WO2020175414A1 - Unité de commutation de fonctionnement avec fonction de support d'assistance de fonctionnement, et système d'assistance de fonctionnement - Google Patents

Unité de commutation de fonctionnement avec fonction de support d'assistance de fonctionnement, et système d'assistance de fonctionnement Download PDF

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Publication number
WO2020175414A1
WO2020175414A1 PCT/JP2020/007274 JP2020007274W WO2020175414A1 WO 2020175414 A1 WO2020175414 A1 WO 2020175414A1 JP 2020007274 W JP2020007274 W JP 2020007274W WO 2020175414 A1 WO2020175414 A1 WO 2020175414A1
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WO
WIPO (PCT)
Prior art keywords
emergency stop
switch
operation switch
shaft
contact
Prior art date
Application number
PCT/JP2020/007274
Other languages
English (en)
Japanese (ja)
Inventor
藤谷　繁年
英二 吉井
Original Assignee
Idec株式会社
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
Application filed by Idec株式会社 filed Critical Idec株式会社
Publication of WO2020175414A1 publication Critical patent/WO2020175414A1/fr

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H13/00—Switches having rectilinearly-movable operating part or parts adapted for pushing or pulling in one direction only, e.g. push-button switch
    • H01H13/02—Details
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H3/00—Mechanisms for operating contacts
    • H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
    • H01H3/20—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch wherein an auxiliary movement thereof, or of an attachment thereto, is necessary before the main movement is possible or effective, e.g. for unlatching, for coupling
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H3/00—Mechanisms for operating contacts
    • H01H3/22—Power arrangements internal to the switch for operating the driving mechanism
    • H01H3/28—Power arrangements internal to the switch for operating the driving mechanism using electromagnet
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network

Definitions

  • Operation switch unit with operation support function and operation support system
  • the present invention relates to an operation switch unit with an operation support function capable of assisting the operation of operation switches and an operation support system.
  • an emergency stop switch is a push button (operation switch) that can be pushed by an operator, an operation axis that slides when the push button is pressed, and a connection/disconnection according to the movement of the operation axis. And a contact (see FIG. 1 of Japanese Patent Application Laid-Open No. 2000-3502).
  • the contact is opened due to the movement of the operating axis, which interrupts the electric circuit of the equipment and causes the equipment to make an emergency stop.
  • Patent Document 1 Japanese Patent Laid-Open No. 20000__353002 (see FIG. 1)
  • the present invention has been made in view of such conventional circumstances, and the problem to be solved by the present invention is to support operation of an operation switch, thereby improving operability. It is to provide an operation switch unit with an operation support function and an operation support system that can improve safety. Furthermore, the present invention provides an operation switch unit with an operation support function that can simplify the structure. ⁇ 2020/175414 2 ⁇ (: 170? 2020 /007274
  • An operation switch unit with an operation support function comprises an operation switch for switching the contact state, a first urging means for urging the operation switch to the side where the contact is switched, and an operation unit.
  • the lock state of the operation switch is An actuating portion for actuating the operation switch by the action of the biasing force of the first biasing means by guiding the lock member to the released side.
  • the remote operation performed on the operation switch is detected by the detection unit, and the operation unit is unlocked from the operation switch based on the remote operation detected by the detection unit. Guide the locking member to the side where Then, by the action of the urging force of the first urging means on the operation switch, the operation switch is activated and the state of the contact is switched.
  • the lock mechanism has the second urging means for urging the lock member toward the lock side.
  • the operating portion is provided at a position intersecting with the operation direction of the operation switch, it is possible to prevent the operation switch unit from being elongated in the operation direction of the operation switch.
  • the actuating portion moves the lock member in a direction intersecting the operation direction of the operation switch.
  • the operation direction of the operation switch is the longitudinal direction of the housing, and the operating portion is arranged in the lateral direction of the housing, ⁇ 2020/175414 3 ⁇ (: 170? 2020/007274
  • the present invention further includes an operation shaft that moves in association with the operation of the operation switch, and the lock member of the lock mechanism engages with a part of the operation shaft to move the operation shaft. It's locked.
  • the lock member engages with a part of the operation shaft to lock the operation switch, whereby the operation switch is locked at the non-operation position via the operation shaft.
  • the present invention further includes an operation shaft that moves in association with the operation of the operation switch, and the contact includes a movable contact that moves in the movement direction of the operation shaft and a casing of the operation switch unit. And a fixed contact fixed to the side.
  • the movable contact moves in the movement direction of the operation axis, and as a result, the movable contact switches the contact state to the fixed setting.
  • an operating shaft that moves in association with the operation of the operating switch is further provided, and the contact has a contact that is movable in a direction intersecting the moving direction of the operating shaft.
  • the contact moves in a direction intersecting the moving direction of the operation axis and the contact state is switched.
  • the urging force of the first urging means acts on the operation direction of the operation switch. This makes it possible to more reliably switch the contact state when operating the operation switch.
  • the urging force of the first urging means after the operation of the operation switch is set to be smaller than the urging force of the first urging means before the operation of the operation switch. ing.
  • the elastic energy possessed by the biasing means is reduced after the operation switch is operated, and the elastic energy of the biasing means is smaller than the elastic energy before the operation switch was operated.
  • the safety - can layer improved.
  • the operation switch is an emergency stop button.
  • An operation support system includes the operation switch unit with an operation support function according to claim 1 and a remote operation unit for remotely operating the operation switch.
  • the detection unit detects the remote operation by the remote operation unit, and the operation unit operates based on the remote operation detected by the detection unit. Guide the hook member to the side where the locked state for the switch is released. Then, the urging force of the first urging means acts on the operation switch to operate the operation switch and switch the state of the contact. In this way, the operation can be performed from a place remote from the operation switch, and the operation switch operation support can be provided. As a result, operability can be improved and safety can be improved.
  • the structure of the operation switch unit can be simplified, and by extension, the operation support system as a whole. The structure of can be simplified.
  • the operation can be performed from a place away from the operation switch and the operation switch can be assisted, the operability can be improved and the safety can be improved. it can. Furthermore, according to the present invention, since the operation switch is operated by utilizing the urging force of the first urging means, the structure of the operation switch unit can be simplified.
  • FIG. 1 is an overall perspective view showing an example of an operation support system including an emergency stop switch as an operation switch unit with an operation support function according to an embodiment of the present invention.
  • FIG. 2 is a plan view of the operation support system (FIG. 1).
  • FIG. 3 is a side view of the operation support system (FIG. 1).
  • Fig. 4 is a schematic vertical sectional view of the emergency stop switch (Fig. 1). 20/175414 5 ⁇ (: 170? 2020 /007274
  • Fig. 5 is a schematic vertical cross-sectional view of the emergency stop switch (Fig. 1) showing a state in which the emergency stop switch is being operated remotely.
  • Fig. 6 is a schematic vertical cross-sectional view of the emergency stop switch (Fig. 1) showing the state of the emergency stop switch during operation (manual operation/remote operation, that is, after operation).
  • FIG. 7 is a schematic block diagram of the operation support system (FIG. 1).
  • FIG. 8 is a diagram showing a first modified example of the emergency stop switch (FIG. 4), and is a schematic configuration of an interlocking mechanism provided in a safety lock mechanism (registered trademark) of the emergency stop switch (FIG. 4). It is a figure showing the state when the emergency stop switch is not operated (before operation).
  • Fig. 9 is a view on arrow IX in Fig. 8.
  • Fig. 10 is a schematic configuration diagram showing a state in which the interlocking mechanism is driven from the state of Fig. 8, showing a state when the emergency stop switch is operated (manual operation/remote operation, that is, after operation). ..
  • FIG. 11 is a simplified view of FIG.
  • FIG. 12 is a diagram showing a second modification of the emergency stop switch (FIG. 4), showing a state when the abnormal stop switch is not operated (before operation).
  • FIG. 13 is a diagram showing a second modification of the emergency stop switch (FIG. 4), showing a state during the remote operation of the emergency stop switch, which corresponds to FIG. 5 of the embodiment. ing.
  • Fig. 14 is a diagram showing a second modification of the emergency stop switch (Fig. 4), showing a state of operating the emergency stop switch (manual operation/remote operation, that is, after operation). This corresponds to FIG. 6 of the above embodiment.
  • FIG. 15 is a diagram showing a third modification of the emergency stop switch (FIG. 4), showing a state when the abnormal stop switch is not operated (before operation).
  • Fig. 16 is a diagram showing a third modification of the emergency stop switch (Fig. 4), showing a state in the middle of remote operation of the abnormal stop switch. ⁇ 2020/175414 6 ⁇ (: 170? 2020/007274
  • FIG. 17 is a diagram showing a third modified example of the emergency stop switch (Fig. 4), showing a state of operating the emergency stop switch (manual operation/remote operation, that is, after operation). This corresponds to FIG. 6 of the above embodiment.
  • Fig. 18 is a diagram showing a fourth modification of the emergency stop switch (Fig. 4), showing a state when the abnormal stop switch is not operated (before operation).
  • FIG. 19 is a diagram showing a fourth modification of the emergency stop switch (FIG. 4), showing a state during the remote operation of the emergency stop switch, which corresponds to FIG. 5 of the embodiment. ing.
  • FIG. 20 is a diagram showing a fourth modification of the emergency stop switch (FIG. 4), showing the state of the emergency stop switch (during manual operation/remote operation, that is, after operation), It corresponds to FIG. 6 of the embodiment.
  • FIGS. 4 to 6 show the schematic structure of the emergency stop switch
  • FIG. 7 shows the schematic block configuration of the operation support system.
  • the operation support system 1 includes a robot.
  • An operator is located near the robot, and is the mouth bot an operator? It is a collaborative (collaboration) robot that carries out work in collaboration (collaboration) with.
  • the robot is in operation, for example, the work on the sub-table Pick up with the hand at the tip of 3 and insert it into the specified position in the tray placed on the work table.
  • the worker for example, works as a sub table! ' " Perform work such as sequentially arranging them in vacant positions. ⁇ 2020/175 414 7 ⁇ (: 170? 2020/007274
  • a programmable display 50 is arranged on the work table, for example.
  • the programmable display 50 has a display such as a liquid crystal display or an organic display 1_, and stores a robot control program.
  • a safety laser scanner 51 is arranged on the side of the table, for example, on each of the left and right sides and the back. Each safety laser scanner 51 is for detecting the approach of an operator or other person.
  • An emergency stop switch (operation switch unit) 2 with an operation support function for emergency stop of the robot is arranged on the front of the table.
  • a portable (wearable) wireless terminal (remote control unit) 4 is attached to the wrist of one of the workers' arms.
  • the wireless terminal 4 is for a worker to remotely operate the emergency stop button (operation switch) 21 of the emergency stop switch 2 and is a push button that can be operated by the operator's other finger or hand. It has a 40 and a band 45 that holds the push button 40 and is wrapped around the wrist of the operator.
  • a graphical light 5 3 is installed near the table. Graphical light 5 3 is a robot arm By illuminating the place where the hand at the tip of 3 moves next, the operator is informed of the advance notice information on the robot side.
  • a two-dimensional code scanner 54 for reading a two-dimensional code, which is work information attached to the work, is arranged on the sub-table'.
  • FIG. 4 shows the state when the emergency stop switch is not operated (before operation)
  • Fig. 5 shows the state while the emergency stop switch is being operated remotely
  • Fig. 6 shows the state when the emergency stop switch is operated (manually/remotely operated). After the operation) is shown.
  • hatching is omitted for convenience of illustration.
  • the emergency stop switch 2 includes a case (housing) 2
  • Emergency stop button (operation switch) 2 1 is connected to the pressing surface 2 1 3 of the abnormal stop button 2 1 and the reverse side of the emergency stop button 2 1 to operate the emergency stop button 2 1. It is installed so that it moves in conjunction with it, and it is attached to the shaft (operating shaft) 22 that extends in the axial direction inside the case 20 and the tip of the shaft 22 so that it moves with the shaft 22.
  • the movable contact 23 that moves in the moving direction of the shaft 22 is fixed to the inner wall surface of the case 20 so that the movable contact 23 and the movable contact 23 face each other. With fixed contacts 2 4
  • the contacts of the emergency stop switch 2 are each composed of a pair of movable contacts 23 and fixed contacts 24.
  • the emergency stop button 21 is located on one end side of the emergency stop switch 2 and the contact is located on the other end side of the emergency stop switch 2.
  • the emergency stop button 21 is provided to switch the contact state. Terminal pieces 3 5 ! And 3 5 2 are connected to each fixed contact 24.
  • the shaft portion 22 of the emergency stop switch 2 has a flange portion 223 projecting to the outer peripheral side at substantially the center thereof.
  • the flared portion 2 0 3 projecting on the inner peripheral side is provided on the inner wall surface of the case 2 0.
  • Flared portion 2 0 3 is disposed opposite to the flange portion 2 2 3 at a place spacing of the constant in the axial direction.
  • a coil spring (first biasing means) 25 is arranged in a compressed state between the flange portion 2 23 and the overhang portion 20 3. One end of the coil spring 25 comes into contact with and is locked by the flange portion 2 23 so that it moves with the movement of the shaft portion 22.
  • the other end of the coil spring 25 is locked to the case 20 by abutting and locking the overhanging portion 203.
  • the coil spring 25 exerts an elastic repulsive force (urging force) on the flange portion 2 23 and the overhang portion 20 3 . Due to this elastic repulsive force, the movable contact 23 moves away from the fixed contact 24 (contact opening direction or contact switching side (right side of Fig. 4 to Fig. 6), that is, the emergency stop button 21 1 It is always urged from the state to the side of ( ⁇ ).
  • the axis of the coil spring 25 coincides with the axis of the shaft 22, and the elastic repulsive force of the coil spring 25 causes the emergency stop button 21 to be pushed in (operating direction). Is acting on.
  • the coil spring 25 is placed in the maximum compressed state between the overhanging portion 203 and the flange portion 223.
  • the elastic repulsive force of the coil spring 25 is the maximum, and it has the maximum elastic energy.
  • the emergency stop switch 2 shown in Fig. 5 is being operated remotely and when the emergency stop switch 2 shown in Fig. 6 is being operated, the coil spring 25 does not extend axially from the state shown in Fig. 4.
  • the elastic repulsive force of the coil spring 25 has decreased, and the elastic energy possessed by the coil spring 25 has also decreased.
  • the shaft portion 22 is a projection portion 2 that projects to the outer peripheral side in the vicinity of the emergency stop button 21.
  • the vertical cross section of the protrusion 22 is trapezoidal and has a pair of inclined surfaces.
  • a pair of engaging members (locking members) 26 and 26' are provided inside the case 20 .
  • Each engaging member 26, 26' has a pair of inclined surfaces that can engage with each inclined surface of each corresponding protrusion 22.
  • springs (second biasing means) 27 and 27' corresponding to the engaging members 26 and 26', respectively.
  • One end of each of 27 and 27' is in pressure contact with the back surface of the corresponding engaging member 26, 26', and the other end is in pressure contact with the inner wall surface of the case 20.
  • the engaging members 26 and 26' are urged toward the corresponding protrusions 22 by the elastic repulsive force of the springs (second urging means) 27 and 27'. ing.
  • the support shaft 2 extending in the moving direction of the shaft portion 22, that is, the direction intersecting the operating direction of the emergency stop button 21 (in this example, the orthogonal direction). 6 3 has one end attached.
  • the support shaft 2 6 3 extends through the spring 2 7.
  • An electromagnetic actuator (actuator) 3 is provided at the other end of the spindle 2 63. ing.
  • the solenoid body 30 holds the support shaft 2 63 so that it can slide in the axial direction.
  • the remote signal from the wireless terminal 4 is received (that is, the remote operation is detected), the receiving unit (detecting unit) 32, and the receiving unit 3 2 receives (detects).
  • the control circuit 33 for controlling the drive of the electromagnetic actuator 3 based on the remote signal.
  • the control circuit 33 is connected to the electromagnetic actuator 3 by a lead wire 34.
  • the electromagnetic actuator 3 is provided at a position that intersects with the operation direction of the emergency stop button 21 (in this example, the orthogonal position), and the engaging member 2 6 crosses the operation direction of the emergency stop button 21. (In this example, they are orthogonal to each other). More specifically, the operation direction of the emergency stop button 21 is the longitudinal direction of the case 20 (horizontal direction in Fig. 4), while the electromagnetic actuator 3 is the lateral direction of the case 20 (vertical direction in the same figure). It is located in. ⁇ 2020/175 414 11 ⁇ (: 170? 2020/007274
  • FIG. 7 shows a schematic block configuration of the operation support system 1.
  • the operation support system 1 consists of a personal computer ( ⁇ 3) 100 and various programmable controllers (!_ ⁇ ) 101 connected to it for various programming, data input and output display.
  • Programmable display (00) 50 connected to 1_ ⁇ 101.
  • the robot control program is stored in PLC ⁇ 0 ]/90 port 50.
  • laser scanner (!_3) 51, two-dimensional code scanner 54, emergency stop switch 2, robot drive unit 102 including actuator and motor 102, graphical light 53 are attached to 1_ ⁇ 1 0 1 and mouth 050.
  • the emergency stop lamp/buzzer 10 3 are connected.
  • the configuration of the operation support system according to the present invention is not limited to this, and any one of ⁇ 100, !_ ⁇ 101 or 0050 may be omitted.
  • the wireless terminal 4 is composed of a plurality of wireless terminals 4 !, 4 (only two wireless terminals 4 1% 4 2 are shown in Fig. 7).
  • the wireless terminal 4 ! includes, for example, a wireless module, and the wireless module includes a push button 40 1 , a transmitter 41, a receiver 42, a display 43, and a control circuit to which these are connected. 44 ! And.
  • the wireless module built in the wireless terminal 4 2 includes a push button 40 2 , a transmission section 41 2 , a reception section 42 2 , a display section 43 2, and a control circuit 44 2 to which these are connected. Equipped with.
  • Wireless terminal 4!, Or 4 2 none For example other is possessed respectively by the operator 2 working near robots, or the radio terminal 4 1, for example by an operator working near robots
  • the wireless terminal 4 2 is possessed and is, for example, a worker away from the robot? Possessed by a supervisor who oversees.
  • the transmitter 4 1 4 1 2 is for transmitting an operation (stop) signal for wirelessly operating the abnormal stop switch 2 when the push button 4 0 40 2 is pressed. , Are provided so that they can wirelessly communicate with the receiver 32 of the emergency stop switch 2.
  • the receiver 42 (or 42 2 ) receives the stop signal transmitted from the transmitter 4 1 2 (or 4 1 ! ) of another wireless terminal 4 2 (or 4 ! ). ⁇ 2020/175414 12 boxes (: 170? 2020/007274
  • the transmitters 4 1 4 1 2 and the receivers 42 42 2 of the wireless terminal 4 4 2 are provided so that they can communicate with each other wirelessly.
  • the display 43 43 2 displays an illumination (for example, lit) when the push button 40 40 2 is pressed, an illumination (for example, blinking) when another person first pushes the button, and an intensity level display. , It is for displaying an alarm when the battery is dead or when wireless communication is not possible.
  • the types of radio used in this embodiment include, for example, Wi-Fi (registered trademark) communication, BLU ETOOTH (registered trademark) communication, ZI GB EE (registered trademark) communication, and BLE (Bluetooth (registered trademark) communication. Trademark) Low Energy) communication, WiMAX (registered trademark) communication, infrared communication, etc.
  • the Robot R When the Robot R is in operation, the Robot R is operated according to the robot control program stored in P LC 101 /P DD 50.
  • the worker P performs a work such as placing the work W on the sub-table T′ according to a predetermined procedure, and the robot R performs a cooperative work with the worker P.
  • the emergency stop switch 2 is in a non-operating state in which the emergency stop button 21 is not pushed in, the movable contact 23 and the fixed contact 24 are in contact, and the contact is ⁇ N state.
  • the internal lock mechanism (The lock state held by (not shown) may be released by, for example, twisting (that is, rotating) the emergency stop button 21.
  • the operation signal transmitted from the wireless terminal 4 (4 ! or 4 2 ) is received by the receiving section 32 of the emergency stop switch 2, is input to the control circuit 33, and the electromagnetic actuator 3 is input from the control circuit 3 3. Current is supplied to the solenoid body 30 of.
  • the support shaft 2 63 is drawn into the solenoid main body 30 of the electromagnetic actuator 3, and along with this, the engaging member 2 6 resists the spring force of the spring 27 and is shown in the lower side in the figure. And a gap is formed between the inclined surface of the engaging member 26 and the inclined surface of the protrusion 22 of the shaft 22.
  • the electromagnetic actuator 3 guides the engaging member 26 to the side where the locked state with respect to the emergency stop button 21 is released. At this time, since only the inclined surface of the engaging member 26' is engaged with the protrusion 22 of the shaft 22, the elastic repulsive force of the spring 25 causes the protrusion of the shaft 22.
  • the inclined surface of the part 2 2 _ side engages with one inclined surface of the engaging member 2 6 ′, and the elastic repulsive force of the spring 2 7 ′ is piled up to overcome (at this time, the spring 2 7 ′ is The engaging member 26' is compressed and retracts, and then the engaging member 26' is expanded by the elastic repulsive force of the spring 27'), and the state shown in FIG. 4 shifts to the state shown in FIG. ..
  • the other inclined surface of the protruding portion 22 of the shaft portion 22 is engaged with the other inclined surface of the engaging member 26'.
  • a gap remains formed between the other inclined surface of the engaging member 26 and the other inclined surface of the protrusion 22b of the shaft 22.
  • the emergency stop button 21 is in the pushed state by moving together with the shaft portion 22, and it is completely the same as when the operator pushes the emergency stop button 21 to operate it. They are in the same condition.
  • the emergency stop button 2 1 should be ⁇ 2020/175 414 15 ⁇ (: 170? 2020 /007274
  • the operator grabs the emergency stop button 21 and pulls it toward you (that is, manually operates).
  • a lock mechanism such as a push lock/evan reset mechanism
  • the lock state held by the internal lock mechanism at the time of pushing operation of the emergency stop button 2 1 can be prevented. It may be released by twisting (that is, rotating).
  • the remote operation of the wireless terminal 4 with respect to the emergency stop switch 2 is detected by the receiving unit 32 of the emergency stop switch 2, and the emergency stop switch 2 is detected based on the remote operation.
  • the structure of the emergency stop switch 2 can be simplified because the spring force of the spring 25 forming the Safety Potential (registered trademark) structure is used to operate the emergency stop button 21.
  • the case 20 and thus the entire switch is made longer in the longitudinal direction. Can be prevented and the entire switch can be shortened.
  • the pushing operation of the emergency stop button 21 causes the movable contact 2 3
  • the elastic repulsion force of the coil spring 25 acts in the same direction as the push-in direction of the emergency stop button 21, and as a result, the movable contact 23 is more reliably moved. It can be separated from the fixed contact 24.
  • the elastic repulsive force of the coil spring 25 after the operation of the emergency stop switch 2 is equal to that before the operation of the emergency stop switch 2.
  • the direction in which the elastic repulsive force by the coil spring 25 acts is in agreement with the pushing direction of the emergency stop button 21. Do not have to match exactly. For example, even when the elastic repulsion force of the coil spring 25 is operating at an angle to the axial direction of the shaft portion 22, the axial component of the elastic repulsion force is an emergency stop. Since it corresponds to the pushing direction of button 21, some effect can be expected.
  • the engaging member 26 in order to shift from the non-operation state of FIG. 4 to the remote operation state of FIG. 5, the engaging member 26 is retracted from the state of FIG. With the state that only the engaging member 26' is engaged with the protrusion 22 of the shaft 22 (that is, one side locked state), the biasing force of the spring 25 unlocks this one side locked state. In order to obtain it, it is necessary to design the specifications of the springs 25 and 27', the projections 22 and the angles of the inclined surfaces of the engaging members 26'. A buzzer, speaker, and indicator lamp should be installed in case the shaft 22 cannot move due to welding of the movable contact 23 and fixed contact 24, etc. You may make it notify an operator.
  • the structure is simplified by releasing the engagement state (locked state) of only one of the engaging members 26 with respect to the protrusion 22 of the shaft 22 when performing remote control.
  • the application of the present invention is not limited to this.
  • the other engaging member 26' is similarly moved to the unlocking side in conjunction with the movement.
  • FIGs. 8 to 11 show a first modified example of the present invention, and are views for explaining such a driving mechanism.
  • the same reference numerals as those used in the above-mentioned embodiment indicate the same or corresponding portions.
  • Figures 8 and 9 show the locked state of each engaging member 26, 26'
  • Figures 10 and 11 show the unlocked state of each engaging member 26, 26'. Showing.
  • FIG. 9 is a view taken in the direction of the arrow IX in FIG. 8, and FIG. 11 is a view in which some parts are omitted from FIG.
  • one end of a stay 60 extending obliquely upward toward the upper side of the electromagnetic actuator 3 is connected to the end of the support shaft 2 63 of the engaging member 26.
  • the other end of the stay 60 is connected to one end of a rack plate 61 extending parallel to the support shaft 2 63.
  • Rack teeth 61 3 are formed on the inner surface of the rack plate 61.
  • the support shaft 2 6 3 arranged coaxially with the support shaft 2 6 3 One end of is attached.
  • the other end of the stay 60' is connected to one end of a stay 60' that extends obliquely upward toward the upper side of the electromagnetic actuator 3, and the other end of the stay 60' is connected to the support shaft 2 63.
  • One ends of rack plates 61' extending in parallel are connected.
  • Rack teeth 6 1 on the inside of the rack plate 6 1' Are formed.
  • the rack plates 61 and 61' are on the same plane, and the rack teeth 618 and 61 are opposed to each other with a predetermined interval.
  • a pinion 7 is arranged between the rack teeth 6 1 3 and 6 1 3 ′ so as to engage with both of them, and the pinion 7 is rotatably supported by a shaft 7 3.
  • FIGS. 12 to 14 show a second modification of the present invention.
  • the same reference numerals as those of the embodiment and the first modification show the same or corresponding portions.
  • FIGS. 12, 13, and 14 correspond to FIGS. 4, 5, and 6 of the above embodiment, respectively.
  • the rear surface of the engaging member 26' extends in a direction intersecting with the moving direction of the shaft portion 22 or the operating direction of the emergency stop button 21 (orthogonal direction in this example).
  • Spindle 2 6 One end of is attached.
  • Spindle 2 6 Extends through spring 27'.
  • An electromagnetic actuator (actuator) 3' is provided at the other end of the spindle 2 63.
  • the electromagnetic actuator 3' extends to ⁇ the solenoids body (electromagnetic coil portion) 3 ⁇ , the.
  • the solenoid body 30' holds the spindle 2 63' so that it can slide in the axial direction.
  • a remote signal is received from the wireless terminal 4 (that is, a remote operation is detected), a receiving unit (detecting unit) 3 2', and a receiving unit 3 2'receives (detects).
  • a control circuit 33' for controlling the drive of the electromagnetic actuator 3'on the basis of the received remote signal.
  • the control circuit 3 3' is connected to the electromagnetic actuator 3'by a lead wire 3 4'.
  • the electromagnetic actuator 3' is provided at a position that intersects with the operation direction of the emergency stop button 21 (in this example, the orthogonal position), and the engaging member 2 6'is aligned with the operation direction of the emergency stop button 2 1.
  • the bias is applied in the intersecting direction (in this example, the orthogonal direction). More specifically, the operation direction of the emergency stop button 21 is the longitudinal direction of the case 20 (left-right direction in Fig. 12), while the electromagnetic actuator — 3'is the short-side direction of the case 20 (same direction). (Up and down direction in the figure).
  • the signal is received by 32' and input to the control circuits 33, 33', and the control circuit 33,
  • each engaging member 26, 26' is contracted/extended to expand the shaft portion 2 2 as in the above-mentioned embodiment and the first modification.
  • the contact points are switched when each protrusion 22 passes over each of the engaging members 26 and 26' (see Fig. 12 ® and Fig. 14).
  • the movable contact 23 is configured to move in the moving direction of the shaft 22.
  • the application of the present invention is not limited to this.
  • .. 15 to 17 show an emergency stop switch according to a third modification of the present invention.
  • Figure 15 shows the status when the emergency stop switch is not operated (before operation)
  • Figure 16 shows the status when the emergency stop switch is being operated remotely
  • Figure 17 shows the status when the emergency stop switch is operated (manual operation/remote operation).
  • Each state is shown during operation (after operation).
  • FIGS. 15, 16 and 17 correspond to FIGS. 4, 5 and 6 of the above-described embodiment, respectively, and in FIGS. 15 to 17 the same reference numerals as those in the above embodiment are the same or equivalent. Shows the part.
  • the shape of the front end portion of the shaft portion 22 is not a straight shape but a crank shape. That is, the tip portion of the shaft portion 22 has a first shaft portion 22 that extends linearly in the axial direction and a second shaft portion 22 that extends in a direction diagonally intersecting the axial direction from the tip of the first shaft portion 22. It is composed of a shaft section 22 and a third shaft section 220 which extends from the tip of the second shaft section 22 to parallel to the first shaft section 22. Shaft of 3 2 2 8 ⁇
  • a step portion (or an inclined portion/engaging concave portion) 2 2 b 1 is formed between the first shaft portion 2 28 and the second shaft portion 22 2 and the second shaft portion 2 part 2 2 Snake and the step portion is formed between the third shaft portion 2 2_Rei (or inclined section / engagement recess) 2 2 spoon 2 is formed.
  • the step portion 2 2 1 ⁇ is composed of a single inclined surface
  • the step portion 2 2 sill 2 is composed of two intersecting inclined surfaces.
  • first contact 2 8 and the second contact 2 8 2 are arranged so as to face each other with the tip of the shaft 22 being sandwiched therebetween.
  • the 1st and 2nd contact points 2 8 2 8 2 cross the axial direction of the 1st shaft part 2 2 8 and 3rd shaft part 2 20 (orthogonal in this example), that is, the axis. It is provided so as to be movable in a direction intersecting with the moving direction of the portion 22 (orthogonal in this example), and the contact is configured to be switched by the movement.
  • Each contact 2 8!, 2 8 each terminal strip 3 5 3 5 2 2 is connected
  • First contact 2 8! For example protrusions formed of the inclined surface has a (or inclined section / engaging portion), the projection abuts the shaft portion 2 2 of the step portion 2 2 1_Rei 2 It is provided so that it can be engaged.
  • the second contact 2 8 2 has a collision detecting portion consisting of the inclined surface (or the inclined portion / engaging portion), the projections and the shaft portion 2 second stage difference portion 2 2 spoon It is provided so that it can abut.
  • the first contact 2 8 1 is urged toward the shaft 2 2 side by the elastic repulsive force of the spring 2 9 !
  • the second contact 2 8 2 is elastically repelled by the spring 2 9 2 . It is urged toward the shaft 22 by the force.
  • the electromagnetic actuator 3 (and 3') is used to engage the engaging member 2 6 (and 26') via the support shaft 2 6 3 (and 2 6 3').
  • the application of the present invention is not limited to this.
  • FIGS. 18 to 20 show an emergency stop switch according to a fourth modification of the present invention.
  • Fig. 18 shows the condition when the emergency stop switch is not operated (before operation)
  • Fig. 19 shows the condition when the emergency stop switch is being operated remotely
  • Fig. 20 shows the condition when the emergency stop switch is operated (manual operation/ The state during remote operation (that is, after operation) is shown.
  • FIG. 18, FIG. 19 and FIG. 20 correspond to FIG. 4, FIG. 5 and FIG. 6 of the embodiment, respectively, and in FIG. 18 to FIG. — Or indicates a considerable part.
  • one end of the spring 27 that urges the engaging member 26 toward the lock side is in pressure contact with the back surface of the engaging member 26,
  • the end is supported by a moving base 81 which is provided in the case 20 so as to be able to approach and separate from the back surface of the engaging member 26.
  • the moving base 8 1 extends through the opening formed in the case 20 to the outside of the case, and at its end, the moving base 8 1 is orthogonal to the moving base 8 1. It is provided integrally.
  • Rack teeth (not shown) are formed on the moving base 82.
  • a motor (actuator) 8 is attached to the outer wall surface of the case 20 and a pinion 80 is fixed to the output shaft of the motor 8. The pinion 80 engages with the rack teeth of the moving base 82.
  • the moving base 81 does not move even when the moving base 81 is urged by the elastic repulsive force of the spring 27 toward the side away from the engaging member 26.
  • a receiving unit (detecting unit) 32 and a control circuit 3 for controlling the drive of the motor 8 based on the remote signal received (detected) by the receiving unit 3 2 are provided. 3 and are provided.
  • the control circuit 33 is connected to the motor 8 by the lead wire 34.
  • the motor 8 is provided at a position intersecting with the operation direction of the emergency stop button 21 (in this example, a position orthogonal to each other), and the engaging member 26 intersects with the operation direction of the emergency stop button 21.
  • Direction in this example, the orthogonal direction. More specifically, the operation direction of the emergency stop button 21 is the longitudinal direction of the case 20 (horizontal direction in Fig. 18), while the motor 8 is the lateral direction of the case 20 (vertical direction in the same figure). It is located in.
  • the protrusions 22 of the shaft portion 22 are made elastic by the elasticity of the springs 27, 27'. Pile on the repulsive force to get over each engagement member 26, 26' (At this time, each spring 27, 27' is compressed and each engagement member 26, 26' is retracted, , The engaging members 26 and 26' are extended by the elastic repulsive force of the springs 27 and 27'), whereby the state shown in FIG. 18 shifts to the state shown in FIG. As a result, the movable contact 23 moved along with the shaft 22 is separated from the fixed contact 24, and the contact shifts from the ⁇ state to the ⁇ state.
  • the operation signal transmitted from the wireless terminal 4 (4 ! or 4 2 ) is received by the receiving section 32 of the emergency stop switch 2 and is transmitted to the control circuit. It is input to 3 3 and current is supplied from the control circuit 3 3 to the motor 8.
  • the motor 8 rotates in the forward direction to rotate the pinion 80, and the moving base 8 2 that scoops up with this rotates to move the moving base 8 1 from the engaging member 26. Move away (see Figure 19).
  • the spring 27 expands, and as a result, the elastic repulsive force exerted by the spring 27 on the back surface of the engaging member 26 decreases.
  • the motor 8 does not directly move the engaging member 26, but reduces the elastic repulsive force of the spring 27 to guide (or unlock) the engaging member 26 to the unlocking side. It can be said that it induces the movement to the side. After that, by rotating the motor 8 in the reverse direction, the moving base 8 1 is moved to the side closer to the engaging member 26 (see FIG. 20).
  • the remote operation of the emergency stop switch 2 by the wireless terminal 4 is detected by the reception section 32 of the emergency stop switch 2, and Since the emergency stop switch 2 operates based on remote operation to open the movable contact 23 and the fixed contact 24 that were in contact with each other, the emergency stop switch 2 can be removed from a location away from the emergency stop switch 2. 2 can be operated. This makes it possible to assist the operation of the emergency stop button 21 in the situation where the operator cannot directly press the emergency stop button 21. ⁇ 2020/175 414 25 ⁇ (: 170? 2020 /007274
  • the emergency stop button 21 is operated by using the spring force of the spring 25 that constitutes the safety potential (registered trademark) structure in the abnormal stop switch 2, so the structure can be simplified. .. Furthermore, compared with the case where the motor 8 is arranged on the extension line of the shaft 22 and the shaft 22 is directly moved by the motor 8, the case 20 and thus the entire switch is lengthened in the longitudinal direction. Preventing this, the entire switch can be shortened.
  • the emergency stop switch has been described as an example of the operation switch unit, but the application of the present invention is not limited to these, and other stop switches such as temporary stop may be used. Also, a switch that handles discrete values such as a selector switch, a lever switch, a cam switch, or a foot switch that performs speed control by speed switching may be used. Therefore, the signal transmitted from the transmitter 4 1 1% 4 1 2 radio terminal 4 (4 1% 4 2) is not limited to a stop signal, and may include other operation signals in general. In addition, in these switches, not only the operation of the operation switch but also the return of the operation switch may be wirelessly operated remotely by using an electromagnetic actuator or the like.
  • the remote control unit and the detection unit may be combined as follows. That is, a combination of optical signals and photoelectric sensors, a combination of audio signals and microphones, a combination of video signals and cameras, levers for operating linear/rod-shaped long members such as wires, and long devices. In combination with a movable member that follows the movement of the tip of the member, a nozzle that ejects compressed air, a pressure receiving member that receives compressed air from the nozzle, a gun that fires bullets such as Mimi bullets, and a bullet fired from the gun Target members, etc.
  • the cooperative robot is described as an example of the device to which the emergency stop switch according to the present invention is applied, but the present invention can be applied to an industrial robot other than the cooperative mouth robot.
  • the robot is not limited to the vertical articulated robot, and other robots such as a scalar robot and a parallel link robot may be used, and an automated guided vehicle (AGV: aut omated gu i ded veh ic le)
  • AGV automated guided vehicle
  • the application of the present invention is not limited to the field of FA (Factor Automation) (manufacturing industry), but may also be applied to the field of industrial vehicles and construction vehicles (special construction and civil engineering) including special vehicles such as power shovels. It may also be in the food and beverage industry, food industry, medical care, and distribution fields.
  • the present invention is useful for an operation switch unit with an operation support function and an operation support system capable of assisting the operation of an operation switch.

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Push-Button Switches (AREA)
  • Remote Monitoring And Control Of Power-Distribution Networks (AREA)

Abstract

La présente invention améliore l'exploitabilité et la sécurité d'un commutateur de fonctionnement tout en obtenant également une structure simplifiée. Ce commutateur d'arrêt d'urgence (unité de commutation de fonctionnement) 2 avec une fonction d'assistance de fonctionnement comporte : un bouton d'arrêt d'urgence (commutateur de fonctionnement) 21 pour commuter un état de contact ; un ressort hélicoïdal (premier moyen d'excitation) 25 pour mettre sous tension le bouton d'arrêt d'urgence 21 dans la direction de contact de commutation ; des mécanismes de verrouillage de sécurité (marque déposée) 2A, 2A' ayant des éléments de mise en prise (éléments de verrouillage) 26, 26' qui sont destinés à verrouiller le bouton d'arrêt d'urgence 21 dans une position non fonctionnelle, et qui peuvent libérer le verrouillage ; une unité de réception (unité de détection) 32 qui détecte un fonctionnement à distance du bouton d'arrêt d'urgence 21 ; et un actionneur électromagnétique (unité de fonctionnement) 3 qui, sur la base de l'actionnement à distance détecté par l'unité de réception 32, guide l'élément de mise en prise 26 de sorte que l'état verrouillé du bouton d'arrêt d'urgence 21 soit libéré, et actionne ainsi le bouton d'arrêt d'urgence 21 par l'action de la force d'excitation du ressort hélicoïdal 25.
PCT/JP2020/007274 2019-02-27 2020-02-24 Unité de commutation de fonctionnement avec fonction de support d'assistance de fonctionnement, et système d'assistance de fonctionnement WO2020175414A1 (fr)

Applications Claiming Priority (2)

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JP2019-034994 2019-02-27
JP2019034994A JP7236883B2 (ja) 2019-02-27 2019-02-27 操作支援機能付き操作スイッチユニットおよび操作支援システム

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113910957A (zh) * 2021-10-19 2022-01-11 国网山东省电力公司临沂供电公司 充电桩智能型防误急停装置
WO2023199701A1 (fr) * 2022-04-11 2023-10-19 Idec株式会社 Commutateur à bouton-poussoir

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51137669U (fr) * 1975-04-30 1976-11-06
JPS5714929U (fr) * 1980-09-24 1982-01-26
JP2001023472A (ja) * 1999-07-07 2001-01-26 Matsushita Electric Ind Co Ltd スイッチおよびこれを用いた電子機器

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000164062A (ja) 1998-11-26 2000-06-16 Inoue Denshi Kk 操作釦の点検装置及び操作釦

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51137669U (fr) * 1975-04-30 1976-11-06
JPS5714929U (fr) * 1980-09-24 1982-01-26
JP2001023472A (ja) * 1999-07-07 2001-01-26 Matsushita Electric Ind Co Ltd スイッチおよびこれを用いた電子機器

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113910957A (zh) * 2021-10-19 2022-01-11 国网山东省电力公司临沂供电公司 充电桩智能型防误急停装置
WO2023199701A1 (fr) * 2022-04-11 2023-10-19 Idec株式会社 Commutateur à bouton-poussoir

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JP2020140838A (ja) 2020-09-03
JP2023054079A (ja) 2023-04-13
JP7236883B2 (ja) 2023-03-10
JP7385065B2 (ja) 2023-11-21

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