S606 and the process proceeds to step S607.
  • step S607 if the integrated value of the delay time is equal to or less than the predetermined value, it is determined that the operation is normal and the process proceeds to step S609. Proceed to step S608 as an allowance.
  • the emergency stop cancel switch 16a is provided by the software even if the teaching device 30a or the teaching device 30B is mounted.
  • an emergency stop is performed, and even if the teaching devices 30a and 30B are not adhered, Stop cancel switch 16 Emergency stop is performed if a is not turned on; otherwise, emergency stop cancel switch 1
  • the integrated value of the delay time is initialized to 0 in steps S603 and S605, but it is reset when the power is turned on or restarts after an emergency stop. Is also initialized to 0.
  • the delay time is accumulated using, for example, a counter (not shown), the content is set to 0 by initialization, and the count-up is performed in step S606.
  • the predetermined value may be compared with the contents of the counter.
  • the relay 4a and the relay 7a1 may be electromagnetic switches or the like, and the relay 7b1 may be used. May be a delay operation type electromagnetic switch or the like.
  • the controlled object is the robot body.
  • the invention is not limited to this. It can be an industrial device.
  • the emergency stop switch 3a and the emergency stop switch 3c are alternate-action pushbutton switches, but the power transmission control unit 5 and the like are used. By providing a self-holding circuit in the switch, it is also possible to use a normal push button switch.
  • the emergency stop switch 3a1 and the emergency stop switch 3b1 are provided on the teaching device 3a and the teaching device 3b, respectively. May be provided in other devices attached to the robot control device 11a and the robot control device 1lb, respectively.
  • the excitation of the relay 106 of the emergency stop determination circuit 105 or the relay 106 of the emergency stop determination circuit 105b is performed.
  • the emergency stop operation is performed when is released, but an alarm display etc. may be performed without the emergency stop operation.
  • the emergency stop control unit outputs an emergency stop signal when the emergency stop switch is operated under predetermined conditions, and outputs the position of the robot arm or the like.
  • a switch for teaching the drive control unit, and an emergency stop switch which is electrically connected to the drive control unit by being attached to a specified plug.
  • Emergency stop cancel switch even if the device is not attached to the specified connector and the emergency stop cancel switch is not turned on, or if the teaching device is installed in the specified connector. Since the emergency stop signal is output when the switch is turned on, a dedicated connector for the emergency stop cancel is not required, and the emergency stop switch's original emergency stop function does not work. Danger of driving in There is a Ru effect that can be prevented.
  • one of the pins of the connector is short-circuited on the teaching device side, and it is determined whether or not the above-mentioned teaching device is attached via the signal line from this pair of pins. No special connector for emergency stop cancel is required, and even if the emergency stop switch is on or off, the emergency stop switch can be used. This has the effect of preventing the danger of operating without the emergency stop function.
  • an emergency stop signal is output from the emergency stop control unit only after a predetermined time has elapsed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Cathode-Ray Tubes And Fluorescent Screens For Display (AREA)

Abstract

L'invention concerne un robot pourvu d'un dispositif d'arrêt d'urgence permettant l'annulation d'une instruction d'arrêt d'urgence et empêchant le fonctionnent dudit robot lorsqu'une instruction d'arrêt d'urgence est maintenue annulée. Ledit dispositif comprend un dispositif de commande (11a) pourvu d'un commutateur d'annulation d'arrêt d'urgence (6a) servant à annuler une instruction d'arrêt d'urgence donnée au moyen de commutateurs d'arrêt d'urgence (3a, 3b) faisant partie d'un dispositif d'apprentissage, et une partie mécanique (2) entraînée par ledit dispositif de commande (11a). Le système est empêché de fonctionner lorsqu'on essaie de le faire fonctionnner alors qu'une instruction d'arrêt d'urgence est maintenue annulée, et il n'effectue pas un arrêt d'urgence lorsque le dispositif d'apprentissage est retiré du dispositif de commande (11a) ou connecté à celui-ci.
PCT/JP1994/001671 1993-10-06 1994-10-06 Robots industriels et procede de commande d'arret d'urgence WO1995009718A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
TW083109220A TW267128B (fr) 1993-10-06 1994-10-05
KR1019950700801A KR0155062B1 (ko) 1993-10-06 1994-10-06 산업용 로봇 및 그 비상정지 제어방법

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP25070093 1993-10-06
JP5/250700 1993-10-06

Publications (1)

Publication Number Publication Date
WO1995009718A1 true WO1995009718A1 (fr) 1995-04-13

Family

ID=17211747

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1994/001671 WO1995009718A1 (fr) 1993-10-06 1994-10-06 Robots industriels et procede de commande d'arret d'urgence

Country Status (5)

Country Link
JP (1) JP2769046B2 (fr)
KR (1) KR0155062B1 (fr)
CN (1) CN1043198C (fr)
TW (1) TW267128B (fr)
WO (1) WO1995009718A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9919419B2 (en) 2015-06-01 2018-03-20 Seiko Epson Corporation Robot system and emergency stop processing apparatus
WO2023032985A1 (fr) * 2021-08-31 2023-03-09 川崎重工業株式会社 Terminal d'exploitation, système de robot et programme informatique

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Publication number Priority date Publication date Assignee Title
JP4202335B2 (ja) * 2005-03-22 2008-12-24 ファナック株式会社 非常停止回路
JP5375297B2 (ja) * 2009-04-16 2013-12-25 株式会社安川電機 ロボットシステム
JP2014167681A (ja) * 2013-02-28 2014-09-11 Fanuc Ltd 着脱可能な操作盤を備えた制御システム
DE102013020697B4 (de) 2013-12-04 2023-07-06 Kuka Roboter Gmbh Verfahren und Steuermittel zum Steuern eines Roboters
CN104440923B (zh) * 2014-11-11 2016-01-06 沈阳新松机器人自动化股份有限公司 一种用于机器人的急停信号控制系统及其机器人
FR3028625B1 (fr) * 2014-11-18 2018-04-27 Staubli Faverges Procede de deconnexion d'un boitier de commande manuelle d'un robot multi-axes et robot pour la mise en oeuvre d'un tel procede
JP6581145B2 (ja) * 2017-05-01 2019-09-25 ファナック株式会社 システムおよびコネクタ
CN108500984B (zh) * 2018-05-07 2023-10-03 南宁汇专科技有限公司 自动短接式示教器连接盒
CN114750161B (zh) * 2022-05-16 2024-07-12 深圳市大族机器人有限公司 机器人控制装置和机器人

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60191301A (ja) * 1984-03-13 1985-09-28 Fanuc Ltd 産業用ロボットの安全装置
JPS6284992A (ja) * 1985-10-09 1987-04-18 株式会社日立製作所 ロボツトの制御装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60191301A (ja) * 1984-03-13 1985-09-28 Fanuc Ltd 産業用ロボットの安全装置
JPS6284992A (ja) * 1985-10-09 1987-04-18 株式会社日立製作所 ロボツトの制御装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9919419B2 (en) 2015-06-01 2018-03-20 Seiko Epson Corporation Robot system and emergency stop processing apparatus
WO2023032985A1 (fr) * 2021-08-31 2023-03-09 川崎重工業株式会社 Terminal d'exploitation, système de robot et programme informatique

Also Published As

Publication number Publication date
CN1111448A (zh) 1995-11-08
CN1043198C (zh) 1999-05-05
TW267128B (fr) 1996-01-01
KR0155062B1 (ko) 1998-11-02
JPH09505940A (ja) 1997-06-10
JP2769046B2 (ja) 1998-06-25
KR950702897A (ko) 1995-08-23

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