JPH068187A - Safety device of dd robot - Google Patents

Abstract

PURPOSE:To instantaneously stop a DD robot when emergency stop is applied, electricity is cut off, or open phase takes place and to completely stop a DD robot when an abnormality occurs in the DD robot. CONSTITUTION:When an emergency stop switch 1 is pressed or a detector 10 operates, a switch driving circuit 3 turns off a power supply switch 2 to interrupt a commercial power supply. Simultaneously, a motor stop instruction device 12 obtains information from the emergency stop switch 1 and the detector 10 to send a motor stop command to a power transistor drive circuit 14, and a power transistor circuit 18 is controlled to instantaneously stop a DD motor 7. When an arithmetic processing abnormality detecting device 16 is operated, a switch drive circuit 2 turns off the power supply switch 3 to interrupt the commercial power supply, and simultaneously a dynamic brake drive circuit 6 turns on a dynamic brake 5 to stop DD motor 7.

Description

Detailed Description of the Invention

[0001]

[Industrial application] Stopping a DD robot when an emergency stop is applied during operation of a production facility incorporating a DD robot, a power failure, or a phase failure, and the DD robot is abnormal When occurs,
The present invention relates to a safety device for a DD robot in an industrial robot or the like for stopping the DD robot.

[0002]

2. Description of the Related Art Conventionally, a safety device for a DD robot of this type in an industrial robot or the like has the components shown in FIG.

In FIG. 3, 1 is an emergency stop switch, 2
Is a power switch for turning the power on and off, 3 is a switch drive circuit for driving the power switch 2, 4 is a DC power source, 5 is a contactor S
And a dynamic brake composed of a resistor R, 6 is a dynamic drive circuit for driving the dynamic brake,
Reference numeral 7 is a DD motor, 8 is a power transistor circuit for driving the DD motor, 9 is an arm of the DD robot, and 16 is an arithmetic processing abnormality detector.

A safety device for a conventional DD robot, which is composed of the above-mentioned components, is provided when the emergency stop switch 1 is pressed.
Alternatively, when the arithmetic processing abnormality detector 16 detects an abnormality, the switch drive circuit 3 turns off the power switch 2.
Then, the DC power supply 4 is shut off. In parallel with this, the dynamic brake drive circuit 6 turns on the dynamic brake 5, opens the contactor S that constitutes the dynamic brake 5, disconnects the DD motor 7 from the power transistor circuit 8, and simultaneously causes the DD motor 7 to operate. Directly connected D
The kinetic energy of the arm 9 of the D robot is consumed by the resistance R that constitutes the dynamic brake 5, and the DD motor 7
Had been stopped.

In the event of a power failure or a phase loss, the contactor S that constitutes the dynamic brake 5 is no longer supplied with power and the contactor S is turned off. Therefore, the dynamic brake 5 is turned on and the DD motor 7 is turned on. The DD motor 7 is cut off from the power transistor circuit 8 at the same time.
The kinetic energy of the arm 9 of the DD robot directly connected to is consumed by the resistance R forming the dynamic brake 5, and the DD motor 7 is stopped.

[0006]

However, in the above-mentioned conventional DD robot safety device, when the production equipment incorporating the DD robot is in operation, an emergency stop is applied, a power failure occurs, or a phase is lost. In addition, the DD robot cannot stop instantaneously and has a movement amount, which may cause the DD robot to interfere with the work or the jig.

The present invention solves the above-mentioned problems of the prior art. In the event of an emergency stop, a power failure, or a phase failure, the DD robot is stopped instantaneously, and the DD robot is abnormal. It is an object of the present invention to provide a safety device for a DD robot that stops the DD robot when the above occurs.

[0008]

To achieve this object, a safety device for a DD robot according to the present invention comprises a stop switch, a power supply abnormality detector, a motor stop command device, an arithmetic processing abnormality detector, and a power supply. It is equipped with a switch, a dynamic brake, and a control power backup circuit.When the stop switch is pressed or the power supply abnormality detector works, the power switch is turned off and at the same time, the motor stop commander works to instantly operate the motor. When the arithmetic processing abnormality detector operates, the power supply switch is turned off and the dynamic brake is applied to stop the motor.

[0009]

With this configuration, when the production equipment incorporating the DD robot is subjected to an emergency stop during operation, a power failure, or a phase failure, the DD robot is instantaneously stopped by the motor stop command device. It is possible to eliminate the interference with the work or jig caused by having the movement amount as in the past. Further, even when an abnormality occurs in the DD robot, the dynamic brake can be applied to stop the DD robot.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows D in the first embodiment of the present invention.
It is a block diagram of the safety device of D robot. Here, the same parts as those of the conventional example are designated by the same reference numerals and the description thereof will be omitted.
In FIG. 1, 10 is a detector as a power supply abnormality detector that is interposed between two phases of a single-phase commercial power source and detects a power failure or a missing phase, 12 is a motor stop command device, and 13 is a DD motor 7
Is a rotary encoder, 14 is a power transistor drive circuit, and 15 is a control power supply backup circuit.

Next, regarding the safety device of the DD robot,
The relationship and operation of each component will be described below.
When the emergency stop switch 1 is pressed or when the detector 10 detects a power failure or a missing phase, the switch drive circuit 3 turns off the power switch 2 and shuts off the commercial power supply that supplies power to the DD motor 7. In parallel with this, the motor stop command device 12 obtains information from the emergency stop switch 1, the detector 10 and the rotary encoder 13, sends a motor stop command to the power transistor drive circuit 14, and the DD motor 7 stops instantaneously. Power transistor circuit 8
To control.

When a power failure occurs, the commercial power supply stops supplying power. Control power backup circuit 15
Even when a power failure occurs, the power is supplied to the hardware that controls the DD robot so that the DD robot operates normally until the DD robot stops. In this way, the DD motor 7 is instantly stopped.

When the arithmetic processing abnormality detector 16 detects an abnormality, the switch drive circuit 3 turns off the power switch 2.
F, and shut off commercial power. In parallel with this, the dynamic brake drive circuit 6 turns on the dynamic brake 5, and the DD motor 7 is turned on by the power transistor circuit 8
At the same time as cutting off from the DD motor 7, the kinetic energy of the arm 9 of the DD robot directly connected to the DD motor is consumed by the resistor R constituting the dynamic brake 5 to stop the DD motor 7. In this way, the DD motor 7 is stopped.

FIG. 2 shows a DD according to the second embodiment of the present invention.
It is a block diagram of a safety device of a robot. Where the first
The same parts as those of the embodiment are denoted by the same reference numerals and the description thereof will be omitted. In FIG. 2, reference numerals 10 and 11 denote detectors as power supply abnormality detectors that are interposed between two phases of a three-phase commercial power supply and detect a power failure or a missing phase.

The operation of the safety device for the DD robot having this component will be described below. When the emergency stop switch 1 is pressed or the detectors 10 and 11 detect a power failure or a missing phase, the switch drive circuit 3 turns off the power switch 2 and shuts off the commercial power supply that supplies power to the DD motor 7. . In parallel with this, the motor stop command device 12 obtains information from the emergency stop switch 1, the detectors 10 and 11 and the rotary encoder 13 and sends a motor stop command to the power transistor drive circuit 14,
The power transistor circuit 8 is controlled so that the motor 7 stops instantaneously.

When a power failure occurs, the commercial power supply stops supplying power. Control power backup circuit 15
Even when a power failure occurs, the power is supplied to the hardware that controls the DD robot so that the DD robot operates normally until the DD robot stops. In this way, the DD motor 7 is instantly stopped.

The operation of the arithmetic processing abnormality detector 16 is also the same as that of the first embodiment, and will be omitted. Although the power transistor is used for the circuit 8 in the first and second embodiments, FET or IGBT may be used.

[0018]

As described above, according to the present invention, when the emergency stop switch is pressed, or when a power failure or phase loss occurs, the commercial power supply for supplying power to the DD motor is cut off, and at the same time, the motor stop command device A motor stop command is sent to the power transistor drive circuit, and the power transistor circuit is controlled so that the DD motor stops instantaneously, so if an emergency stop is applied while the production equipment incorporating the DD robot is in operation, or if a power failure occurs. Or, when the phase is lost, the DD robot cannot stop instantaneously as in the conventional case and has a movement amount so that it does not interfere with a work or a jig.

Further, when the arithmetic processing abnormality detector detects an abnormality, the commercial power supply for supplying the electric power to the motor is cut off and the dynamic brake is simultaneously applied to stop the motor. It is possible to stop the DD robot.

[Brief description of drawings]

FIG. 1 is a block diagram of a safety device for a DD robot according to a first embodiment of the present invention.

FIG. 2 is a block diagram of a safety device for a DD robot according to a second embodiment of the present invention.

FIG. 3 is a block diagram of a safety device for a conventional DD robot.

[Explanation of symbols]

 1 Emergency Stop Switch 2 Power Switch 3 Switch Circuit Drive Circuit 4 DC Power Supply 5 Dynamic Brake 6 Dynamic Brake Drive Circuit 7 DD Motor 8 Power Transistor Circuit 9 DD Robot Arm 10, 11 Power Failure or Open Phase Detector 12 Motor Stop Commander 14 power transistor drive circuit 15 control power supply backup circuit 16 arithmetic processing abnormality detector

Claims (1)

[Claims] 1. A stop switch, a power supply abnormality detector, a motor stop command device, an arithmetic processing abnormality detector, a power supply switch, a dynamic brake, and a control power supply backup circuit, and the stop switch is pressed. Or
When the power supply abnormality detector works, the power supply switch is turned off, and at the same time, the motor stop command device operates to stop the motor instantaneously. When the arithmetic processing abnormality detector works, the power supply switch A safety device for a DD robot, characterized in that the motor is stopped by applying the dynamic brake at the same time when the power is turned off.