Teaching equipment for mechatronic systems

Abstract

The teaching device of the electromechanical system provided by the present disclosure is used to connect the emergency stop circuit of the electromechanical equipment, and the teaching device includes a multi-stage key switch, an enabling switch and a safety control device. The multi-stage key switch includes a first mode and a second mode, and is used to switch between the first mode and the second mode. The multi-stage key switch generates a switching signal when switching. The enabling switch is connected to the emergency stop circuit. The safety control device is connected to the multi-stage key switch and is used to receive the switching signal of the multi-stage key switch. The safety control device includes an instantaneous emergency stop circuit and a circuit breaker time. The instantaneous emergency stop circuit is connected to the emergency stop circuit. The safety control device triggers the emergency stop circuit to enter the emergency stop state according to the switching signal. The emergency stop state includes the instantaneous emergency stop circuit interrupting the emergency stop circuit until the circuit breaker time expires and then restoring the emergency stop circuit.

Description

Technical Field

[0001] The present disclosure relates to an electromechanical system, and more particularly to a teaching device for an electromechanical system. Background Art

[0002] The increasing demand for automated production, handling, and other processes is driving the use of robots. However, robots may need to be stopped during operation due to malfunctions, failures, changes in movement or travel. Currently, this is typically achieved by triggering the robot's emergency stop switch to pause operation for maintenance and to ensure the safety of the operator.

[0003] Robots or electromechanical equipment require a teaching program from a teaching device to establish automated or test operating procedures. This allows the robot or electromechanical equipment to establish or execute automated operations. However, the emergency stop switch on the robot and the switches on the teaching device currently operate independently and are not connected by hardware circuits. Therefore, the operation of the switches on the teaching device requires software operation to notify the robot whether to enter the emergency stop state.

[0004] Furthermore, the operation of the three-stage key switch and the enable switch of the teaching device is to determine the operating position through software to control the operation of the electromechanical equipment. The three-stage key switch is used to switch the operating mode. The enable switch is a three-stage switch, which can be divided into neutral position, pressing and fully released according to the pressing action. The neutral position and pressing correspond to different operating modes. In actual operation, the three-stage key switch or the enable switch may malfunction or the software may misjudge the pressing action of the enable switch, resulting in the electromechanical equipment not stopping when the three-stage key switch is switched to off or the enable switch is fully released. Alternatively, when the user operates the enable switch, the pressing action is accidentally touched (acted) and switched from the neutral position to pressing or releasing, causing the electromechanical equipment to enter continuous operation or stop operation accordingly. In this way, the execution after the software judgment may also be dangerous. Summary of the Invention

[0005] In view of the above-mentioned shortcomings, one of the objectives of the present disclosure is to provide a teaching device for an electromechanical system, so as to avoid the problem of software misjudgment by connecting each switch of the teaching device to an emergency stop circuit through a hardware circuit.

[0006] Therefore, the teaching device of the electromechanical system provided in accordance with the present disclosure is used to connect the emergency stop circuit of the electromechanical equipment, and the teaching device includes a multi-stage key switch, an enabling switch and a safety control device. The multi-stage key switch includes a first mode and a second mode, and is used to switch between the first mode and the second mode. The multi-stage key switch generates a switching signal when switching. The enabling switch is connected to the emergency stop circuit. The safety control device is connected to the multi-stage key switch and is used to receive the switching signal of the multi-stage key switch. The safety control device includes an instantaneous emergency stop circuit and a circuit breaker time. The instantaneous emergency stop circuit is connected to the emergency stop circuit. The safety control device triggers the emergency stop circuit to enter the emergency stop state according to the switching signal. The emergency stop state includes the instantaneous emergency stop circuit interrupting the emergency stop circuit until the circuit breaker time is reached and then restoring the emergency stop circuit.

[0007] In this way, the multi-stage key switch of the teaching device of the electromechanical system disclosed in the present invention can trigger the emergency stop state through the safety control device when switching, and the enabling switch can also interrupt the emergency stop circuit to trigger the emergency stop signal, thereby improving the safety and reliability of the electromechanical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The detailed structure, features, and manufacturing method of the teaching device for an electromechanical system will be described in the following embodiments. However, it should be understood that the following embodiments and drawings are for illustrative purposes only and should not be used to limit the claims of the present disclosure.

[0009] Figure 1 is a schematic diagram of an embodiment of an electromechanical system of the present disclosure;

[0010] Figure 2 yes Figure 1 The block diagram of the emergency stop switch, emergency stop circuit and teaching device;

[0011] Figure 3 It is a continuation Figure 2 , and display the circuit diagram of the receiving circuit, judgment circuit, instantaneous emergency stop switch and bridge circuit;

[0012] In the figure,

[0013] 10: Electromechanical systems

[0014] 30: Mechanical and electrical equipment

[0015] 31: Robotic Arm

[0016] 33: Emergency stop circuit

[0017] 35: Emergency stop switch

[0018] 37: Safety relay module

[0019] 50: Teaching equipment

[0020] 51: Multi-stage key switch

[0021] 53: Enable switch

[0022] 55: Safety control device

[0023] 551: Instantaneous emergency stop circuit

[0024] 5511: Relay

[0025] 553: Receiving circuit

[0026] 5531, 5532: NOT-OR gate

[0027] 5533, 5534, 5535: Inverters

[0028] 5536: OR gate

[0029] 555: Judgment circuit

[0030] 557: Bridge Circuit

[0031] 5571: Relay

[0032] 57: Bypass circuit

[0033] N1, N2, N3, N4: endpoints

[0034] R1, R2: resistors

[0035] C1, C2: capacitors

[0036] Q1: First transistor

[0037] Q2: Second transistor

[0038] Q3: The third transistor. DETAILED DESCRIPTION

[0039] The following describes in detail the technical content and features of the present disclosure through several embodiments listed below in conjunction with the accompanying drawings. The terms "connection" or "electrical connection" mentioned in this specification are only terms for normal electrical conduction or connection, and are not intended to limit the claims.

[0040] In order to explain the technical features of the present disclosure in detail, the following embodiments are given with reference to the accompanying drawings, wherein:

[0041] like Figure 1As shown, the figure is a schematic diagram of the electromechanical system 10 of the present invention. The electromechanical system 10 includes an electromechanical device 30 and a teaching device 50. The teaching device 50 is connected to the electromechanical device 30 and is used to control the operation of the electromechanical device 30. The electromechanical device 30 includes a robotic arm 31 and an emergency stop circuit 33. The emergency stop circuit 33 is connected to the robotic arm 31 and includes an emergency stop switch 35 and a safety relay module 37. The emergency stop switch 35 can trigger the emergency stop circuit 33 to enter the emergency stop state, so that the robotic arm 31 interrupts or pauses operation to achieve a safety protection function. Among them, the safety relay module 37 can stop, energize and reset the robotic arm 31.

[0042] The teaching device 50 is connected to the electromechanical device 30 and drives the operation of the electromechanical device 30 . The operation includes adjusting or setting the operation process, action, and status of the electromechanical device 30 .

[0043] The teaching device 50 includes a multi-position key switch 51, an enabling switch 53, and a safety control device 55. The multi-position key switch 51 has a first mode and a second mode and is used to switch between the first mode and the second mode. The multi-position key switch 51 generates a switching signal when switching. The generation of the switching signal causes the first mode to switch to the second mode, or the second mode to switch to the first mode.

[0044] In this embodiment, the first mode can be a manual program or teaching program, and the second mode can be an automatic (AUTO) program. The manual program can be divided into a first manual mode and a second manual mode based on the operating speed. The first manual mode can be used for point teaching, trial operation, and program establishment of the electromechanical device 30. The second manual mode can be used to review the program of the electromechanical device 30. Automatic programs are typically run in automated production or operations to allow the electromechanical device 30 to perform automated operations. In other embodiments, the multi-stage key switch 51 can have more modes, such as an OFF mode or a collaborative mode.

[0045] The enabling switch 53 is connected to the emergency stop circuit 33 so that the enabling switch 53 and the emergency stop circuit 33 are linked.

[0046] The safety control device 55 is connected to the multi-stage key switch 51 and is configured to receive a switching signal from the multi-stage key switch 51. The safety control device 55 can detect the switching of the multi-stage key switch 51. When the multi-stage key switch 51 is switched, the safety control device 55 can determine the switching of the multi-stage key switch 51 and the corresponding switching mode based on the switching signal. When the multi-stage key switch 51 is not switched, the safety control device 55 can detect the current mode of the multi-stage key switch 51.

[0047] The safety control device 55 includes an instantaneous emergency stop circuit 551 and a trip timer. The instantaneous emergency stop circuit 551 is connected to the emergency stop circuit 33. The safety control device 55 triggers the emergency stop circuit 33 to enter an emergency stop state based on a switching signal. The emergency stop state involves the instantaneous emergency stop circuit 551 interrupting the emergency stop circuit 33 until the power-off timer expires, at which point the circuit 33 is restored. This puts the electromechanical system 10 in an emergency stop state. In this state, the electromechanical device 30 cannot be operated or energized.

[0048] The power-off time is required to allow the electromechanical device 30 to recognize that the emergency stop circuit 33 has been triggered and the emergency stop state has been initiated. Therefore, the power-off time is related to the sensitivity of the electronic components of the electromechanical device 30. In this embodiment, the power-off time is approximately 0.8 seconds. In other embodiments, the power-off time may be longer or shorter. A shorter power-off time depends on the sensitivity of the electronic components to avoid triggering the emergency stop state without the electromechanical device 30 recognizing that the emergency state has been initiated. A longer power-off time may waste waiting time for the electromechanical device 30.

[0049] Subsequently, the emergency stop state can be cleared by resetting the emergency stop circuit 33. After the emergency stop state is cleared, the electromechanical device 30 can be operated or energized again.

[0050] like Figure 2 As shown, the safety control device 55 further includes a receiving circuit 553, a determination circuit 555, and a bridge circuit 557. The receiving circuit 553 is connected to the multi-stage key switch 51 and receives the switching signal. The receiving circuit 553 determines the switching signal through the composition of logic gate components and uses it to adjust the trip time. In this embodiment, the trip time corresponds to the on-time T of a pulse. Therefore, the receiving circuit 553 can achieve this by adjusting the on-time of the pulse.

[0051] The determination circuit 555 is connected to the receiving circuit 553, the instantaneous emergency stop circuit 551, and the bridge circuit 557, and determines whether the switching signal corresponds to the first mode or the second mode. Furthermore, when the multi-position key switch 51 is not switched, the determination circuit 555 can also determine the current mode of the multi-position key switch 51.

[0052] The bridge circuit 557 connects the emergency stop circuit 33 and the enable switch 53, and is in a bypass relationship with the enable switch 53. When the multi-position key switch 51 is in the second mode, the judgment circuit 555 triggers the bridge circuit 557, so that the emergency stop switch 53 and the bridge circuit 557 form a bypass circuit 57. The bypass circuit 57 bypasses the enable switch 53, allowing the motor system to perform the automatic program, that is, bypassing the manual program. The four terminals N1-N4 of the emergency stop circuit 33 are connected Figure 1 The safety relay module 37 of the electromechanical device 31 .

[0053] like Figure 3As shown, receiving circuit 553 includes two NOR gates 5531 and 5532, three inverters (NOTGates) 5533, 5534, and 5535, an OR gate 5536, two resistors R1 and R2, and two capacitors C1 and C2. Determination circuit 555 includes a first transistor Q1, a second transistor Q2, and a third transistor Q3. The instantaneous emergency stop switch 551 and the bridge circuit 557 are relays 5511 and 5571, respectively.

[0054] The input of inverter 5533 is connected to the multi-stage key switch 51 and the input of NOR gate 5531. Resistor R1 and capacitor C1 are electrically connected to the inputs of inverters 5533 and 5534. The output of inverter 5534 is connected to the input of NOR gate 5531. The output of inverter 5533 is connected to the input of NOR gate 5532. Resistor R2 and capacitor C2 are electrically connected to the output of inverter 5533 and the input of inverter 5535. The output of inverter 5535 is connected to the input of NOR gate 5532. The outputs of NOR gates 5531 and 5532 are connected to the input of OR gate 5536, and the output of OR gate 5536 is connected to the gate of first transistor Q1.

[0055] The source of the first transistor Q1 is connected to a power source. The drain of the first transistor Q1 is connected to the relay 5511 of the instantaneous emergency stop circuit 551 to control the switching operation of the relay 5511. The normally open contact of the relay 5511 is connected in series with the emergency stop circuit 33.

[0056] The gate of the second transistor Q2 is connected to the output of the inverter 5533. The source of the second transistor Q2 is connected to ground. The drain of the second transistor Q2 is electrically connected to the drain of the third transistor Q3, the gate of the first transistor Q1, and the power supply. The source of the third transistor Q3 is connected to ground. The gate of the third transistor Q3 is electrically connected to ground and the normally closed contact of the relay 5571. The normally closed contact of the relay 5571 is connected to the power supply. The normally open contact of the relay 5571 is electrically connected to the emergency stop circuit 33 and forms a bypass relationship with the enabling switch 53. Relay 5571 is connected to the gate of the second transistor Q2 and the output of the inverter 5533 to control the switching operation of the relay 5571 according to the second mode of the multi-position key switch 51.

[0057] In this embodiment, the multi-position key switch 51 switches from the second mode to the first mode, generating a pulse in the switching signal that triggers a high level (e.g., 1). This causes the output of the OR gate 5536 to output a switching signal, which triggers the first transistor Q1 to turn off. This opens the normally open contact of the relay 5511, disconnecting the emergency stop circuit 33 and triggering the emergency stop state. The disconnection time is the same as the circuit-breaking time, which is the pulse returning from a high level to a low level (e.g., 0). The circuit-breaking time is adjustable by adjusting the parameters of resistors R1 and R2 and capacitors C1 and C2. When the circuit-breaking time expires, the first transistor Q1 turns on, closing the normally open contact of the relay 5511 and connecting the emergency stop circuit 33.

[0058] When the multi-position key switch 51 switches from the first mode to the second mode, the switching signal generates a pulse and triggers at a low level (e.g., 0). This causes the output of the OR gate 5536 to output a switching signal, which triggers the first transistor Q1 to turn off, opening the normally open contact of the relay 5511 and disconnecting the emergency stop circuit 33, thereby triggering the emergency stop state. When the circuit breaker timer expires, the first transistor Q1 turns on, closing the normally open contact of the relay 5511 and connecting the emergency stop circuit 33. When the switching signal pulse is triggered at a low level, the output of the inverter 5533 outputs a high-level signal (e.g., 1), triggering the second transistor Q2 to turn on, the third transistor Q3 to turn off, and the relay 5571 to operate. This closes the normally open contact of the relay 5571, thus connecting the bypass circuit 57.

[0059] When the multi-stage key switch 51 is not switched, that is, the previous operating mode is maintained, the switching signal does not have a relative high or low level change and no pulse is generated. The output terminal of the OR gate 5536 outputs a switching signal to trigger the first transistor Q1 to turn on, and therefore, the emergency stop state is not triggered.

[0060] In other embodiments, the above logic or switch descriptions of each circuit allow those skilled in the art to use other components and the number of components to implement the relevant circuits, so the above logic or switch descriptions are not used. Figure 3 The circuit diagram is limited.

[0061] Among them, although the operation of the enabling switch 53 will not trigger the emergency stop state in the second mode, when the multi-stage key switch 51 is switched or the emergency stop switch 31 is triggered, the emergency stop state can still be triggered through the bypass loop 57 formed by the emergency stop switch 31, the bridge circuit 557 and the instantaneous emergency stop circuit 551.

[0062] When the multi-position key switch 51 is in the first mode, the bridge circuit 557 is inoperative. The enabling switch 53 has an operating mode and an off mode. The operating mode, for example, is in the neutral position. The off mode, for example, is in the fully released or fully pressed position. When the enabling switch 53 switches from the operating mode to the off mode, it interrupts the emergency stop circuit 33, triggering an emergency stop state that halts the electromechanical equipment and prevents user error.

[0063] In summary, the teaching device of the present disclosure can trigger the emergency stop state when the emergency stop loop is interrupted, thereby realizing hardware-triggered emergency stop state, thereby improving the safety and reliability of electromechanical equipment.

[0064] The above embodiments illustrate that those skilled in the art can understand the technology and purpose of the teaching device disclosed herein. Therefore, the above configuration of the teaching device can also be changed in hardware through the number or arrangement of logical components to achieve the same technology and purpose. Therefore, the teaching device described in the embodiment is only for illustration in this embodiment and is not intended to limit the claims.

Claims

1. A teaching device for an electromechanical system, for connecting to an emergency stop circuit of an electromechanical device, characterized in that: And include: A multi-stage key switch, including a first mode and a second mode, and used to switch between the first mode and the second mode, wherein the multi-stage key switch generates a switching signal when switching; An enabling switch is connected to the emergency stop circuit; and A safety control device is connected to the multi-stage key switch and is used to receive the switching signal of the multi-stage key switch. The safety control device includes an instantaneous emergency stop circuit and a circuit breaker time. The instantaneous emergency stop circuit is connected to the emergency stop circuit. The safety control device triggers the emergency stop circuit to enter an emergency stop state according to the switching signal. The emergency stop state includes the instantaneous emergency stop circuit interrupting the emergency stop circuit until the circuit breaker time expires and then restoring the emergency stop circuit. The safety control device includes a receiving circuit and a judging circuit. The receiving circuit receives the switching signal. The judging circuit is connected to the receiving circuit and the instantaneous emergency stop circuit and determines whether the switching signal corresponds to the first mode or the second mode. The judgment circuit includes a first transistor, a second transistor, and a third transistor. The first transistor is connected to the receiving circuit, the second transistor, the third transistor, and the instantaneous emergency stop circuit. The instantaneous emergency stop circuit interrupts the emergency stop loop by turning off the first transistor, and resets the emergency stop loop by turning on the first transistor. The second transistor is connected to the receiving circuit and the third transistor. The emergency stop loop includes an emergency stop switch. The safety control device includes a bridge circuit connected to the emergency stop loop, the enable switch, and the third transistor of the judgment circuit, and is in a bypass relationship with the enable switch. In the second mode, the emergency stop switch and the bridge circuit form a bypass loop.

2. The teaching device for an electromechanical system according to claim 1, wherein: The receiving circuit is used to adjust the disconnection time.

3. The teaching device for electromechanical systems according to claim 1, wherein: When the multi-stage key switch is in the first mode, the enabling switch includes a running mode and a disconnecting mode. When the running mode is switched to the disconnecting mode, the enabling switch interrupts the emergency stop circuit to enter the emergency stop state.

4. The teaching device for electromechanical systems according to claim 1, wherein: The first mode includes a manual process, and the second mode includes an automatic process.

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