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KR950702897A - Industrial robot and emergency stop control method - Google Patents

Industrial robot and emergency stop control method Download PDF

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Publication number
KR950702897A
KR950702897A KR1019950700801A KR19950700801A KR950702897A KR 950702897 A KR950702897 A KR 950702897A KR 1019950700801 A KR1019950700801 A KR 1019950700801A KR 19950700801 A KR19950700801 A KR 19950700801A KR 950702897 A KR950702897 A KR 950702897A
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KR
South Korea
Prior art keywords
emergency stop
switch
predetermined
robot arm
control unit
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Granted
Application number
KR1019950700801A
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Korean (ko)
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KR0155062B1 (en
Inventor
히로치카 모치다
타로 하리마
토오루 가타에
다카아키 니시무라
도모유키 고바야시
마코토 오카다
토 기미카즈 사
유우지 와타나베
다카시 나가노
핫도리다카오
켄지 이시이
마사노리 이와시타
Original Assignee
기타오카 다카시
미쓰비시 덴키 가부시키가이샤
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Publication of KR950702897A publication Critical patent/KR950702897A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50198—Emergency stop

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Electrodes For Cathode-Ray Tubes (AREA)
  • Cathode-Ray Tubes And Fluorescent Screens For Display (AREA)

Abstract

비상정지 지령의 취소가 가능하고, 또 취소된 상태로의 운전을 방지할 수 있는 비상정지장치를 갖는 로봇을 얻을 수 있다. 그러기 위해, 교시장치에 설치된 비상정지 스위칭(3a, 3b)에 의한 비상정지 지령을 무효로 하는 비상정지 취소스위치(16a)를 갖는 제어장치(lla)와, 이 제어장치(1la)에 의해 구동되는 기구부(2)를 구비하고 비상정지를 취소한 상태로 시스템을 운전하려고 할 때는 시스템이 동작하지 않도록 한다. 또 상술한 교시장치를 제어장치(1la)로부터 제거하거나 접속할 때 시스템이 비상정지가 되지 않는다.It is possible to obtain a robot having an emergency stop device capable of canceling the emergency stop command and preventing operation in the canceled state. To this end, a control device lla having an emergency stop cancellation switch 16a for invalidating the emergency stop command by the emergency stop switching 3a, 3b provided in the teaching device, and driven by this control device 1la. When the system is provided with the mechanism part 2 and the emergency stop is canceled, the system is not operated. In addition, the system does not become an emergency stop when the above-described teaching device is removed from or connected to the control device 1la.

Description

산업용 로봇 및 그 비상정지 제어방법Industrial robot and emergency stop control method

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 이 발명의 실시예 1, 실시예 2 및 실시예 3에서의 산업용 로봇의 개략구성을 나타내는 블록도이고,1 is a block diagram showing a schematic configuration of an industrial robot in Embodiments 1, 2 and 3 of the present invention,

제2도는 제1도에서, 이 발명의 실시예 1의 경우를 표시하는 부분상세블록도이고,FIG. 2 is a partial detailed block diagram showing the case of Embodiment 1 of the present invention in FIG.

제3도는 제1도에서, 이 발명의 실시예 2의 경우를 표시하는 부분상태블록도이고,FIG. 3 is a partial state block diagram showing the case of Embodiment 2 of the present invention in FIG.

제4도는 제1도에서, 이 발명의 실시예 3의 경우를 나타내는 부분상세블록도이고,4 is a partial detailed block diagram showing the case of Embodiment 3 of the present invention in FIG.

제5도는 이 발명의 실시예 5의 동작을 표시하는 블록도이고,5 is a block diagram showing the operation of Embodiment 5 of the present invention,

제6도는 이 발명의 실시예 6의 동작을 표시하는 블록도이다.6 is a block diagram showing the operation of Embodiment 6 of the present invention.

Claims (5)

로봇암을 갖는 기구부와, 상기 로봇암을 소정의 프로그램에 따라 구동제어하는 동시에 소정의 비상정지신호에 의해 상기 로봇암의 동작을 강제적으로 정지시키는 구동제어부와, 상기 로봇암의 위치를 상기 구동제어부에 교시하기 위한 스위치 및 비상정지 스위치를 갖는 동시에 소정의 접속함에 장착함으로써 상기 구동제어부에 전기적으로 접속되는 교시장치와, 비상정지 취소스위치와, 상기 비상정지 스위치가 소정의 조건으로 조작되었을 때에 상기 비상정지 신호를 출력하는 동시에, 상기 교시장치가 상기 소정의 접속함에 장착되어 있지 않고, 또 상기 비상정지 취소스위치가 투입되어 있지 않은 상태 및 상기 교시장치가 상기 소정의 접속함에 장착되어 있고, 또 상기 비상정지 취소스위치가 투입되어 있는 상태에서, 상기 비상정지 신호를 출력하는 비상정지 제어부를 구비한 것을 특징으로 하는 산업용 로봇.A mechanism having a robot arm, a drive control unit for driving control of the robot arm according to a predetermined program and forcibly stopping the operation of the robot arm by a predetermined emergency stop signal, and the position of the robot arm at the drive control unit. The teaching device, which is electrically connected to the drive control unit by having a switch for teaching and an emergency stop switch and mounted in a predetermined junction box, the emergency stop cancel switch, and the emergency stop switch when the emergency stop switch is operated under a predetermined condition. At the same time as outputting a stop signal, the teaching device is not mounted in the predetermined junction box, the emergency stop canceling switch is not inserted, and the teaching device is mounted in the predetermined junction box. Outputs the emergency stop signal while the stop cancellation switch is in the closed state. An industrial robot comprising the emergency stop control. 제1항에 있어서, 접속함의 핀중 한쌍의 핀은 교시장치측에서 단락되어, 이 한쌍의 핀으로부티의 신호선을 통해서, 상기 교시장치가 장착되어 있는지의 여부가 검출되는 것을 특징으로 하는 산업용 로봇.The industrial robot according to claim 1, wherein a pair of pins of the pins of the junction box are short-circuited at the teaching device side, and it is detected whether the teaching device is mounted by the pair of pins via the signal line of the bootie. 제1항 또는 제2항에 있어서, 교시장치가 장치되어 있고 또 비상정지 취소스위치가 투입되어 있는 상태가 되었을 때 소정시간을 경과한 후에 비로서 비상정지 제어부로부터 비상정지 신호가 출력되는 것을 특징으로 하는 산업용 로봇.The emergency stop signal is output from the emergency stop control unit after the predetermined time has elapsed when the teaching device is installed and the emergency stop cancel switch is turned on. Industrial robot. 비상정지 스위치가 소정의 조건으로 조작되면, 로봇암의 동작이 강제적으로 정지되는 동시에, 상기 로봇암의 위치를 교시하기 위한 스위치 및 상기 비상정지 스위치를 갖는 교시창치가 소정의 접속함에 장착되어 있지 않고, 또 비상정지 취소스위치가 투입되어 있지 않은 상태 및 상기 교시장지가 상기 소정의 접속함에 접착되어 있고, 또 상기 비상정지 취소스위치가 투입되어 있는 상태에서 상기 로봇암의 동작이 강제적으로 정지되도록 비상 정지제어부에 의해 제어되는 것을 특징으로 하는 산업용 로봇의 비상정지 제어방법.When the emergency stop switch is operated under predetermined conditions, the operation of the robot arm is forcibly stopped, and the teaching window having the emergency stop switch and the switch for teaching the position of the robot arm are not mounted in the predetermined junction box. And emergency stop so that the operation of the robot arm is forcibly stopped while the emergency stop cancel switch is not inserted and the teaching place is bonded to the predetermined junction box and the emergency stop cancel switch is inserted. Emergency stop control method for an industrial robot, characterized in that controlled by the control unit. 제4항에 있어서, 교시장치가 장착되어 있고 또 비상정지 취소스위치가 투입되어 있는 상태로 되었을 때 이 상태가 소정시간 계속한 다음 비로서 로봇암의 동작을 강제로 정지시키도록 비상정지 제어부에 의해 제어되는 것을 특징으로 하는 산업용 로봇의 비상정지 제어방법.5. The emergency stop control unit according to claim 4, wherein when the teaching device is installed and the emergency stop canceling switch is turned on, the emergency stop control unit stops the operation of the robot arm after the predetermined time continues. Emergency stop control method for an industrial robot, characterized in that the control. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019950700801A 1993-10-06 1994-10-06 Industrial robot and emergency stop control method Expired - Lifetime KR0155062B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP93-250700 1993-10-06
JP25070093 1993-10-06
PCT/JP1994/001671 WO1995009718A1 (en) 1993-10-06 1994-10-06 Industrial robots and emergency stop control method

Publications (2)

Publication Number Publication Date
KR950702897A true KR950702897A (en) 1995-08-23
KR0155062B1 KR0155062B1 (en) 1998-11-02

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Application Number Title Priority Date Filing Date
KR1019950700801A Expired - Lifetime KR0155062B1 (en) 1993-10-06 1994-10-06 Industrial robot and emergency stop control method

Country Status (5)

Country Link
JP (1) JP2769046B2 (en)
KR (1) KR0155062B1 (en)
CN (1) CN1043198C (en)
TW (1) TW267128B (en)
WO (1) WO1995009718A1 (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4202335B2 (en) * 2005-03-22 2008-12-24 ファナック株式会社 Emergency stop circuit
JP5375297B2 (en) * 2009-04-16 2013-12-25 株式会社安川電機 Robot system
JP2014167681A (en) * 2013-02-28 2014-09-11 Fanuc Ltd Control system provided with detachably attachable operation panel
DE102013020697B4 (en) * 2013-12-04 2023-07-06 Kuka Roboter Gmbh Method and control means for controlling a robot
CN104440923B (en) * 2014-11-11 2016-01-06 沈阳新松机器人自动化股份有限公司 A kind of emergent stop signal control system for robot and robot thereof
FR3028625B1 (en) * 2014-11-18 2018-04-27 Staubli Faverges METHOD FOR DISCONNECTING A MANUAL CONTROL UNIT FROM A MULTI-AXIS ROBOT AND ROBOT FOR IMPLEMENTING SUCH A METHOD
JP6657600B2 (en) 2015-06-01 2020-03-04 セイコーエプソン株式会社 Robot system and emergency stop processing device
JP6581145B2 (en) * 2017-05-01 2019-09-25 ファナック株式会社 Systems and connectors
CN108500984B (en) * 2018-05-07 2023-10-03 南宁汇专科技有限公司 Automatic short-circuit type demonstrator connection box
JP2022138297A (en) * 2021-03-10 2022-09-26 日本電産サンキョー株式会社 Robot controller and robot system
JP2023035108A (en) * 2021-08-31 2023-03-13 川崎重工業株式会社 Operation terminal, robot system, and computer program
CN114750161B (en) * 2022-05-16 2024-07-12 深圳市大族机器人有限公司 Robot control device and robot

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JPS60191301A (en) * 1984-03-13 1985-09-28 Fanuc Ltd Safety device for industrial robot
JPS6284992A (en) * 1985-10-09 1987-04-18 株式会社日立製作所 Robot control device

Also Published As

Publication number Publication date
TW267128B (en) 1996-01-01
JPH09505940A (en) 1997-06-10
JP2769046B2 (en) 1998-06-25
CN1043198C (en) 1999-05-05
CN1111448A (en) 1995-11-08
WO1995009718A1 (en) 1995-04-13
KR0155062B1 (en) 1998-11-02

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