WO1996024463A1 - Dispositif de securite - Google Patents
Dispositif de securite Download PDFInfo
- Publication number
- WO1996024463A1 WO1996024463A1 PCT/JP1995/000243 JP9500243W WO9624463A1 WO 1996024463 A1 WO1996024463 A1 WO 1996024463A1 JP 9500243 W JP9500243 W JP 9500243W WO 9624463 A1 WO9624463 A1 WO 9624463A1
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- WO
- WIPO (PCT)
- Prior art keywords
- signal
- rotation
- circuit
- output
- movable part
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0078—Safety devices protecting the operator, e.g. against accident or noise
- B23Q11/0085—Safety devices protecting the operator, e.g. against accident or noise by determining whether the machine tool is in a dangerous configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/08—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body in connection with the locking of doors, covers, guards, or like members giving access to moving machine parts
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
Definitions
- the present invention relates to a safety assurance device that allows a worker to approach a machine movable section after a machine movable section driven by a motor M or the like stops rotating or moving.
- the safety device according to the present invention has a door with a locking device in a part of the fence, particularly when the movable part of the machine is surrounded by a fence, and when the door locking device is unlocked, It takes 3 ⁇ ⁇ ⁇ ⁇ -long ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ 3 ⁇ ⁇
- PCTZJP95 / No. 00156 discloses a technique for notifying a movable part stop, and uses the movable part stop signal as a signal for ensuring the safety of workers with respect to the machine movable part. Until now, it has not been disclosed.
- an object of the present invention is to provide a device that uses a movable part stop signal and a movable part rotation signal as a signal for ensuring the safety of an operator with respect to a machine movable part, thereby providing a device that ensures safety. This can be done.
- Another object of the present invention is that when the movable part of the machine is surrounded by a fence, a part of the fence has a door with a locking device, and when the door locking device is unlocked,
- the stop signal of the moving part and the rotation signal of the moving part are used as signals to ensure the safety of workers to the moving parts of the machine. It is to provide the secured equipment.
- the operation mode of the movable unit may include both modes of rotation and linear movement.
- rotation including linear movement.
- a safety assurance device includes a rotation detection unit, a rotation monitoring circuit, and a rotation stop monitoring circuit. Road and a movable part control circuit.
- the rotation detecting means detects the rotation of the movable part and outputs a detection signal corresponding to the rotation speed.
- the rotation monitoring circuit outputs the rotation presence signal when the detection signal is supplied from the rotation detection means and the detection signal indicates the rotation of the movable portion.
- the rotation stop monitoring circuit is supplied with the detection signal from the rotation detecting means, and outputs a rotation stop signal when the detection signal indicates a rotation speed lower than a predetermined rotation speed.
- the movable section control circuit receives at least one of the rotation-present signal and the rotation stop signal and an external command signal as input signals, and controls the movable section based on its logic.
- the movable portion is surrounded by a fence and a door provided on a part of the fence.
- the door includes a locking device, and the locking device is not unlocked while the movable portion is rotating, and the rotation speed of the movable portion is lower than a rotation speed predetermined by the rotation stop monitoring circuit. It can be unlocked when it shows a much lower rotational speed.
- the movable unit control circuit when the movable unit control circuit starts operation of the movable unit, the movable unit control circuit operates at a rotation speed predetermined in the rotation stop monitoring circuit.
- the movable unit is activated within a range of the rotation speed at which the rotation-presence signal is output from the rotation monitoring circuit, and the rotation-presence signal output from the rotation monitoring circuit is activated after the activation.
- the operation of the movable part is continued.
- the movable unit control circuit performs a logical OR operation of a rotation presence signal output from the rotation monitoring circuit and an output signal of a start switch for activating the movable unit.
- Performance A logical product output signal of the logical sum output signal and an ON signal output from the door switch when the door is closed is used as a signal for driving the movable portion.
- the movable section control circuit includes an operation switch, an on-delay timer, a self-holding circuit, and switch means.
- the operating switch has at least a first contact and a second contact. The first contact and the second contact are maintained in such a relationship that when one of them is turned on, the other is turned off.
- the first contact is connected in series with the motor M, and the second contact is connected in series with the on-delay timer.
- the on-delay timer has a contact point.
- the self-holding circuit is provided with a logical sum signal of the on signal of the contact of the on-delay timer and the rotation signal as a trigger signal, and the rotation stop monitoring circuit is provided. A road rotation stop signal is given as a reset signal.
- the movable section control circuit includes an operation switch, a door switch, and switch means.
- the operation switch outputs one of a movable section energizing signal and a movable section non-energizing signal.
- the door switch outputs an ON signal indicating that the door is open.
- the self-holding circuit outputs a logical sum signal of a logical product signal of a movable portion non-energizing signal of the operation switch and an on signal of the door switch, and a logical sum signal of the rotation signal as a trigger input signal. Then, a locking signal for the locking device is used as a reset input signal, and a locking signal is supplied to the locking device.
- FIG. 1 is a block diagram of the safety assurance device according to the present invention.
- FIG. 2 is a perspective view of a rotation sensor used in the rotation detecting means.
- FIG. 3 is a partial cross-sectional view of the rotary sensor shown in FIG.
- FIG. 4 is a perspective view of another rotation sensor used in the rotation detecting means.
- FIG. 5 is a circuit diagram of the rotary sensor shown in FIG.
- FIG. 6 is a timing chart illustrating the operation of the safety assurance device shown in FIG.
- FIG. 7 is an electric circuit diagram of a movable part control circuit included in the safety ensuring device according to the present invention.
- FIG. 8 is an electric circuit diagram showing another embodiment of the movable part control circuit included in the safety ensuring device according to the present invention.
- FIG. 9 is a perspective view schematically showing the structure of the fence surrounding the movable part of the machine.
- FIG. 10 is a partial cross-sectional view showing the structure of the locking device attached to the fence and door shown in FIG.
- FIG. 11 is a perspective view schematically showing another example of the fence surrounding the movable part of the machine.
- FIG. 12 is an electric circuit diagram of a movable section control circuit that can be configured when the fence and door switch shown in FIG. 11 are provided.
- FIG. 13 is an electric circuit diagram showing another example of the movable part control circuit that can be configured when the fence and door switch shown in FIG. 11 are provided.
- FIG. 14 is a perspective view schematically showing another example of the fence surrounding the movable part of the machine.
- FIG. 15 is an electric circuit diagram of a movable section control circuit that can be configured when the fence and door switch shown in FIG. 14 are provided.
- FIG. 16 is a block diagram showing another example of the safety ensuring device according to the present invention.
- FIG. 17 is an electric circuit diagram showing a specific example of the rotation stop monitoring circuit of the safety assurance device shown in FIG.
- FIG. 18 is a timing chart for explaining the operation of the rotation stop monitoring circuit shown in FIG.
- Fig. 19 is a block diagram showing another example of the rotation stop monitoring circuit.
- FIG. 20 is a specific circuit diagram of the rotation stop monitoring circuit shown in FIG.
- FIG. 21 is a circuit diagram showing another example of the rotation stop monitoring circuit.
- FIG. 22 is an electric circuit diagram showing still another example of the speed determination circuit included in the rotation stop monitoring circuit.
- FIG. 23 is a timing chart when the speed determination circuit shown in FIG. 22 is used.
- FIG. 24 is an electric circuit diagram showing a modified example of the speed determination circuit.
- the safety assurance device includes a rotation detection means 1, a rotation monitoring circuit 2, a rotation stop monitoring circuit 3, And a movable part control circuit 4.
- Reference numeral 5 denotes a power source including, for example, a motor M
- reference numeral 6 denotes a machine movable unit.
- the rotation detecting means 1 detects the rotation of the movable part and detects an AC signal. Output signal.
- the rotation detecting means 1 usually includes a sensor for detecting rotation of the movable part and a circuit for processing a sensor output signal.
- Such a rotation detecting means 1 is disclosed in the aforementioned International Patent Publication No. W094 23303.
- FIG. 2 is a perspective view of a sensor used in the rotation detecting means disclosed in the above-mentioned publication
- FIG. 3 is a partial cross-sectional view of the sensor.
- the movable part Rot is included in the mechanical movable part 6, and is rotated by a power source 5 such as a motor M in the direction of arrow Cn.
- the movable part Rot has a through hole Py provided on the same circumference with an appropriate pitch.
- the transmitting element 101 and the receiving element 102 are arranged on both sides of the movable part Rot so as to face each other.
- the transmitting element 101 is, for example, a light emitting element
- the receiving element 102 is a light receiving element.
- the transmitted signal is not received by the receiving element 102. Therefore, when the movable body Rot is rotating, the receiving element 102 outputs an AC signal.
- the sensor circuit included in the rotation detecting means 1 amplifies the AC signal supplied from the receiving element 102, and outputs an amplified AC signal e.
- the sensors included in the rotation detecting means 1 are not limited to those shown in FIGS. Basically, any device that can output an AC signal according to the rotation of the movable part Rot may be used.
- Figures 4 and 5 show such examples. This is illustrated in Figures 4 and 5
- the sensor was disclosed in pcTZJpgszooiss.
- This sensor includes a coil TC arranged close to the surface of the movable part Rot with a distance L therebetween.
- the coil Tc is driven by the signal generator SG1.
- the AC signal output from the signal generator SG1 is supplied to the first winding N1 of the coil TC via the current reducing resistor R1.
- the coil Tc includes a second winding N2, and outputs an AC signal induced on the second winding N2.
- the coil TC is provided with a resonance capacitor Cr that resonates at the operating frequency of the AC signal supplied from the signal generator SG1.
- the rotation detecting means 1 detects a change in impedance generated in the coil TC in response to a concave portion or a non-through hole Py2 (hereinafter referred to as a concave portion Py2) provided on the surface of the movable portion Rot, and detects the detection signal. Is output.
- a change in impedance generated in the coil TC due to the presence or absence of the concave portion Py2 of the movable portion Rot is detected by a sensor circuit included in the rotation detecting means 1, and the sensor circuit generates an AC signal e. Output.
- the movable part Rot is made of a metal material.
- the configuration of the coil TC is not necessarily limited to the illustrated configuration. For example, there may be only one winding. In addition, various coil configurations for electromagnetic induction sensors can be applied.
- the rotation monitoring circuit 2 includes an AC amplifier A1, a rectifier circuit RC1, and an electromagnetic relay RL1.
- the AC amplifier A 1 amplifies the AC signal e output from the rotation detecting means 1.
- the rectifier circuit RC1 rectifies the AC amplified signal supplied from the AC amplifier A1.
- the rectifier circuit R C1 can sufficiently respond even when a signal obtained with the rotation of the movable part Rot becomes a low-frequency signal.
- the rotation detection means 1 AC signal e is output.
- the AC signal e is amplified by the AC amplifier A1, and the amplified AC signal is rectified by the rectifier circuit RC1.
- the electromagnetic relay RL1 is excited by the rectified output supplied from the rectifier circuit RC1, and its contact turns on. The ON state of the contact corresponds to the rotation present signal Y.
- the rotation detecting means 1 stops outputting the AC signal e.
- the electromagnetic relay RL1 is de-energized, and its contact is turned off.
- the OFF state of the contact corresponds to the no rotation signal.
- the rotation stop monitoring circuit 3 receives the AC signal e from the rotation detecting means 1 and outputs a rotation stop signal Z.
- the line from the rotation detecting means 1 to the rotation stop monitoring circuit 3 is provided with a signal generator SG2 and a transformer T1.
- the signal generator SG2 supplies a current signal w having a higher frequency than the AC signal e output from the rotation detecting means 1 to the rotation stop monitoring circuit 3 via the transformer T1.
- This signal w has an amplitude smaller than the amplitude of the rotation signal e generated with the rotation of the movable part Rot.
- the capacitor CO connected to the input of the rotation monitoring circuit 2 is provided to prevent the transmission of the high-frequency signal w to the rotation monitoring circuit 2. It is desirable that the capacitor Co be a four-terminal capacitor in order to avoid loss of function due to the lead wire disconnection failure.
- the rotation stop monitoring circuit 3 includes a signal generator SG2, an AC amplifier A2, a rectifier circuit RC2, a level verification circuit LV1, an on-delay circuit OND, and an electromagnetic relay RL2.
- the AC amplifier A2 receives the high-frequency signal w supplied from the signal generator SG2 via the capacitor C1 and the rotation detection means 1 It amplifies the supplied AC signal e (see Fig. 6 (a)) and supplies the amplified signal K1 (see Fig. 6 (b)) to the voltage doubler rectifier circuit RC2.
- the coupling capacitor C2 of the voltage doubler rectifier circuit RC2 has a large capacitance. Therefore, the high frequency signal w supplied from the signal generator SG2 and the AC signal e supplied from the rotation detecting means 1 are transmitted to the subsequent stage through the coupling capacitor C2.
- the smoothing capacitor C3 of the voltage doubler rectifier circuit RC2 connected after the coupling capacitor C2 has a small capacitance. Therefore, the high frequency signal w is subjected to the smoothing action by the smoothing capacitor C3, but the low frequency rotation detection signal e is not subjected to the smoothing action. Therefore, the rectified output K2 of the voltage doubler rectifier circuit RC2 changes while the movable part is rotating as shown in Fig. 6 (c), but when the rotation stops, the rectification of the high-frequency signal w Only the smoothed signal is output and becomes a DC output signal.
- the level verification circuit LV 1 connected to the subsequent stage of the voltage doubler rectifier circuit RC2 verifies the level of the rectified signal K 2 output from the voltage doubler rectifier circuit RC2.
- the threshold level TH2 indicated by a dotted line indicates the test level of the level test circuit LV1.
- the level test circuit LV1 outputs the output signal k4 only when the signal k2 output from the voltage doubler rectifier circuit RC2 has a higher level than the threshold value TH2 (see Fig. 6 (d)). Is output.
- the level test circuit LV1 can be constituted by a fail-safe window comparator. Windows such as this. Lai Yu is disclosed in U.S. Pat. No. 5, 345.138.
- the ON delay circuit OND is output from the level verification circuit LV1. Measure the duration of the input signal k4. The duration of the signal k4 output from the level test circuit LV1 becomes longer as the rotation of the movable part Rot becomes slower. When the movable part Rot is rotating, the on-delay time Ton of the on-delay circuit OND is longer than the duration of the signal k4 output from the level verification circuit LV1. Therefore, when the movable part Rot is rotating, the signal k5 is not output from the on-lay circuit OND.
- the duration of the signal k4 output from the level test circuit LV1 is longer than the on-time Ton of the on-time circuit OND. become longer. Therefore, the signal k5 is output from the on-delay circuit OND.
- the diode D3 and the capacitor C4 are connected after the on-delay circuit OND.
- the signal k5 output from the on-delay circuit OND is rectified by the diode D3, and charges the capacitor C4.
- the capacitor C4 peak-holds the signal k5 generated intermittently with the rotation of the movable portion R0t.
- the electromagnetic relay RL1 of the rotation monitoring circuit 2 is excited, and as the ON signal of the contact, the rotation signal Y Is output.
- the electromagnetic relay of the rotation stop monitoring circuit 3 RL2 is excited, the contact closes, and the rotation stop signal Z is output as the ON signal of the contact.
- the movable part control circuit 4 receives the rotation signal Y, the rotation stop signal ⁇ , and the external command signal, and drives the power source 5 including the motor ⁇ and the like based on the logic thereof.
- the power source 5 drives the movable part 6 of the machine.
- the machine movable part 6 includes the movable part Rot shown in Figs.
- the machine movable part 6 and its power source 5 are arranged in a space surrounded by a fence 7 so that an accident does not occur.
- a part of the fence 7 is provided with a door 8 for workers to enter and exit, and a locking device 9 is installed between the fence 7 and the door 8.
- FIG. 8 is a view showing the locking device 9.
- the locking device 9 has a solenoid 91 and a plunger 92.
- the solenoid 91 When the solenoid 91 is in the non-excited state, the plunger 92 enters the receiving portion 93 and is locked.
- the solenoid 91 When the solenoid 91 is excited, the plunger 92 retreats, disengages from the receiving portion 93, and is unlocked. By unlocking the locking device 9, the door 8 can be opened.
- Excitation of the solenoid 91 is performed, for example, through the contact r0 of the electromagnetic relay RL2 in FIG.
- the state in which the contact r 0 is closed corresponds to the stop of the rotation of the movable part Rot.
- the contact r0 is constituted by, for example, the contact of the electromagnetic relay RL2 in FIG.
- one of the failure modes of the rotation detecting means 1 includes a drop of the transmission element 101 or the reception element 102.
- the signal e output from the rotation detecting means 1 indicates a constant level.
- the electromagnetic relay RL2 included in the rotation stop monitoring circuit 3 is excited and its contact is closed. Therefore, when the contact of the electromagnetic relay RL2 is used as the contact rO provided in the locking device 9, the door 8 can be opened.
- FIG. 9 discloses a movable section control circuit 4 effective for avoiding such a dangerous state.
- the movable part control circuit 4 includes an operation switch S, a differentiating circuit, a contact rl of the electromagnetic relay RL1, and an OR circuit OR1.
- E is a DC power supply.
- the operation switch S is a switch that is manually operated by the operator and has a contact S1.
- the differentiator consists of a capacitor C10 and a resistor gl.
- the contact rl is a contact of the electromagnetic relay RL1 included in the rotation monitoring circuit 2, and is closed only when the electromagnetic relay RL1 is excited.
- the OR circuit OR 1 takes as input signals a differential signal by the differentiating circuit when the contact S 1 of the operation switch S is closed, and a signal due to the closing of the contact r 1.
- the logical sum signal is output.
- the logical sum signal is a signal for driving the power source 5.
- the feature of the movable part control circuit 4 is that the drive signal of the motor M constituting the power source 5 is obtained not by the AND circuit but by the OR circuit 0R
- the signal at that time is differentiated by the differentiating circuit, and the differentiated signal is supplied to the OR circuit OR1.
- the motor drive signal is output from the OR circuit OR1, and the motor M included in the power source 5 starts rotating.
- the movable part Rot included in the mechanical movable part 6 starts rotating. Included in rotation detection means 1 If the sensor is normal, the rotation of the movable part Rot is detected by the sensor, the electromagnetic relay RL1 included in the rotation monitoring circuit 2 is excited, and the contact rl is closed. After that, the output of the OR circuit 0R1 is maintained by the input from the contact rl, and the motor M continues to rotate.
- the motor M is started by closing the operation switch S1. Also, the electromagnetic relay RL1 is not excited and its contact rl does not close. For this reason, the motor M cannot continue rotating. Thereby, safety at the time of startup can be ensured.
- the above-mentioned logic is established only in the safety confirmation device shown in Fig. 1 by the differentiating circuit of the motor M by the differentiation circuit until the speed is allowed by the rotation stop monitoring circuit 3 to detect the low speed. It is time to keep up. It is dangerous to provide a start signal with a time width that exceeds the speed detection speed. In order not to cause such a state, the value of the capacitor C10 and the resistance gl of the differential circuit is selected.
- the contact r1 is open before the movable part Rot rotates, and cannot be started by itself.
- the operation of the contact S1 of the operation switch S and the operation of the contact S1 of the operation switch S are performed. It can be started by the differential signal at that time.
- FIG. 10 shows another embodiment of the movable part control circuit 4.
- the series circuit of the contact S1 of the operation switch S and the capacitor C11 and the circuit of the contact r1 are wired-OR connected, and the motor M is driven by the logical sum.
- the operation of the movable part control circuit 4 shown in FIG. 10 is almost the same as that of the embodiment shown in FIG.
- FIG. 11 shows a diagram in which a door switch 11 is provided on the fence 7 and the door 8 surrounding the movable part 6 of the machine and its power source 5.
- the door switch 11 has an actuator 111 and a switch 112.
- the actuator 111 is fixed to the door 8 and has a disk-shaped cam 113 at the front end.
- the cam 113 has a concave portion 114 on the periphery.
- the switch 112 is attached to the fence 7, and the arm 115 for switch operation is in contact with the cam 113 of the actuator 111.
- the tip of the arm piece 115 of the switch 112 enters the recess 114 of the cam 113.
- the switch 112 is turned on.
- the actuator 111 rotates together with the door 8, and the arm 115 extending from the switch 112 comes off the concave portion 114 and is pushed by the outer peripheral surface of the cam 113.
- the switch 112 is turned off.
- Such a door switch 11 is already known.
- FIG. 12 shows a configuration of the movable part control circuit 4 suitable for the case where the door switch 11 shown in FIG. 11 is provided.
- the switch 112 of the door switch 11 is closed, and the contact Dc of the door switch 11 of FIG. 12 is turned on.
- the operation switch S is pressed to close its contact S1, and at the same time, the motor M of the power source 5 is started through the contact Dc of the door switch 11.
- the operation switch S is a momentary switch that is turned on only while the contact S1 is being pressed by the operator and is turned off when the hand is released.
- the electromagnetic relay RL 1 of the rotation monitoring circuit 2 Is excited and contact rl closes. Therefore, even if the contact S1 of the operation switch S is turned off, the motor M continues to rotate. In this case, while the door 8 is closed, the start of the motor M is permitted, so that there is no restriction on the start time unlike the embodiment shown in FIGS. 9 and 10. For this reason, the contact point S 1 and the contact point rl of the operation switch S merely constitute a logical sum operation circuit.
- FIG. 13 shows another embodiment of the movable part control circuit 4 which can be realized when the door switch 11 as shown in FIG. 11 is provided.
- the operation switch S has two contacts Sl and S2.
- the contacts Sl and S2 are maintained so that when one turns on, the other turns off.
- Contact S1 is connected in series to the motor M and contact S2 is connected in series to the ON 'delay' timer OD.
- the contact rt of the on-delay timer OD forms an OR circuit together with the contact r1 of the electromagnetic relay RL1 corresponding to the rotation presence signal.
- This OR circuit gives a trigger signal to the self-holding circuit SH1.
- the contact r2 of the electromagnetic relay RL2 included in the rotation stop monitoring circuit 3 gives a reset signal to the self-holding circuit SHI.
- the output of the self-holding circuit SH1 is supplied to the electromagnetic relay RL3.
- the contact r31 of the electromagnetic relay RL3 is used as the contact r0 inserted in the locking device 9.
- the self-holding circuit SH 1 When the rotation of the moving part Rot becomes slow and the contact r2 closes, the self-holding circuit SH 1 is immediately output if the contact r1 is still closed at this time. An output signal is generated at this time, and the electromagnetic relay RL3 is excited by the self-holding output.
- the self-holding circuit SH1 is not triggered until the contact rt of the on-delay timer OD is turned on. That is, if a long time is set by the on-delay timer OD so that the contact S1 of the operation switch S is turned off and the motor M stops, the self-holding circuit SH1 Triggered after the elapse of time, the electromagnetic relay RL3 is excited. The solenoid of the locking device 9 is excited by the contact point r31 of the electromagnetic relay RL3. As a result, the door 8 can be opened.
- FIG. 14 shows another example of a movable section 6 using another door switch 11 and a fence 7 surrounding its power source 5.
- 11 is different from the door switch 11 shown in FIG. 11 in that a convex portion 116 is provided around a cam 113 provided at the tip of the actuator 111.
- the arm 115 of the switch 112 is pushed by the convex portion 116 of the cam 113 provided on the cam 11.
- the switch 112 is turned off.
- the actuator 111 rotates with the rotation of the door 8, and the arm 115 extending from the switch 112 comes off the projection 116.
- the switch 112 is turned on.
- Such a door switch 11 is already known.
- FIG. 15 is a circuit diagram of a movable part control circuit suitable for having the door switch 11 shown in FIG.
- the motor M rotates. At this time, the contact S2 is off. Also, since the movable part Rot is rotating, the contact r1 is on, but the contact r2 is off. Since the door switch 11 is closed during operation, the door switch D 0 is off. Therefore, the electromagnetic relay RL3 is de-energized.
- the contact r32 of the electromagnetic relay RL3 is inserted in series with the solenoid 91 of the locking device 9. Therefore, when the electromagnetic relay RL3 is in a non-excited state and the contact r32 is open, the door 8 is locked by the locking device 9.
- the electromagnetic relay RL2 is excited, the contact r2 is turned on, and the movable part R0t is still While rotating at low speed, the electromagnetic relay RL1 of the rotation monitoring circuit 2 is excited, and the contact r1 is on.
- the electromagnetic relay RL3 is in an excited state, and the contact r32 of the electromagnetic relay RL3 is in an on state.
- the electromagnetic relay RL3 is excited via the contacts r3 and r2, and the contact r3 remains on. Thereby, a self-holding effect is obtained.
- the solenoid 91 of the locking device 9 can be excited by using the contact r32 of the electromagnetic relay RL3.
- the sensor When door 8 is open, the sensor may fail.
- the electromagnetic relay RL3 When monitoring the sensor failure by the contact r1, after the contact S1 of the operation switch S is turned on, the electromagnetic relay RL3 must be turned on again until the moving part stops. Note that it must be excited.
- the signal from the switch was used as the OFF signal for driving the movable section.
- detection was performed using a current sensor for driving the movable section motor, and a logical operation was performed based on the detection signal. May be performed.
- a sensor for detecting current non-conduction is disclosed in, for example, S. Pat. No. 5345138. It is obvious that the door switch is not a contact point and may be an output signal from a sensor.
- the rotation stop monitoring circuit 3 can be realized by applying the technology disclosed in International Application No. PCT / JP95Z00165 filed by the present applicant.
- the movable part stop confirmation device includes a rotation detection means 1, a speed determination circuit 32, a level verification circuit 31, and an AND circuit 33. Since the rotation detecting means 1 has already been described, the description is omitted here.
- the speed judging circuit 32 is supplied with a detection signal e output from the rotation detecting means 1, and outputs a high output level output signal A2i as a logical value 1 when the signal e indicates a predetermined speed or less.
- the level test circuit 31 is supplied with a detection signal e output from the rotation detecting means 1, and generates a high-level (logical 1) output signal Ali when the detection signal e is equal to or higher than a predetermined level.
- the level test circuit 31 is provided to monitor the interval L between the sensor formed by the coil and the movable part Rot.
- the AND circuit 33 is supplied with the respective output signals Al i and A2i from the speed judgment circuit 32 and the level test circuit 31, and generates an output signal Z of the AND operation of the two output signals Ali and A2i.
- the AND circuit 33 outputs the signal A li of the level test circuit 31 at a high level (logical value 1) and outputs the signal at the speed.
- the output signal A2i of the determination circuit 32 has the logical value 1
- the output signal Z is a high-level (logical value 1) output signal indicating that the movable portion has stopped.
- the output signal Z becomes a low-level (logical 0) output signal.
- the speed determination circuit 32 outputs a high level (logical value 1).
- Output signal The signal A2i is generated continuously.
- the time interval at which the detection signal e changes becomes longer as the rotation speed or moving speed of the movable part R0t becomes slower, so that the detection signal e changes at a predetermined time or more.
- the output signal A2i of high level (logical value 1) which means that the moving part stops, is output continuously. This prevents chattering of the movable part stop notification.
- the level test circuit 31 is supplied with a detection signal e output from the rotation detecting means 1, and generates a high-level (logical 1) output signal Ali when the detection signal e is equal to or higher than a predetermined level.
- a high-level (logical 1) output signal Ali when the detection signal e is equal to or higher than a predetermined level.
- the AND circuit 33 receives the output signals A li and A2i from the speed determination circuit 32 and the level test circuit 31, and generates the output signal Z of the AND operation of the two output signals A li and A2i. After confirming that there is no danger that the coil will come into contact with the movable part Rot, a movable part stop notification can be issued.
- the output signal of the sensor circuit includes a signal indicating rotation, and the output signal is within a predetermined level range, which is monitored by a level verification circuit.
- a rotation stop monitoring circuit that generates a high-level output signal with a logical value of 1 is provided. The logical product of the output signal of the level verification circuit and the output signal of the rotation stop monitoring circuit is output. The point that the signal is used as an output signal for rotation stop
- a speed determination circuit 32 surrounded by a dashed line in FIG. 17 is used to generate an amplifier A2 that amplifies a change in the output signal e output from the rotation detection means 1 and an envelope detection output of the output signal of the amplifier A2.
- An off-delay circuit 0FD for generating a high output level output signal having a logical value 1 before the rotation is started is included.
- the output signal of the off-delay circuit OFD becomes the input signal of the AND circuit 33 together with the output signal Ali of the level determination circuit 31 as the output signal A2i of the speed determination circuit 32.
- the level test circuit 31 the LV1, and the AND circuit 33 are configured as field-safe elements
- US Pat. Nos. 5,345,138, 4,661.880, and 5 No., 027, 114 the fail-safe window comparator AND gate disclosed in the specification can be used. The same applies to the level test circuits LV 1 and LV 2 and the AND circuit 8 described later.
- the change in the output signal e is input to the amplifier A2 via the coupling capacitor C1.
- the rotation signal is not transmitted to the amplifier A2, and the movable part R0t is rotating.
- speed judgment Circuit 32 may indicate a stopped state.
- the present embodiment has a signal generator SG2.
- the signal generator SG2 may be trans-coupled as shown in FIG.
- the high-frequency output signal w of the signal generator SG2 is superimposed on the signal e via the resistor R3 at a low level (logical value 0), and the superimposed signal is input to the amplifier A2.
- a technique for monitoring a rotation signal in consideration of a disconnection failure of the coupling capacitor C1 is known from the above-mentioned International Publication WO094 / NO23303.
- the AC amplifier circuit composed of the coupling capacitor C1 and the amplifier A2 uses a diode. In some cases, a clamp-width circuit may be used. If the change in the output signal of the rectifier circuit RC1 that accompanies the rotation of the movable part Rot includes a DC component, the time width during which the output signal is at a high level (logical value 1) and the low level This can occur when the time width of the state of (logical value 0) is different. As described above, a technique using a clamp amplifier circuit for input signals having different durations of a high level (logical value 1) and a low level (logical value 0) is disclosed in Japanese Patent Publication No. It is publicly known, for example, in Japanese Patent Publication No. 4320 and Japanese Patent Publication No. 50-34396.
- section t1 on the time axis t is a section in the stopped state before the movable section Rot starts to rotate
- section t2 is a section in the transient state in which the rotating movable section Rot reaches the stopped state.
- interval t 3 is the interval considered to have come to a stop.
- Time Chart (a) shows the output signal e of the rotation detecting means 1.
- the output signal e shows a constant value because the movable part Rot is in the stop state in the section tl.
- the section t2 is a section in which the period of the amplitude change of the output signal e becomes larger as the rotation of the movable part Rot becomes slower.
- Section t3 is a section in which the movable part Rot has entered a stationary state, and this stop is shown as, for example, between the recesses Py2 in the movable part Rot in FIGS. 4 and 5.
- the timing chart (b) shows a state in which the output signal w of the signal generator SG2 is superimposed on the signal e.
- the signal w is input to the amplifier A2 via the capacitor C1, and the amplified output signal is displayed.
- the input level is large, so that the amplifier A2 saturates, the component of the signal w disappears, and the signal is amplified only near the zero point corresponding to the level near the average value of the signal e.
- the component of the signal w is generated.
- the output signal of the level test circuit LV 1 is almost the same as that of the time chart (d). That is, the rectifier circuit RC 2 and the level test circuit LV 1 provide a high-level (logical value 1) for the high-frequency input signal. An output signal is generated, and a low-pass filter is configured so that the output signal responds to a low-frequency input signal.
- the ON-delay circuit OND measures the duration of the high-level state of the level verification circuit LV1. In the high DC state, the maximum output level state is represented by a logical value of 1 and the low level state is represented by a logical value of 0.
- the ON-delay circuit OND outputs the high-level (logic 1) output signal k5 (even-chart) after a predetermined delay time Ton from the input of the high-level (logic 1) input signal k4. g)).
- the signal k5 having the logical value 1 means that the movable portion Rot has fallen below the predetermined speed. If the input signal k4 (see the time chart (f)) does not remain at the high level (logical value 1) until the delay time Ton, the time t becomes shorter than T.
- the output signal k5 of the logical value 1 output from the on-delay circuit OND is output when the input signal k4 is at the high level (logical value 1) as shown in the timing chart (g). Therefore, even after the moving part Rot falls below the predetermined speed, a logic 1 output signal is generated only when the signal k4 is at the high level (logical value 1). It is intermittent.
- the OFF delay circuit 0 FD has a function of retaining the output signal K5 of the intermittent ON delay circuit OND. As shown in FIGS. 4 and 5, in a configuration in which the rotation of the movable portion Rot is intermittently detected by the coil TC at the timing facing the concave portions Pyl and Py2, the coil TC is, for example, a concave portion.
- the detection signal of the concave Pyl is held until one signal generated due to detection of Pyl is received and then a signal indicating that the concave Py2 is detected is received. There is a need to.
- the off-delay circuit 0FD is provided to ensure such a holding function.
- the signal k5 output from the on-delay circuit 0ND at a high level (logical value 1) is integrated by the diode D3 and the capacitor C4, and the level test circuit LV2 Is level tested by. Discharge of the charge stored in the capacitor C4 is performed through the input resistance of the level test circuit LV2.
- the intermittent output signal k5 of the on-delay circuit 0 ND becomes a continuous high-level (logical 1) output signal k6 (refer to the time chart (h)). Converted.
- the output signal of the rectifier circuit is shown as a circuit configuration that is clamped to the power supply potential Vcc. This is because the output signal of the amplifier A2 and the signal processed by the level detection circuit and the on-delay circuit are AC signals, and the input signal of the level detection circuit and the on-delay circuit is the power supply. This is because an input signal at a higher level than the potential is required.
- FIGS. 16 and 17 indicate the same components.
- the rotation stop monitoring circuit 3 includes a self-holding circuit 35.
- the self-holding circuit 35 uses a change in the output signal of the rotation detecting means 1 as a trigger input signal, and uses the output signal k6 of the speed determination circuit 32 as a reset input signal.
- the AND circuit 33 is supplied with the respective output signals A2i and Ali from the self-holding circuit 35 and the level test circuit 31, and generates an output signal Z of the AND operation of the two output signals A2i and Ali.
- the output signal e of the rotation detecting means 1 changes according to the change of the surface of the movable part Rot as described above.
- the self-holding circuit 35 uses the change in the output signal e of the rotation detecting means 1 as a trigger input signal, it means that the rotation or movement of the movable part Rot is constantly monitored.
- the self-holding circuit 35 resets the reset input signal k6 (the timing chart of FIG. 18) which is the output signal of the speed determination circuit 32. (Refer to (h)), and when the reset input signal becomes high level (logical value 1), the high level (logical value 1) Generates a self-holding output k8 (see time chart (i) in Fig. 18). Therefore, in the case of this embodiment, the movable part stop notification is performed based on the confirmation that the movable part Rot has been monitored until immediately before.
- the AND circuit 33 is composed of a self-holding circuit 35 and a level test circuit.
- the respective output signals A2i and Ali are supplied from 31 to generate an output signal Z of the AND operation of the two output signals A2i and Ali. Therefore, the rotation detecting means 1 should be checked for proper combination with the movable part Rot without causing any abnormalities such as dropping, etc. Based on the confirmation that the Rot was being monitored, a notification that the moving part has stopped can be issued.
- a rotation detection circuit 36 is provided.
- the rotation detection circuit 36 is a circuit that detects the presence of rotation.
- the rotation detection circuit 36 extracts a signal indicating rotation from the speed determination circuit 32, and uses the output signal k7 as a trigger input signal of the self-holding circuit 35, and
- the output signal k6 is a reset signal, and the output signal k8 of the self-holding circuit 35 is an input signal of the AND circuit 33. .
- FIG. 20 is a diagram showing a more specific circuit configuration of the rotation stop monitoring circuit shown in FIG.
- the output signal kl of the amplifier A2 forming the speed determination circuit 32 is input to the rotation detection circuit 36, and the output signal k7 of the rotation detection circuit 36 is the same as the trigger input signal of the self-holding circuit 35.
- the rotation detection circuit 36 includes a current reducing resistor R4, a four-terminal capacitor C5, a coupling capacitor C6, and a discharge resistor R5. Capacitor C6 and resistor R5 form a differentiating circuit. If this time constant is large, The change in the voltage between the terminals of the capacitor C5 directly becomes the trigger input signal of the self-holding circuit 35.
- the signal kl indicated by the time chart (c) in FIG. 18 is input to the capacitor C5 via the resistor R4.
- the resistor R4 is inserted so that the capacitor C5 does not affect the output of the amplifier A2. Since the capacitance of the capacitor C5 has a low impedance with respect to the high-frequency signal w as in the case of the capacitor C3, the terminal voltage signal k3 of the capacitor C5 is shown in the time chart of FIG.
- the signal is the same as d).
- the rising signal of the signal k3 becomes a trigger signal of the self-holding circuit 35 via the capacitor C6.
- the output signal k6 of the off-delay circuit OFD of the speed determination circuit 32 becomes a reset signal.
- the output signal k8 as shown in the timing chart (i) of FIG. 18 indicates the capacitance of the coupling capacitor C6. Is large at the time t5 at the same time as the rise of the output signal k6.If the capacitance of the coupling capacitor C6 is small, the trigger input signal becomes a differential signal. Occurs when the terminal voltage of the terminal rises.
- FIG. 21 shows still another embodiment of the rotation stop monitoring circuit according to the present invention. In the case of the embodiment shown in FIGS.
- the output signal of the self-holding circuit 35 has a high logic value of 1, which means that the rotation is stopped. Level status does not occur.
- the embodiment shown in FIG. 8 is designed to solve this problem.
- a switch 37 is provided in FIG. If the movable part Rot is stopped when the power is turned on, the output signal k6 of the off-delay circuit OFD becomes a logical value 1. In this state, the switch 37 is connected to the contact Bon side and turned on, and the DC input signal Va of a high level (logical value 1) is forcibly applied to the trigger input signal of the self-holding circuit 35. And give as. As a result, the output signal k8 of the self-holding circuit 35 becomes a high level state having a logical value of 1, which means that the rotation is stopped. It can be set to a high level state corresponding to a stop.
- Circuit 35 always produces a logic 1 output.
- an AND circuit 38 is provided. The AND circuit 38 inverts the switch 37 from the contact Bon to the contact Bof, so that a high-level input signal Va is given through the contact Bof, and the input signal Va.
- the AND output signal of the AND circuit 35 and the output signal k8 of the self-holding circuit 35 is the input signal A2i to the AND circuit 33.
- the output signal k8 output from the self-holding circuit 35 is normal from the rotation detection circuit 36 due to the rotation stop of the movable part Rot Only when an appropriate trigger input signal is supplied, it goes high, so that the above-mentioned error does not occur.
- FIG. 22 is a diagram showing still another embodiment of the rotation stop monitoring circuit according to the present invention.
- a rectifier circuit RC 3 a rectifier circuit RC4, an on-delay circuit OND1, a rectifier circuit RC5, a capacitor C7 for AC coupling, a clamp diode D5, and an on-delay circuit OND2
- a rectifier circuit RC6 and an off delay circuit OFD a rectifier circuit RC6 and an off delay circuit OFD.
- the rectifier circuit RC3 rectifies the AC output signal k40 of the level test circuit LV 1 into a positive voltage signal.
- the rectifier circuit RC4 rectifies the AC output signal k40 of the level detection circuit LV1 into a negative voltage signal.
- the ON delay circuit OND1 operates with a predetermined delay time with respect to the rise of the output signal k41 of the rectifier circuit RC3.
- the rectifier circuit RC5 is connected to the ON and delay circuits OND 1
- the AC output signal is rectified to generate an output signal k51.
- the capacitor C7 for AC coupling transmits the AC component of the output signal k42 of the rectifier circuit RC4.
- the transmitted AC signal k43 is clamped to the power supply potential Vcc by the clamp diode D5 and input to the on-delay circuit OND2.
- the ON / delay circuit OND2 receives the signal k43 transmitted via the capacitor C7 as an input signal.
- the rectifier circuit RC6 rectifies the AC output signal of the on-delay circuit OND2 to generate an output signal k52.
- the off-delay circuit OFD receives a logical OR (wire-or-OR) signal of the output signal k51 of the rectifier circuit RC5 and the output signal k52 of the rectifier circuit RC6.
- the AC output signal k40 of the level test circuit LV1 is converted to the DC output signal k41 of the rectifier circuit RC3, and further transmitted as the output signal k51 of the rectifier circuit RC5 via the on-delay circuit OND1.
- the AC output signal k40 of the level test circuit LV1 is converted to the output signal k42 of the rectifier circuit RC4, and further, the DC output of the rectifier circuit RC6 via the on-delay circuit OND2.
- the route transmitted as the signal k52 is the level test shown in FIGS. 17 and 20.
- the circuit LV1 is configured to have the same function as the route transmitted via the ON-delay circuit OND in terms of circuit configuration.
- the output signal k40 of the level test circuit LV1 is rectified by the rectifier circuit RC3 and is generated as a positive rectified output signal k41.
- This rectified output signal k41 is As shown by the chart (a), the power supply potential Vcc (logical value 0) and the positive output voltage (logical value 1) at a level higher than the power supply potential Vcc follow the concave portion Py2 of the movable portion Rot. To change.
- the hatched portion indicates a generation section of the rectified DC output signal k40.
- the output signal k51 of the on-delay circuit 0ND1 has a rising delay that the on-delay circuit OND1 has after the occurrence of the rectified output signal k41. It occurs with a delay of time T on 1, and then has an output disappearance time of time T of 1 as shown in FIG.
- the output signal k42 of the rectifier circuit RC4 that rectifies the output signal k40 of the level test circuit LV1 negatively follows the concave part Py2 of the movable part Rot as shown in the timing chart (b).
- This signal changes between the power supply potential Vcc (indicated by a logical value 1) and a negative output voltage (indicated by a logical value 0) lower than the power supply potential Vcc.
- the hatched portion indicates a section where the rectified DC output signal K42 is generated.
- This output signal k42 is input to the on-delay circuit OND2 via a capacitor C7 and a clamp diode D5 as a signal k43 (refer to FIG. 22).
- the level of the logical value 0 becomes the power supply potential Vcc as shown in the timing chart (c).
- the output signal k52 obtained through the on-delay circuit OND2 and the rectifier circuit RC6 (see time chart (e)) is output from the on-delay circuit 0ND2 after the signal k43 is generated.
- the OFF-delay circuit OFD uses as an input signal a logical OR signal k50 of the output signal k51 of the rectifier circuit RC5 and the output signal k52 of the rectifier circuit RC6.
- OR signal k50 as shown by the time chart (f), a section having a logical value of 0 (low-level section) is a delay time in which the two on-delay circuits OND1 and OND2 rise.
- the continuous extinction time is shorter than the output extinction time of the on-delay circuit in FIG.
- the duration of this output disappearance is important for safety. That is, when the movable part Rot once stops and then rotates again at a high speed, the output signal of the on-delay circuit immediately disappears due to the rotation signal accompanying the rotation. However, the output signal of the off-delay circuit does not disappear immediately, but is delayed by the fall delay time of the off-delay circuit. Therefore, a shorter delay time of the off-delay circuit is preferable for safety.
- the on-delay circuit OND1 is added with a function of low-speed judgment based on an opposite-phase signal of the output signal of the level test circuit LV1, and the on-delay circuit OND1 is turned on.
- the function of the OFF delay circuit OFD is matched to the OR output signal k50 of the output signals k51 and k52 of the delay circuit OND2. Thus, the delay time due to the off-delay circuit OFD can be reduced.
- an optical coupling circuit PC is used in place of the negative rectifier circuit RC4 shown in FIG.
- the optical coupling circuit PC includes an optical coupling element PC1 composed of a light emitting element PT1 and a light receiving element PD1, a current reducing resistor R6 and a load resistance R7 of the light receiving element PD1.
- the same reference numerals as those in FIG. 22 indicate identical components.
- the output current signal k40 of the level test circuit LV1 is supplied to the light emitting element PT1 via the resistor R6.
- the light output signal of the light emitting element PT1 is received by the light receiving element PD1, and accordingly, the terminal voltage of the load resistor R7 changes, and a signal k42 is generated.
- the signal k42 is output with its phase inverted with respect to the optical signal of the light emitting element PT1. Also, since the high frequency component is not transmitted by the optical coupling element, this signal k42 has the same waveform as the time chart (b) in FIG.
- the present invention has the following industrial applicability.
- the moving parts of the machine are enclosed by a fence, and a part of the fence has a door with a locking device, and when the locking device of the door is unlocked, the moving parts of the fence can be accessed.
- a guard system it is possible to provide a device that uses a movable part stop signal and a movable part rotation signal as a signal for ensuring the safety of workers with respect to the movable parts of the machine, thereby ensuring safety. .
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/718,474 US5861813A (en) | 1995-02-07 | 1995-02-20 | Safety securing device |
JP52412296A JP3602538B2 (ja) | 1995-02-07 | 1995-02-20 | 安全確保装置 |
EP95909121A EP0754521A4 (en) | 1995-02-07 | 1995-02-20 | SECURITY DEVICE |
EP95914529A EP0760446A4 (en) | 1995-02-07 | 1995-04-06 | SECURITY DEVICE |
PCT/JP1995/000675 WO1996024798A1 (fr) | 1995-02-07 | 1995-04-06 | Dispositif de securite |
US08/718,476 US5703452A (en) | 1995-02-07 | 1995-04-06 | Safety ensuring apparatus |
JP52412396A JP3621421B2 (ja) | 1995-02-07 | 1995-04-06 | 安全確保装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP1995/000165 WO1996024852A1 (fr) | 1995-02-07 | 1995-02-07 | Appareil destine a confirmer l'arret d'une piece mobile |
JPPCT/JP95/00165 | 1995-02-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996024463A1 true WO1996024463A1 (fr) | 1996-08-15 |
Family
ID=14125608
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1995/000165 WO1996024852A1 (fr) | 1995-02-07 | 1995-02-07 | Appareil destine a confirmer l'arret d'une piece mobile |
PCT/JP1995/000243 WO1996024463A1 (fr) | 1995-02-07 | 1995-02-20 | Dispositif de securite |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP1995/000165 WO1996024852A1 (fr) | 1995-02-07 | 1995-02-07 | Appareil destine a confirmer l'arret d'une piece mobile |
Country Status (5)
Country | Link |
---|---|
US (2) | US5793197A (ja) |
EP (2) | EP0787991B1 (ja) |
JP (2) | JP3380254B2 (ja) |
DE (1) | DE69524117T2 (ja) |
WO (2) | WO1996024852A1 (ja) |
Families Citing this family (13)
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EP1080458B1 (en) * | 1998-05-21 | 2007-08-15 | Smiths Aerospace, Inc. | Fault condition protective device for aircraft fuel gauging systems |
EP1283409A1 (fr) * | 2001-08-08 | 2003-02-12 | Université de Liège | Dispositif de détection |
JP2004048818A (ja) * | 2002-07-08 | 2004-02-12 | Rohm Co Ltd | モータ駆動装置 |
US20060173649A1 (en) * | 2005-01-31 | 2006-08-03 | Shih-Hsiung Wu | Active speed detecting device for vehicle |
US8405384B1 (en) * | 2007-02-20 | 2013-03-26 | Zulia Technologies Inc. | Non-contact tachometer and sensor |
DE102009028582A1 (de) * | 2009-08-17 | 2011-02-24 | Robert Bosch Gmbh | Elektronisch kommutierter Elektromotor mit einer Rotorpositions-Prädiktion und einer Interpolation und Verfahren |
DE102010020750A1 (de) * | 2010-05-17 | 2011-11-17 | Kuka Laboratories Gmbh | Steuereinrichtung und Verfahren zur Sicherheitsüberwachung von Manipulatoren |
JP5851882B2 (ja) * | 2012-02-27 | 2016-02-03 | 株式会社ミツトヨ | デジタル式変位測定器 |
US9050726B2 (en) * | 2012-05-16 | 2015-06-09 | Gi 2 Technologies, Llc | Activation control device for robotic auxiliary devices |
DE102012010607B4 (de) * | 2012-05-30 | 2014-03-06 | Carl Freudenberg Kg | Anordnung eines Encoderrings |
US8907600B2 (en) * | 2012-11-19 | 2014-12-09 | Nidec Motor Corporation | Systems, methods, and assemblies for detecting stoppage of electric motors |
CN107791088B (zh) * | 2016-09-07 | 2019-05-24 | 远瞻生活科技有限公司 | 工作机械防夹伺服自动门装置 |
JP7491807B2 (ja) * | 2020-10-20 | 2024-05-28 | オークマ株式会社 | エンコーダ異常診断装置 |
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JPH01199704A (ja) * | 1988-02-01 | 1989-08-11 | Hitachi Seiki Co Ltd | タレット工具台の割出制御装置とその運転方法 |
JPH0428936U (ja) * | 1990-06-22 | 1992-03-09 |
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GB1243376A (en) * | 1968-10-31 | 1971-08-18 | Fisher Bendix Ltd | Improvements in or relating to locking means for the doors of cabinets or casings housing electrically driven machinery |
DE2310756A1 (de) * | 1973-03-03 | 1974-09-12 | Miele & Cie | Wasch- und schleudermaschine |
US4028686A (en) * | 1973-05-11 | 1977-06-07 | Electro Corporation | Digital detector |
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JPS5391764A (en) * | 1977-01-21 | 1978-08-11 | Mitsubishi Electric Corp | Moving direction detector |
US4275342A (en) * | 1979-11-16 | 1981-06-23 | Fujitsu Fanuc Limited | Abnormality detecting system for DC motor control apparatus |
DD160244A3 (de) * | 1980-12-29 | 1983-05-18 | Schultze Karl Heinz | Stillstandsueberwachung |
DE3124398A1 (de) * | 1981-06-22 | 1982-12-30 | Wabco Westinghouse Fahrzeugbremsen GmbH, 3000 Hannover | Elektropneumatische tuersteuerung |
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1995
- 1995-02-07 US US08/718,475 patent/US5793197A/en not_active Expired - Fee Related
- 1995-02-07 WO PCT/JP1995/000165 patent/WO1996024852A1/ja active IP Right Grant
- 1995-02-07 DE DE69524117T patent/DE69524117T2/de not_active Expired - Fee Related
- 1995-02-07 EP EP95907852A patent/EP0787991B1/en not_active Expired - Lifetime
- 1995-02-07 JP JP52412196A patent/JP3380254B2/ja not_active Expired - Fee Related
- 1995-02-20 JP JP52412296A patent/JP3602538B2/ja not_active Expired - Fee Related
- 1995-02-20 US US08/718,474 patent/US5861813A/en not_active Expired - Fee Related
- 1995-02-20 WO PCT/JP1995/000243 patent/WO1996024463A1/ja not_active Application Discontinuation
- 1995-02-20 EP EP95909121A patent/EP0754521A4/en not_active Withdrawn
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JPH01199704A (ja) * | 1988-02-01 | 1989-08-11 | Hitachi Seiki Co Ltd | タレット工具台の割出制御装置とその運転方法 |
JPH0428936U (ja) * | 1990-06-22 | 1992-03-09 |
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Also Published As
Publication number | Publication date |
---|---|
DE69524117D1 (de) | 2002-01-03 |
EP0787991A1 (en) | 1997-08-06 |
EP0787991A4 (en) | 1998-12-30 |
DE69524117T2 (de) | 2002-06-20 |
EP0787991B1 (en) | 2001-11-21 |
EP0754521A4 (en) | 1998-05-20 |
JP3602538B2 (ja) | 2004-12-15 |
US5861813A (en) | 1999-01-19 |
WO1996024852A1 (fr) | 1996-08-15 |
US5793197A (en) | 1998-08-11 |
JP3380254B2 (ja) | 2003-02-24 |
EP0754521A1 (en) | 1997-01-22 |
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