Electricity: motive power systems – Positional servo systems – With protective or reliability increasing features
Patent
1993-03-26
1995-08-22
Ro, Bentsu
Electricity: motive power systems
Positional servo systems
With protective or reliability increasing features
31856811, 31856816, 31856824, 901 49, G05B 902, B25J 922
Patent
active
054443423
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to an emergency stop circuit of a teaching operation panel for teaching an operation to a robot, and more specifically, to an emergency stop circuit of a teaching operation panel for urgently stopping the operation of a robot in case of an emergency.
BACKGROUND ART
Conventionally, there is a method for an operator to actually teach the sequence of movement and operation of a robot by using a teaching operation panel or the like as a method of teaching an operation to the robot and the like.
The teaching operation panel is provided with an emergency stop switch for urgently stopping the operation of the robot to protect the operator from danger caused by the operation of the robot while a teaching operation is being carried out.
FIG. 3 shows a conventional emergency stop circuit diagram for a robot, including an emergency stop switch disposed on a teaching operation pane 1. The teaching operation panel 51 is comprises a portable robot teaching device disposed such that it can be operated in the vicinity of the robot 52. The teaching operation panel 51 includes an emergency stop switch SW7, dead man switch SW8 and effective/ineffective switch SW9. The emergency stop switch SW7 comprises a normally-closed type push button switch for urgently stopping the operation of the robot 52 prior to the other switches regardless of the operation thereof. The dead man switch SW8 comprises a normally-open type push button switch mounted on the back surface of the teaching operation panel 51 for urgently stopping the robot 52 to secure the safety of an operator in such a manner that when the operator removes his hand from the teaching operation panel 51 and releases the pushed buttons the robot 52 is urgently stopped. The effective/ineffective switch SW9 comprises a changeover switch for making the function of the dead man switch SW8 either effective or ineffective.
The teaching operation panel 51 is connected to a robot control device (not shown) for controlling the operation of the robot 52 through connection cable, and in particular, the emergency stop switch SW7, the dead man switch SW8 and the effective/ineffective switch SW9 of the teaching operation panel 51 are connected to the relay circuit unit 53 in the robot control device. The power supply Vcc of the relay circuit unit 53 is connected to the dead man switch SW8 and effective/ineffective switch SW9 through the emergency stop switch SW7. A relay R1, connected in series to the dead man switch SW8, includes a make contact r1a and a break contact r1b, and a relay R2, connected in series to the effective/ineffective switch SW9, includes a make contact r2a and break contact r2b. Further, a relay R3, connected in series to a plurality of switches SW10-SWn mounted on a safety fence and connected to each other in series, includes two make contacts r3a1 and r3a2.
The three contacts, i.e., break contact r1b of the relay R1, the break contact r2b of the relay R2 and the make contact r3a2 of the relay R3 are connected to each other in parallel (which are tentatively referred to as a first parallel circuit), and the series circuit comprising the make contact r3a1 of the relay R3 and the make contact r2a of the relay R2 is connected in parallel to the make contact r1a of the relay R1 (which are tentatively referred to as a second parallel circuit). Then, the second parallel circuit, the first parallel circuit and a relay R4 are connected in series to each other and further connected to the power supply Vcc of the relay circuit unit 53. The make contact r4a of the relay R4 is disposed between a power source 54 and a brake release circuit 55, and when closed, the make contact r4a actuates the brake release circuit 55 and releases a brake applied to the operation of the robot 52 and thus the robot 52 is in operation. Further, the power supply Vcc of the relay circuit unit 53 is connected to the series circuit comprising the safety fence switches SW10-SWn and relay R3.
In this robot emergency stop circuit, when the dead man switch
REFERENCES:
patent: 5079491 (1992-01-01), Nose et al.
patent: 5115179 (1992-05-01), Fujii et al.
patent: 5212433 (1993-05-01), Yasuyuki
Hashimoto Yoshiki
Matsuo Yasuhiro
Fanuc Ltd.
Ro Bentsu
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