WO2005071505A1

WO2005071505A1 - Automatic-machine control device

Info

Publication number: WO2005071505A1
Application number: PCT/JP2005/000039
Authority: WO
Inventors: Kiyoshi Hirakawa; Michiharu Tanaka
Original assignee: Kabushiki Kaisha Yaskawa Denki
Priority date: 2004-01-26
Filing date: 2005-01-05
Publication date: 2005-08-04
Also published as: US20070163322A1; DE112005000184T5; JP2005209061A

Abstract

When a brake is released by worker’s operation, a subject machine is clearly indicated so as to prevent an accident due to an error such as misconception. An automatic-machine control device has brake releasing means for releasing a brake when a motor is not driven, and brake release indication means are provided on automatic machines or in the vicinities of the automatic machines. When brake releasing is made by worker’s operation, the fact is indicated on brake release indication means of a subject automatic machine.

Description

Specification

Automatic machine control device

Technical field

The present invention relates to an automatic machine control device that specifies a target automatic machine when a brake of a drive shaft provided with a brake is released by an operator.

Background art

[0002] Automatic machines such as rotating jigs, tilting jigs, and industrial robots equipped with a motor are equipped with a brake to maintain a position against gravity when the driving power of the motor is cut off. . This brake is open when energized, and is effective in ensuring safety in stopping the automatic machine at a short coasting distance even if the motor drive power is cut off due to a power failure during operation of the automatic machine.

In a production system equipped with multiple automatic machines, a failure of the automatic machine or the automatic machine control device may occur during the operation of the automatic machine and stop in the work area of another automatic machine. At this time, the automatic machine detects the failure or abnormality due to the failure, stops the operation, and shuts off the brake driving power to hold the motor. An automatic machine in this stopped state interferes with other operations performed by another automatic machine, and cannot continue production. In addition, it is necessary to evacuate the automatic machine to a predetermined position in order to investigate and repair the cause of the failure of the automatic machine or the automatic machine control device that has failed. To retract the automatic machine to a predetermined position, the brake is released by an operator's operation.

[0003] In the conventional brake release, a brake release operation switch is provided on a robot arm in order to release the brake of each axis drive motor of the robot (Patent Document 1). Alternatively, a device for releasing this brake is provided on the maupulator side separately from the path for releasing the brake of the motor when driving the robot, and when releasing the brake, a commercial power supply is connected to this device and the switch is operated. Release the brake with the like (Patent Document 2). Alternatively, it has been proposed to prepare a brake release device that releases the brake by changing the connection to the brake when necessary (Patent Document 3).

[0004] As described above, the conventional robot control device or automatic machine control device is not provided with the robot body. Or, when manually changing the position or orientation of the automatic machine main body, the brake release operation or the mounting of the brake release device is performed on the target robot main body or automatic machine main body.

Patent Document 1: Japanese Patent No. 2823079

Patent document 2: Japanese Patent Application Laid-Open No. 2001-269884

Patent Document 3: JP-A-6-304886

Disclosure of the invention

Problems to be solved by the invention

[0006] In a conventional automatic machine (or a robot) equipped with a motor, in order to release the brake, in both Patent Documents 1 to 3, an operator operates an operation switch provided at or near the automatic machine body. Operation must be performed, and in Patent Document 2, a commercial power supply must be connected to a device for releasing a brake, and in Patent Document 3, a brake releasing device must be attached to an automatic machine. However, in a work system to which an automatic machine is applied, there are many devices such as jigs, cables, and piping around the automatic machine. In many cases, access to these devices is not easy.Working on these devices is performed on unstable platforms, which may pose a danger to workers. Measures such as moving to an easy place.

[0007] In a production system in which a plurality of automatic machines are arranged in close proximity to each other, if the installation location of the brake release switch, which is the measure described above, is far from the automatic machines, the brakes to be operated will be opened. There is a possibility that the correspondence between the switch and the corresponding automatic machine may not be maintained, and there is a risk of causing an erroneous operation to release the brake of the automatic machine different from the automatic machine for which the brake is released. This erroneous operation is the release of the brake of the automatic machine which is not intended by the operator, and the mechanism of the automatic machine falls due to gravity, and the main body, jig or work of the automatic machine is damaged or deformed. In addition, there is a problem that it poses a danger to nearby workers.

For example, there is a similar problem in a control device proposed in Japanese Patent Application Laid-Open No. 8-194511, which can realize efficient work by operating a plurality of automatic machines by one machine.

[0008] The present invention has been made in view of such a problem, and an attempt is made to release a brake. That the brake is ready to be released is displayed on or near the main body of the automatic machine to prevent incorrect operation, eliminate excessive loss caused by incorrect operation, and consider worker safety. It is an object of the present invention to provide an automatic machine control device capable of performing such operations.

Means for solving the problem

[0009] To solve the above problem, the present invention is configured as follows.

The invention according to claim 1 is an automatic machine control device that controls at least one automatic machine including a motor or a brake that holds a drive shaft connected to the motor, wherein the brake is released when the motor is not driven. Brake release means, and brake release indication means near the automatic machine or the automatic machine, and the brake release indication means that the brake release means is ready to release the brake. It is characterized by doing.

[0010] In the invention according to claim 2, the automatic machine includes drive power display means for displaying when the motor is driven, and the drive power display means is configured to release the brake when the motor is not driven. The display means also serves as a display means, wherein a display when the motor is driven and a display indicating that the brake release is selected have different display states.

[0011] The invention according to claim 3 is characterized in that the automatic machine is a robot, and the automatic machine control device is a robot control device.

The invention's effect

[0012] According to the first aspect of the present invention, when the release of the brake by the operator is selected, this can be displayed, and the operator's erroneous operation can be prevented. This is especially effective when the automatic machines are densely arranged. Also,

According to the second aspect of the present invention, the display indicating that the brake release is selected can also serve as the drive power supply light provided in the automatic machine, and identification is performed by changing the display form. It is not necessary to separately provide a display means. The invention described in claim 3 is an application of the present invention to a robot. With a vertical multiple joint type robot, the gravity release of the robot arm is likely to occur when the brake is released, so the effect of preventing incorrect operation is great! Misoperation especially in a work system where multiple robots are densely arranged Great crop prevention effect.

Brief Description of Drawings

[FIG. 1] Brake release circuit diagram showing a first embodiment of the present invention. [FIG. 2] Brake release circuit diagram showing a second embodiment of the present invention. [FIG. 3] Frits applied to the second embodiment. Power circuit diagram

[0014] 1 power supply

2 Circuit breaker

3 Control power supply

4 Control power relay

10 Brake power supply

11, 41, 51 Interlock contacts

12, 42 1st contact

13, 16, 19, 22 Rectifier

14, 44 1st brake

15, 45 2nd contact

17, 47 Second brake

18 Third contact

20 3rd brake

21 4th contact

23 4th brake

24 Brake power supply for release

25 Open selection contact

26, 62 1st open contact

27, 29, 31, 33 Rectifier

28, 64 2nd open contact

30 3rd open contact

32 4th open contact 34, 49, 59 lamp

40 1st Automatic Machine

43, 46, 48 rectifier

50 Second automatic machine

53, 58 Rectifier

61 1st automatic mechanical brake release selection contact

63, 65, 67 rectifier

66, 76 Fujikka circuit

71 Second automatic mechanical brake release selection contact

73, 75, 77 rectifier

TO, T1 timed operation instantaneous return type relay

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

Example 1

FIG. 1 is a brake circuit diagram of the automatic machine control device of the present invention. The figure mainly shows parts related to the present invention. In the figure, reference numeral 10 denotes a brake power supply device for releasing a brake when driving a motor of an automatic machine. Reference numeral 11 denotes an interlock contact, which uses, for example, an auxiliary contact of an electromagnetic contactor used for turning on / off a power supply for driving a motor. The interlock contact 11 branches to the individual brake circuit that releases the brake individually. The first contact 12, the rectifier 13, and the first brake 14 provide the first individual brake circuit, and the second contact 15, the rectifier 16, and the second brake 17 provide the second individual brake circuit.The third contact 18, the rectifier 19, the third brake 20 constitutes a third individual brake circuit, and the fourth contact 21, the rectifier 22, and the fourth brake 23 constitute a fourth individual brake circuit. A member for attenuating a surge voltage generated when the brake current is cut off is not shown. The interlock contact 11 is used to cut off the supply of power to the brake even when the contacts 12, 15, 18, and 21 for releasing the brake are individually welded.

[0017] Reference numeral 24 denotes an opening brake power supply device, which is used when the motor of the automatic machine is not driven. This is a power supply device for releasing a brake by an operation of an operator. Reference numeral 25 denotes a release selection contact, which is a main contact when the operator releases the brake by operation. The release selection contact 25 may be a switch contact or a relay contact. The open selection contact 25 is connected to the first brake 14 via a first open contact 26 and a rectifier 27. Similarly, the second brake 17 is connected via the second open contact 28 and the rectifier 29, the third brake 20 is connected via the third open contact 30 and the rectifier 31, and the fourth brake 23 is connected with the fourth open contact 32 and the rectifier 33. Connected via In addition, the open selection contact 25 is connected to the lamp 34. Lamp 34 is mounted on or near the automatic machine. Also, the lamps 3 and 4 have flashing lights, and even if they are rotation indicator lights, they are not powerful!

The first open contact 26, the second open contact 28, the third open contact 30, and the fourth open contact 32 may be switch contacts or relay contacts. These contacts 25, 26, 28, 30, 32 are configured to be closed by pressing an operation switch for performing a brake opening operation.

In order to prevent the brake release by the operator when the motor is not driven, in the present embodiment, the power supply from the power supply 1 to the brake power supply 10 and the release brake power supply 24 is exclusively used. I do. That is, when the motor is driven, the circuit breaker 2 is closed, and power is supplied from the power supply 1 to the brake power supply 10 and the control power supply 3. At this time, since the control power relay 4 is energized and excited, the normally closed contact is opened and power is not supplied to the opening brake power supply 24. Even if the motor drive is stopped by an emergency stop, the power supply to the brake power supply 10 and the control power supply 3 does not change, and the operator cannot release the brake. When the circuit breaker 2 is opened, power is not supplied to the brake power supply 10 and the control power supply 3, the control power relay becomes non-conductive, the normally closed contact is closed, and power is supplied to the release brake power supply 24. It is configured to be supplied.

When the automatic machine driven by the motor is operated, first, the circuit breaker 2 is closed and power is supplied to the control power supply 3 and the brake power supply 10. At this time, the control power relay 4 is energized and excited, and its contacts are opened, so that no power is supplied to the opening brake power supply 24. For driving the motor, power is supplied to a motor driving device (not shown). This power is supplied using an electromagnetic contactor, and the interface port where the auxiliary contact is used. Contact 11 is closed. Next, by supplying a drive current to the motor, the first contact 12, the second contact 15, the third contact 18, and the fourth contact 21 are closed almost simultaneously after a desired torque is generated. The brake release power is supplied from the brake power supply 10 to the second brake 17, the third brake 20, and the fourth brake 23, and the brake is released. The rectifiers 13, 16, 19, and 22 are for preventing the brake release current from flowing backward.

To stop driving the motor, open the first contact 12, the second contact 15, the third contact 18, and the fourth contact 21 almost simultaneously, cut off the power to the motor drive power supply, and supply the drive power to the motor. To stop. At this time, the interlock contact 11 is opened.

[0020] When the automatic machine is not operating, the circuit breaker 2 is open, the control power supply 3 is not supplied with power, and does not generate control power, so the control power relay 4 is de-energized. The normally closed contact is closed, and power is supplied to the opening brake power supply 24.

When the open selection contact 25 is closed by an operator's operation, the lamp 34 connected thereto is turned on. This lamp 34 indicates the brake release, and indicates that the brake of the automatic machine to be released is ready for release.

When, for example, the first open contact 26 is closed by an operator's operation in a state where the open select contact 25 is closed, the open selection contact 25, the first open contact 26, the rectifier 27, the first The brake 14 and the brake release current flow, and the first brake 14 is released. Similarly, the second brake 17 is released when the second open contact 28 is closed, the third brake 20 is released when the third open contact 30 is closed, and the fourth brake 23 is released when the fourth open contact 32 is closed.

In a production system in which a plurality of automatic machines are arranged, an operator can identify which automatic machine is ready to release the brake by this brake release display. If the lamp 34 is a blinking light or a rotation indicator light, the operator's attention is easily drawn, which can greatly contribute to prevention of erroneous operation.

The difference of the present invention from Patent Documents 1 to 3 is that the operation in the vicinity of the automatic machine for releasing the brake is eliminated, so that the brake release indication is automatically displayed to easily identify the target automatic machine. This is a part provided at or near the machine.

Example 2

FIG. 2 is a diagram showing a configuration of the second embodiment. In the present embodiment, two controllers are used by one controller. This is a case where a moving machine is controlled. It should be noted that FIG. 1 mainly shows a portion related to the present invention, and the same reference numerals as those in FIG. 1 denote corresponding portions, and a part of the description will be omitted. In the figure, reference numeral 40 denotes a first automatic machine, and 50 denotes a second automatic machine. 41 is an interlock contact of the first automatic machine. This contact has at least two poles. One is connected to the first brake 44 via the first contact 42 rectifier 43, and the second brake 47-1 and 47-2 via the second contact 45 rectifier 46, and the other is connected to the control power supply 3 Power is supplied to lamp 49 via rectifier 48. Brakes 44, 47-1, 47-2 and ramp 49 are provided on the first automatic machine. When the drive power of the motor of the first automatic machine is turned on, the interlock contact 41, which is its auxiliary contact, closes and the control power is supplied to the lamp 49 to light it. This lamp is lit when the motor is driven. At approximately the same time after the motor torque is generated, the first contact 42 and the second contact 45 are closed to supply the brake power to the brakes 44, 47-1, 47-2, and release the brakes.

The second automatic machine equipped with the brakes 54 and 57 and the ramp 59 is the same as described above, and will not be described.

[0023] Reference numeral 61 denotes a brake release selection contact of the first automatic machine, and 71 denotes a brake release selection contact of the second automatic machine. When the automatic machine is not in operation, for example, when the first open contact 62 is closed after the brake open selection contact 61 of the first automatic machine is closed, the first open contact 62 and the rectifier 63 are released from the open brake power supply 24. Power is supplied to the first brake 44 via the power supply. Similarly, when the second open contact 64 is closed, power is supplied to the second brakes 47-1, 47-2 via the second open contact 64 and the rectifier 65. A fritting circuit 66 is connected in parallel with the power supply circuit for the brake, and the output of the fritting circuit 66 is connected to a lamp 49 via a rectifier 67.

Since the brake release circuit of the second automatic machine is the same as the brake release circuit of the first automatic machine from the brake release selection contact 71 of the second automatic machine, the description is omitted.

FIG. 3 shows the frit force circuits 66 and 76 in FIG. In the figure, TO and T1 are time-recovery instantaneous reset relays (on-delay timer, hereinafter simply called timer). TOa and TOal are normally open contacts of the timer TO, and Tib is a normally closed contact of the timer T1. FLP and FLN are power supplies to this circuit.When the brake release selection contacts 61 and 71 in Fig. 2 are closed, Voltage is supplied.

[0025] The operation of the frit force circuit will be described.

(1) When power is not supplied to FLP and FLN, timer TO and timer T1 are the contacts TOa and TOal that are in the excited state, contact TOal is open, and contact Tib is closed.

(2) When power is supplied to FLP and FLN, the contact Tib is closed and the contacts TOa and TOal are open until the set time elapses because of the time-limited operation type in which the current is passed to the timer TO because the contact Tib is closed. Remains.

(3) When the set time of the timer TO elapses, the contact TOa of the timer TO is closed and the power to energize the timer T1 is open until the set time elapses because the timer contact Tib is a timed type. However, the energization of the timer TO continues, and the contact TOa keeps the circuit closed.

(4) When the time set by the timer T1 has elapsed, the contact Tib of the timer T1 is opened. Since the timer TO connected to the contact Tib is an instantaneous return type, its contact TOa is open. Since the timer T1 connected to the contact TOa is also of the instantaneous reset type, its contact Tib is closed and becomes the state (2).

(5) Repeat steps (2), (3) and (4) until power is no longer supplied to FLP and FLN.

The contact point TOa of the timer TO is open for the time set in the timer TO and closed for the time set in the timer T1. The contact TOal operates in the same phase as the contact TOa at the same timing, and switches on and off the power supply FLP.

[0026] The outputs of the fritting force circuits 66, 76 are connected to the lamps 49, 59 via rectifiers 67, 77. When the brake release selection contacts 61, 71 are closed, the lamps 49, 59 blink. When the operator releases the brake by closing the brake release selection contacts 61 and 71, the control power supply 3 must be supplied with power because the circuit breaker 2 is open.

By changing the time settings of timers TO and T1, the blinking cycle of the lamp can be changed. Also, the lighting and blinking of the lamp can be configured by CPU processing and other electronic components.

In this embodiment, the operator can easily identify the power by changing the display color of one of the two states of turning on and off one lamp by changing the display colors of the two states. [0027] As described above, when the motor is driven by closing the circuit breaker 2 in the normal operation state of the automatic machine, the lamps 49 and 59 are always lit, and the worker is in the non-operation state of the automatic machine. When the brake release selection contacts 61 and 71 are closed when the brake is released by the operation of, the lamp 49 or 59 on the closed brake release selection contact 61 or 71 blinks. Since the automatic machine that is about to be released can be reliably identified, it is possible to prevent the brake of another automatic machine from being released due to an erroneous operation.

Industrial applicability

[0028] When the brake of the automatic machine is released by the operator's operation, the target automatic machine can be clearly indicated, so that it can also be applied to applications such as numerically controlled machine tools, robots and positioners equipped with a brake. .

Claims

The scope of the claims

[1] An automatic machine control device for controlling at least one automatic machine equipped with a motor or a brake for holding a drive shaft connected to the motor,

Brake release means for releasing the brake when the motor is not driven,

An automatic machine or a brake release indicating means near the automatic machine, wherein the brake release indicating means displays that the brake release means is ready to release the brake. Machine control device.

[2] The automatic machine includes drive power display means for displaying when the motor is driven, the drive power display means also serving as the brake release display means when the motor is not driven, and displays when the motor is driven. 2. The automatic machine control device according to claim 1, wherein a display indicating that the brake is selected to be released is different from a display indicating that the brake is released.

3. The automatic machine control device according to claim 1, wherein the automatic machine is a robot, and the automatic machine control device is a robot control device.