JPH0638350B2 - Robot teaching box connection circuit - Google Patents

Description

TECHNICAL FIELD The present invention relates to, for example, a teaching box removably connected to a robot body and a teaching box connection circuit of a robot used for connecting the robot body.

"Prior Art" Conventionally, a teaching box has been used to teach the operation of a manipulator to an industrial robot or the like. A conventional connection circuit between the teaching box and the robot body is shown in FIG. In the figure, reference numeral 1 is a teaching box, which has a function of teaching the operation of the manipulator to the robot body, and a keyboard, a display unit (neither is shown), an emergency stop are provided on the panel surface of the box body. The switch 2 is attached. The teaching box 1 includes a teaching data input / output cable A1 and a teaching data input / output cable A2.
A cable B1 which is formed of a wire and is connected to both terminals of the switch 2 is connected to the connector K1.
Further, the teaching box 1 teaches a robot by inputting and outputting teaching data via the cable A1 by a keyboard operation. The switch 2 is a latch-type switch having a normally-closed contact, and when an abnormal situation occurs during the operation of the robot and it is necessary to turn off the power urgently,
The button is pressed. Connector K that is a pair of connector K1
The cables A1 and B1 are connected via the cable A2
Each of them is connected to B2. The cables A2 and B2 are connected to the control device 4 of the robot body 3, respectively. The control device 4 is composed of a CPU (central processing unit) and the like, is connected to the teaching box 1 via the cables A2 and B2 as described above, and has the same function as the switch 2 on the panel surface. A stop switch 5 is attached, and a drive power control switch 6 is provided inside. In the control device 4, one end of the cable B2 is connected to one end of the switch 6 via the switch 5, the other end is grounded to GND, and the other end of the switch 6 is a drive power ON / OFF relay. 7 is connected to one end. In addition, the control device 4
Is taught the operation of the manipulator by the teaching box 1, and controls the drive device 8 for driving the manipulator based on the teaching data. Further, the control device 4 closes the contact of the switch 6 when the manipulator operates, and opens the contact of the switch 6 when stopped. Further, the control device 4 monitors the connection state of the switch 2 and the switch 5 described above, and when a button is pressed, an alarm (for example,
Alarm sound) is generated. The relay 7 has one end connected to the switch 6 as described above and the other end connected to the drive power source E of the drive device 8. The relay 7 has a normally open contact 9, and when excited by the drive power source E, the contact 9 is closed. The drive power source E is connected to the drive device 8 via the contact 9. The drive device 8 has one end connected to the drive power supply E via the contact 9 as described above, and the other end grounded to GND. This drive 8
Drives the manipulator under the control of the control device 4.

With the above configuration, when the manipulator operates,
The contact of the switch 6 is closed by the control device 4,
The drive power E is supplied to the drive device 8 by exciting the relay 7. When an abnormal situation such as a runaway occurs during the operation of the manipulator, the button of the switch 2 or the switch 5 is pressed, and the contact of the pressed switch is held in the open state. As a result, the relay 7 is no longer excited,
The drive current E is no longer supplied to the drive device 8 and the operation of the manipulator stops. When the button of the switch 2 or the switch 5 is pressed, the control device 4 issues an alarm as described above.

"Problems to be Solved by the Invention" In the conventional teaching box-robot connection circuit described above, when the teaching box is separated from the control device 4 by disconnecting the connectors K1 and K2, the driving power source E Since the serial path from the relay circuit 7 to the GND via the relay 7 is cut at the connector K2, the relay 7 is not excited and the drive power source E is not supplied to the drive device 8. Therefore, there is a problem that the manipulator cannot be driven.
In addition, when the switch 2 of the teaching box 1 is not connected,
There is a problem that the control device 4 makes an erroneous determination as if the button of the switch 2 was pressed and issues an alarm as described above.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a connection circuit for connecting a detachable robot main body and its teaching box, even if the teaching box is separated from the robot main body. An object of the present invention is to provide a teaching box connection circuit for a robot that does not cause inconvenience.

"Means for Solving Problems" The present invention relates to a robot main body provided with a first emergency stop button for making an emergency stop of the main body by shutting off the emergency stop circuit, and an electrical connection via a connector to the emergency stop circuit. And a teaching box provided with a second emergency stop button, which is inserted in series and interrupts the emergency stop circuit to stop the robot body in an emergency, and detects a connection state of the connector. The detection means, a first contact electrically connected in parallel to the second emergency stop button, and the first contact when the detection means detects that the connector is not connected. On the other hand, while closing the contact, when it is detected that the connector is in the connected state, the contact opening / closing means for opening the first contact, and the second non-opening means. And a second contact which is electrically connected in parallel to the normal stop button and which is closed when the robot body and the teaching box are attached and detached, and which is opened when the attachment and detachment is completed. It has a feature.

[Operation] When the teaching box and the robot body are detached, the operator closes the second contact to prevent chattering, so that the emergency stop circuit is interrupted even for a moment due to detachment. Will not be lost.

As a result, the emergency stop circuit on the robot body side is always valid regardless of whether the teaching box is attached or detached.

[Embodiment] A connection circuit according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram for explaining the operation of the connection circuit according to the embodiment. The same parts as those described with reference to FIG. 2 are designated by the same reference numerals, and the description thereof will be omitted. The circuit of FIG. 6 differs from that of FIG. 2 in the following points. That is, the cable C1 is formed by two wires, one end is commonly connected in the teaching box 1, and the other end is connected to the connector K1. Connector K
The cable C1 is connected to the cable C2 through a pair of connectors K2. The cable C2 is connected to the control device 4 of the robot body 3, one line of which is G
It is grounded to ND, and the other wire is connected to one end of the relay 12. The relay 12 has one end connected to the cable C2 as described above, and the power supply E1 is supplied to the other end. This relay 12 has a normally closed contact 13, and the contact 13 is connected in parallel to the cable B2. When the relay 12 is excited, the contact 13 is opened. The contacts 13 are connected in parallel to the cable B2 as described above, but the teaching box connection switch 14 is also connected in parallel in the same manner. The switch 14 is a non-latching switch, has a normally open contact, and is closed when the button is pressed.
The switch 14 is used when connecting / disconnecting the connectors K1 and K2.

Next, the operation of the teaching box attachment / detachment circuit having the above-described configuration will be described.

Relay 1 when connectors K1 and K2 are disconnected
If the control device 4 closes the contact of the switch 6 when the manipulator is operated, the contact 13 of No. 2 is closed, and the series from the drive power source E to the GND via the relay 7 and the contact 13. As a result of the path being established and the relay 7 being excited, the drive power source E is supplied to the drive device 8 to drive the manipulator. In this case, since the contact 13 in the closed state is connected in parallel to the cable B2, the control device 4 does not generate an alarm even if the switch 2 is not connected. When the manipulator operates abnormally, the button of the switch 5 is pressed to cause an emergency stop as described in the circuit of FIG.

When connecting the connectors K1 and K2, the button of the switch 14 is pressed to close the contact, and when the connectors K1 and K2 are connected, the jumper cable C1 is connected to excite the relay 12 and the contact 13 is opened. Next, when the button of the switch 14 is released, the connection of the connectors K1 and K2 is completed, and the function of the switch 2 becomes effective. And
The same operation as that of the circuit of FIG. 2 is performed. still,
The switch 14 is used to prevent the connection state from becoming unstable during connection of the connector. That is, since the contact in the closed state of the switch 14 is connected in parallel to the cable B2, the control device 4 does not erroneously generate an alarm during connection of the connector.

When disconnecting the connectors K1 and K2, the button of the switch 14 is pressed to close the contact, and when the connectors K1 and K2 are disconnected, the relay 12 is no longer excited and the contact 13
Is closed. When the button of the switch 14 is released, the first-mentioned connectors K1 and K2 are in a disconnected circuit state, and the same operation is performed. The switch 14 prevents the connection state from becoming unstable as described above when the connector is disconnected.

As described above, in this connection circuit, when the teaching box 1 and the robot body 3 are not connected, the function of the switch 2 is disabled, and when the teaching box 1 and the robot body 3 are connected, the function of the switch 2 is enabled. Therefore, regardless of the connection state between the teaching box 1 and the robot body 3, the manipulator is driven, the switch 2 or the switch 5 functions normally, and the control device 4 erroneously issues an alarm. There is nothing to do. Further, when the teaching box 1 is connected to the robot body 3 or separated from the robot body 3, the control device 4 does not erroneously issue an alarm.

Although the teaching box 1 is connected to the robot in the above embodiment, a control box may be connected instead.

[Advantages of the Invention] As described above, according to the present invention, in the connection circuit between the detachable robot body and the teaching box, the second contact point is set by the operator when the teaching box and the robot body are detached. Since it is temporarily closed to prevent chattering associated with attachment / detachment, the emergency stop circuit will not be interrupted even for a moment.

Therefore, when attaching and detaching the teaching box and the robot body,
It is possible to eliminate erroneous judgment as if the second emergency button was pressed, and to operate the robot body with the emergency stop circuit on the robot body side always enabled regardless of whether the teaching box is attached or detached. it can.

Further, when the first or second emergency stop button fails for some reason and the emergency stop circuit is interrupted due to the failure, the robot main body can not be operated. There is no risk of operating the robot body without knowing the failure of the stop button,
There is also the effect.

[Brief description of drawings]

FIG. 1 is a diagram for explaining the operation of a connection circuit according to an embodiment of the present invention, and FIG. 2 is a diagram for explaining the operation of a connection circuit between a conventional teaching box and a robot body. 1 ... Teaching box, 2, 5 ... Switch, 3 ... Robot main body, 4 ... Control device, 12 ... Relay, 13 ... Relay 12 contacts, B1, B
2, C1, C2 ... Cable, K1, K2 ... Connector

Claims (1)

[Claims] 1. A robot main body having a first emergency stop button for making an emergency stop of the main body by shutting off the emergency stop circuit, and the robot main body inserted into the emergency stop circuit electrically in series via a connector. A robot comprising a teaching box having a second emergency stop button for stopping the robot main body in an emergency by shutting off a stop circuit, and detecting means for detecting the connection state of the connector, and the second emergency stop button. The first contact electrically connected in parallel to the stop button and the first contact are closed when the detection means detects that the connector is not connected. When it is detected that the connector is in the connected state, the contact opening / closing means for opening the first contact is electrically parallel to the second emergency stop button. Connected, the one that at the time of desorption of the robot body and the teaching box is closed, the teaching box connected circuit of the robot at the time of desorption completion, characterized by comprising a second contact to be opened.