JP2601928B2 - Robot emergency stop circuit - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a robot emergency stop circuit, and in particular, cannot open / close a safety fence only by pressing a deadman switch provided on a teaching operation panel. The present invention relates to a robot emergency stop circuit that prevents danger caused by inadvertently opening a safety fence.

[Conventional technology]

As a method of teaching an operation to a robot or the like, there is a method in which an operator actually teaches a movement and an operation sequence of the robot using a teaching operation panel or the like.

In such a case, the operator operates the robot while pressing a robot emergency stop switch called a deadman switch provided on the back of the teaching operation panel to perform a teaching operation. When you approach the operator or feel danger due to unexpected operation of the robot, release the teaching operation panel, that is,
An emergency stop of the robot is achieved by releasing the pressing of the deadman switch, thereby ensuring the safety of the operator. In general, the emergency stop circuit of the robot does not consider the stop of the robot by opening and closing the safety fence, assuming that the operator enters and exits the operation area of the robot when the deadman switch of the teaching operation panel is pressed. Was.

FIG. 2 is a background view of the teaching operation panel. In the figure, a teaching operation panel main body 17 includes a concave deadman switch 18 having a structure that is easy for an operator to grasp, and an enable / disable switch 19 that is enabled and used when performing a teaching operation of a robot from the teaching operation panel main body 17. If a danger is felt during teaching in the robot operation area, when the hand is released from the deadman switch 18, the switch of the deadman switch 18 is returned and opened, the emergency stop circuit is activated, and the robot is emergency stopped.

FIG. 3 is a circuit diagram of a conventional emergency stop of a robot. The teaching operation panel 10 is a portable robot teaching device that can be operated near the robot. The emergency stop button SW1 is a button for stopping the machine in an emergency, and when this button is pressed, the robot is braked with the highest priority regardless of other switches, and the robot is emergency stopped. That is, when SW1 is pressed and the switch is opened, relays R5 and R6 do not operate. Therefore, make contact r5a and make contact r6a of relays R5 and R6 remain open, and relay R4 does not operate. The power of the power supply 51 is cut off by the make contact r4a of the relay R4, and the brake release circuit 52 of the robot 53 is turned off.
Does not work. The robot 53 is in an emergency stop state since the brake is not released.

Deadman switch provided on the back of teaching operation panel 10
SW2 is a switch operated by the operator to ensure personal safety, and releases the teaching operation panel 10, that is, SW2
When the pressing of 2 is released, the robot 53 stops emergency. Conversely, when teaching is being performed on the teaching operation panel 10, SW2 is pressed and the switch is closed, and current flows through the relay R5 connected in series. Make contact r5a of relay R5 is closed and relay R4
Works. The make contact r4a of the relay R4 is also closed, and the power supply 51
Power passes through make contact r4a of relay R4, and
The brake release circuit 52 of FIG. Brake release circuit 52
The brake of the robot 53 is released by the action of, and the robot 53 enters the operating state.

The enable / disable switch SW3 of the teaching operation panel 10 that is enabled and used for teaching the robot 53 is set to the disabled side (the switch is closed), and the safety fence switch SW
When 4-SWn (a plurality of switches are described as SW4-SWn) is closed, both relays R6 and R7 operate, make contact r6a and make contact r7a close, and relay R4 operates. The make contact r4a of the relay R4 is closed, and the power of the power supply 51 activates the brake release circuit 52 to put the robot 53 into an operating state.

Vcc of the teaching operation panel 10 is a power source of the relay R5 and the relay R6, and Vcc of the relay circuit portion is a relay R7 and a relay R.
4 power supply.

[Problems to be Solved by the Invention] However, in the conventional robot emergency stop circuit, when the deadman switch is pressed, the robot is in an operating state unconditionally (excluding the emergency stop button), and thus has the following problem. .

The deadman switch is located on the back of the portable teaching operation panel, and even if it is concave, if it is accidentally placed on a protrusion, the deadman switch will close and the robot will operate regardless of the operator's intention. Would. Therefore, irrespective of the operator's intention, just pressing the deadman switch, even if someone inadvertently opens the safety fence and enters the robot operation area, the robot does not brake and the robot starts up. Could be dangerous.

The present invention has been made in view of such a point,
An object of the present invention is to provide a robot emergency stop circuit that prevents a danger when a safety fence is opened carelessly, in addition to a deadman switch.

[Means for solving the problem]

In the present invention, in order to solve the above-mentioned problem, when an operator teaches an operation to a robot using a teaching operation panel, an emergency stop circuit that performs an emergency stop of the robot by a deadman switch provided on the teaching operation panel, Even if the deadman switch is pressed at a specified pressure, if the valid / invalid switch provided on the teaching operation panel is set to the invalid side, the robot is emergency stopped when the safety fence is opened. And a robot emergency stop circuit comprising a relay circuit.

[Action]

Even if the deadman switch on the teaching pendant is pressed,
If the valid / invalid switch is not set to the valid side (the valid / invalid switch is invalid and the robot is not taught), the robot will be braked when the safety fence is opened,
Since the robot is in an emergency stop state, even if the safety fence is opened and the user attempts to enter the robot operation area carelessly, it is possible to protect himself from danger caused by the operation of the robot.

〔Example〕

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

FIG. 1 is a circuit diagram of a robot emergency stop according to one embodiment of the present invention. In FIG. 1, the same components as those in FIG. 3 are denoted by the same reference numerals, and a description thereof will be omitted.

A point different from the circuit diagram of the conventional robot emergency stop in FIG. 3 is the contact configuration of three relays. It is connected in series with the deadman switch SW2.

The relay R1 has a make contact r1a and a break contact r1b, and the relay R2 connected in series with the enable / disable switch SW3 also has a break contact r2b of the make contact r2a, and the switch SW4 provided on the safety fence. The relay R3 connected in series to --SWn has a make contact r3a.

The three contacts of the increased break contact r1b of the relay R1, the break contact r2b of the relay R2, and the make contact r3a of the relay R3 are connected in parallel with each other, and the make contact r1a
It is inserted in series between the connection point of the relay contact and the make contact r3a and the relay R4.

Next, the operation of the circuit will be described. When the deadman switch SW2 of the teaching operation panel 10 is pressed and the valid / invalid switch SW3 is set to the valid side (the switch is open), the relay R1 operates to make contact r1a.
Is closed, and the relay R2 does not operate, so the break contact r2b remains closed, and the relay R4 operates,
Close make contact r4a. Power supply 51 to brake release circuit 5
Power is supplied to 2 and the robot 53 enters an operating state. As described above, in order to bring the robot into operation regardless of the opening / closing of the safety fence, it is necessary to set not only the deadman switch SW2 but also the valid / invalid switch SW3 to the valid side.

When the deadman switch SW2 is pressed and the valid / invalid switch SW3 is set to the invalid side (the switch is closed), the safety fence is closed (SW4-SWn is closed), and the relays R1, R2 and R3 are closed. Operate. Therefore, make contact r1a, make contact r2a, make contact r3a, and make contact r3a close, and relay R4 operates. Since the make contact r4a is closed, power is supplied from the power supply 51 to the brake release circuit 52, and the robot 53 enters an operating state.

Also, in this case, when the safety fence is opened and SW4−−SWn is opened, the relay R3 does not operate, the make contacts r3a and r3a remain open, and the break contacts r1a and r1
Since 2b opens, relay R4 does not operate. Accordingly, the make contact r4a remains open, and no power is supplied from the power supply 51 to the brake release circuit 52, and the robot 53 is stopped. That is, when the deadman switch SW2 is pressed and the valid / invalid switch SW3 is set to the invalid side, the safety fence is opened or closed to stop or operate the robot 53.

〔The invention's effect〕

As described above, in the present invention, if the valid / invalid switch of the teaching operation panel is not set to the effective side even if the deadman switch of the teaching operation panel is pressed, the robot is brought to an emergency stop when the safety fence is opened. Even if the deadman switch is pressed regardless of the operator's intention, if the safety fence is inadvertently opened and the robot is moved into the robot operation area, the robot will stop emergency and prevent danger. It is effective for safety measures.

[Brief description of the drawings]

FIG. 1 is a circuit diagram of a robot emergency stop in one embodiment according to the present invention, FIG. 2 is a rear view of a teaching operation panel, and FIG. 3 is a circuit diagram of a conventional robot emergency stop. 10 Teaching operation panel 17 Teaching operation panel body 18 Deadman switch 19 Enable / disable switch 30 Relay circuit 51 Power supply 52 Brake release circuit 53 Robot 70 Relay circuit Department

Claims (1)

(57) [Claims] When an operator teaches an operation to a robot using a teaching operation panel, an emergency stop circuit for performing an emergency stop of the robot by a deadman switch provided on the teaching operation panel, wherein the deadman switch has a specified pressure. When the safety fence is opened, if the valid / invalid switch provided on the teaching operation panel is set to the invalid side, the robot is emergency stopped even if it is pressed by a relay circuit. An emergency stop circuit for a robot.