Enable switch device and load driving control device with the same
By using a two-position switch and signal processing components in a three-position switch device, reliable determination of operating status and fault detection are achieved, solving the problem of insufficient detection in the prior art, reducing costs and improving safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD
- Filing Date
- 2022-05-23
- Publication Date
- 2026-05-19
AI Technical Summary
Existing three-position switch devices are inadequate in detecting internal two-position switch faults, and electromagnetic switching relays have short lifespans and require frequent replacement, resulting in high costs.
It employs at least two two-position switches and signal processing components to determine the operating status and detect faults through a simple structure, and achieves safe state transitions in conjunction with a control device.
It enables reliable determination of operating status and detection of internal faults, reduces equipment replacement costs, ensures operator safety, and prevents accidental robot movements.
Smart Images
Figure CN117222501B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to an enabling switch device and a load drive control device having the same. Background Technology
[0002] In industrial robots, the initial setup of the robot controller and the operation of the robot are mostly taught using a teach pendant attached to the robot controller. During teaching, the operator needs to operate the teach pendant while approaching the robot. Therefore, serious accidents sometimes occur due to malfunctions of various equipment, including the robot, or operator errors.
[0003] To prevent such accidents, teach pendants are typically equipped with three-position switches. Using a three-position switch allows for emergency stopping of the robot by actions such as releasing the operating switch or firmly gripping it, ensuring operator safety.
[0004] Patent Document 1 discloses an enabling device comprising two three-position switches and two monitoring circuits for monitoring the status of the three-position switches. The two monitoring devices are connected to each of the two three-position switches. By configuring the device in this way, safe operation can be ensured even if either of the two monitoring circuits is short-circuited.
[0005] Prior art literature
[0006] Patent documents
[0007] Patent Document 1: Japanese Patent Application Publication No. 2004-209579 Summary of the Invention
[0008] The problem that the invention aims to solve
[0009] In an enable switch device equipped with a three-position switch, it is desirable to reliably transition the robot to a safe state based on the state of the three-position switch. Furthermore, in the event of a short circuit or open circuit fault in the two-position switch within the enable switch device, it is necessary to detect the fault state and transition the robot to a safe state. However, while the conventional structure disclosed in Patent Document 1 can detect short circuit faults in the monitoring circuit, it lacks the fault detection function of the three-position switch itself.
[0010] Furthermore, the conventional enable switch device disclosed in Patent Document 1 outputs the status of a three-position switch via multiple electromagnetic switching relays. However, electromagnetic switching relays have a short lifespan and require frequent replacement. Therefore, there is a problem such as increased replacement costs for components in the enable switch device.
[0011] This disclosure is made in view of this, and therefore aims to provide an enable switch device that can determine the operating state through a simple structure and can perform fault detection of an internal two-position switch, as well as a load drive control device having the same.
[0012] Methods for solving problems
[0013] To achieve the above objectives, the enable switch device disclosed herein is characterized in that it is an enable switch device that moves to a first position as an off state when not in operation, to a second position as an on state during intermediate operation, and to a third position as an off state during full operation. It includes at least a first switch, a second switch, and a first signal processing unit. The first switch and the second switch are both two-position switches. The first signal processing unit is configured to determine, based on the output signals of the first switch and the second switch, which of the first to third positions the enable switch device is in, and to detect whether there is a fault in the first switch and the second switch.
[0014] The load drive control device disclosed herein is characterized in that it includes at least the enable switch device and a control device configured to communicate with the enable switch device. When the enable switch device is determined to be in an on state, the control device sends a drive enable signal to the load configured to communicate with the control device. When the enable switch device is determined to be in an off state, the control device sends a drive stop signal to the load.
[0015] Invention Effects
[0016] According to the enable switch device disclosed herein, the operating state can be determined through a simple structure. Furthermore, fault detection of the internal two-position switch is possible.
[0017] The load drive control device disclosed herein can prevent accidents caused by operator error and ensure operator safety. Furthermore, it can prevent unexpected load operation. Attached Figure Description
[0018] Figure 1 This is a schematic structural diagram of the robot system according to Embodiment 1.
[0019] Figure 2 This is a schematic diagram of the load drive control device.
[0020] Figure 3 This is a schematic diagram illustrating the transition of the operating state of the enable switch device.
[0021] Figure 4This is a diagram showing the determination results in the first state determination unit.
[0022] Figure 5 This is a schematic diagram illustrating the transition of the operating state of the enable switch device according to Embodiment 2.
[0023] Figure 6 This is a schematic structural diagram of the load drive control device according to Embodiment 3.
[0024] Figure 7 This is a schematic diagram illustrating the transition of the operating state of the enable switch device.
[0025] Figure 8 This is a diagram showing the determination results in the first state determination unit and the second state determination unit.
[0026] Figure 9 This is a schematic diagram illustrating the transition of the operating state of the enable switch device according to Embodiment 4. Detailed Implementation
[0027] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. Furthermore, the following description of preferred embodiments is merely illustrative in nature, and the present disclosure is not intended to limit its application or use.
[0028] (Implementation Method 1)
[0029] [Structure of a Robot System]
[0030] Figure 1 A schematic structural diagram of the robot system according to this embodiment is shown. The robot system 1 includes a robot 2 and a load drive control device 200. In addition, the load drive control device 200 includes a robot controller (control device) 3 and a teach pendant 4.
[0031] Robot 2 is a vertical multi-joint robot, consisting of multiple robot arms 2a and joint axes 2b. Motors M (see reference) are connected to each of the multiple joint axes 2b. Figure 2 ).
[0032] The robot controller 3 is a known CPU (Central Processing Unit) or computer. The robot controller 3 is configured to communicate with multiple motors M. Furthermore, the robot controller 3 controls the movements of each of the multiple motors M.
[0033] The teach pendant 4 is an input device for initial setting of the robot controller 3. Furthermore, the teach pendant 4 is a teaching device for teaching the operation of the robot 2.
[0034] The teach pendant 4 has an operation switch 4a and an enable switch device 100 connected to the operation switch 4a (see reference). Figure 2 Based on the operating state of the operating switch 4a, the internal state of the enabling switch device 100 changes. Depending on this state change, the actions of the robot 2 are either permitted or restricted.
[0035] In addition, Figure 1 In this configuration, the robot controller 3 and the teach pendant 4 are configured to exchange data with each other via the communication cable 5. However, this is not particularly limited. The robot controller 3 and the teach pendant 4 can also be configured to exchange data with each other wirelessly.
[0036] [Structure of the load drive control device and enable switch device]
[0037] Figure 2 This diagram shows a schematic structural diagram of the load drive control device. Figure 3 The diagram schematically illustrates the transition of the operating state of the enabling switch device. Figure 4 The determination result in the first state determination unit is shown. Additionally, in Figure 2 In this diagram, only the enable switch device 100 within the teach pendant 4 is shown as a circuit diagram. Furthermore, for ease of explanation, only the motor M connected to one joint shaft 2b is illustrated; however, as mentioned above, the number of motors M is determined by the number of joint shafts 2b. The driving of each motor M is enabled or restricted based on the output signal of the enable switch device 100.
[0038] The enable switch device 100 includes a first switch SW1, a second switch SW2, and a first signal processing unit 10. Furthermore, the enable switch device 100 includes a power supply 30. Alternatively, the power supply 30 may be located externally to the enable switch device 100.
[0039] Switches SW1 and SW2 are two-position switches, each having terminals a, b, and c. Terminal c is a common terminal in both switches SW1 and SW2, and is connected to the power supply 30. That is, switches SW1 and SW2 are connected in parallel. Furthermore, depending on the operation of the aforementioned operating switch 4a, in each of switches SW1 and SW2, the state of terminals c and a being conductive, or the state of terminals c and b being conductive, is switched. Additionally, the terminal connected to the power supply 30 via terminal c is at a high potential (hereinafter referred to as H potential), and the terminal electrically disconnected from the power supply 30 is at a low potential (hereinafter referred to as L potential).
[0040] The first signal processing unit 10 is a known CPU or computer. The first signal processing unit 10 has at least a first signal input unit 11, a first state determination unit 12, and a first state output unit 13.
[0041] The first signal input unit 11 receives the output signals of the first switch SW1 and the second switch SW2 respectively, and inputs them to the first state determination unit 12. Furthermore, the output signal of the first switch SW1 is represented by a combination of the potential of terminal a and the potential of terminal b (see reference). Figure 4 Similarly, the output signal of the second switch SW2 is represented by the combination of the potential of terminal a and the potential of terminal b (see reference). Figure 4 ).
[0042] The first state determination unit 12 determines the operating state of the enable switch device 100 based on the signal input from the first signal input unit 11. Furthermore, the first state determination unit 12 detects whether there is a fault in either the first switch SW1 or the second switch SW2 based on the signal input from the first signal input unit 11. These will be described later.
[0043] The function of the first state determination unit 12 is implemented by the first signal processing unit 10 executing given software. That is, the first state determination unit 12 is a function block in the first signal processing unit 10.
[0044] The first state output unit 13 outputs the operating state of the enable switch device 100 based on the determination result in the first state determination unit 12.
[0045] When switch 4a is not operated (non-operational), both switch SW1 and switch SW2 are in the off state. In this case, as follows: Figure 3 As shown, the enabling switch device 100 is set to position 1. Additionally, as... Figure 4 As shown, switch SW1 is in the off state when the potential at terminal a is H and the potential at terminal b is L. Furthermore, switch SW1 is in the on state when the potential at terminal a is L and the potential at terminal b is H. Similarly, switch SW2 is in the off state when the potential at terminal a is H and the potential at terminal b is L. Furthermore, switch SW2 is in the on state when the potential at terminal a is L and the potential at terminal b is H.
[0046] When the enabling switch 100 is in position 1, it is in the off state. The first state output unit 13 outputs a signal to the robot controller 3. The robot controller 3 recognizes that the enabling switch 100 is in the off state and therefore sends a drive stop signal to the motor M. As a result, drive control of the motor M cannot be performed, and the robot 2 does not move.
[0047] When the operator operates the operating switch 4a, the enabling switch device 100 is configured to first switch SW1 to the ON state. When the first switch SW1 is in the ON state and the second switch SW2 is in the OFF state, as follows... Figure 3 As shown, the enabling switch device 100 is set to position 2. This state is sometimes referred to as an intermediate operating state.
[0048] When the enabling switch 100 is in position 2, it is in an ON state. The first state output unit 13 outputs a signal to the robot controller 3. The robot controller 3 recognizes that the enabling switch 100 is ON and therefore sends a drive enable signal to the motor M. As a result, drive control of the motor M becomes possible, and the robot 2 performs a given action based on the teaching content of the teach pendant 4.
[0049] When the operator further tightens the operating switch 4a from the intermediate operating state, both the first switch SW1 and the second switch SW2 will switch to the ON state. As mentioned above, imagine that the operator, recognizing an operational error that could potentially endanger themselves or the robot system 1, tightens the operating switch 4a. In this case, as... Figure 3 As shown, the enabling switch device 100 is set to position 3. This state is sometimes referred to as the fully operational state.
[0050] When the enable switch 100 is in position 3, it is in the off state. The first state output unit 13 outputs a signal to the robot controller 3. The robot controller 3 recognizes that the enable switch 100 is in the off state, and therefore sends a drive stop signal to the motor M. As a result, drive control of the motor M cannot be performed, and the robot 2 does not move.
[0051] Furthermore, if the first switch SW1 or the second switch SW2 malfunctions, the first state determination unit 12 determines that the operating state of the enabling switch device 100 is not equivalent to any of the positions 1 to 3.
[0052] Furthermore, it is believed that the output signals of switch SW1 and switch SW2 are not... Figure 4 In the scenarios shown, a fault has occurred in either of them. For example, in switch SW1, there may be a situation where the potentials of terminals a and b are both H (high). In this case, a short circuit fault between terminals a and b is considered to have occurred. Furthermore, in switch SW2, there may be a situation where the potentials of terminals a and b are both L (low). In this case, it is considered that the internal contacts of switch SW2 are stuck together, resulting in a state where neither terminal a nor terminal b is in contact, i.e., an open circuit fault has occurred.
[0053] The first state determination unit 12 determines the presence and type of a fault as described above based on the output signals of the first switch SW1 and the second switch SW2. Furthermore, the output signal from the first state output unit 13 contains information related to the operating state of the enable switch device 100. The fault information of the first switch SW1 and the second switch SW2, which relates to the presence and type of a fault, is not directly included in this output signal. However, if the first switch SW1 and the second switch SW2 do not malfunction, the operating state of the enable switch device 100 does not correspond to any of positions 1 to 3. In such a case, the enable switch device 100 is determined to be in the off state.
[0054] Therefore, if this output signal is received, the robot controller 3 sends a drive stop signal to the motor M. As a result, drive control of the motor M becomes impossible, and the robot 2 stops moving.
[0055] Furthermore, the data transmission from the first state output unit 13 to the robot controller 3 can be either wired or wireless communication.
[0056] Furthermore, the determination result of the first state determination unit 12 can also be stored in a storage unit (not shown). In this case, the storage unit can also be located outside the first signal processing unit 10. The information stored in the storage unit includes not only the operating state of the enable switch device 100, but also fault information of the first switch SW1 and the second switch SW2.
[0057] [Effects, etc. 1]
[0058] As explained above, the enable switch device 100 of this embodiment is switched to position 1 (first position) as the off state when not in operation, switched to position 2 (second position) as the on state when in intermediate operation, and switched to position 3 (third position) as the off state when fully in operation.
[0059] The enable switch device 100 includes at least a first switch SW1, a second switch SW2, and a first signal processing unit 10. The first switch SW1 and the second switch SW2 are both two-position switches. Furthermore, the first switch SW1 and the second switch SW2 are connected in parallel.
[0060] The first signal processing unit 10 is configured to determine, based on the output signals of the first switch SW1 and the second switch SW2, which of the three operating states of the enable switch device 100 is position 1 to 3. Furthermore, the first signal processing unit 10 is configured to detect whether there is a fault in either the first switch SW1 or the second switch SW2.
[0061] According to this embodiment, the operating state of the enable switch device 100 can be determined with a simple structure. This prevents the operator from being placed in a dangerous situation due to operator error. Furthermore, it prevents the robot 2 from moving unexpectedly, ensuring the safe operation of the robot system 1.
[0062] Furthermore, according to this embodiment, it is possible to easily detect whether the first switch SW1 and the second switch SW2, which are installed inside the enable switch device 100, are faulty and what type of fault they are. This prevents the robot 2 connected to the enable switch device 100 from operating accidentally, ensuring the safe operation of the robot system 1. In addition, the teach pendant 4 equipped with the enable switch device 100 can be easily replaced or repaired. This reduces the downtime and operating costs of the robot system 1.
[0063] The first signal processing unit 10 includes at least a first signal input unit 11, a first state determination unit 12, and a first state output unit 13.
[0064] The first signal input unit 11 receives the output signals of the first switch SW1 and the second switch SW2 respectively, and inputs them to the first state determination unit.
[0065] The first state determination unit 12 determines, based on the signal input from the first signal input unit 11, which of the three operating states of the enable switch device 100 is position 1 to 3. Furthermore, the first state determination unit 12 detects whether there is a fault in either the first switch SW1 or the second switch SW2.
[0066] Based on the determination result in the first state determination unit 12, the first state output unit 13 outputs the operation state of the enable switch device 100 to the robot controller 3. In addition, as needed, the first state output unit 13 may also output fault information from the first switch SW1 and the second switch SW2 to the robot controller 3.
[0067] By configuring the first signal processing unit 10 in this way, it is possible to easily determine the operating state of the enable switch device 100, whether the first switch SW1 and the second switch SW2 are faulty, etc.
[0068] Furthermore, in this embodiment, the first signal processing unit 10 executes given software to determine the operating state of the enable switch device 100, and whether the first switch SW1 and the second switch SW2 are faulty. Thus, compared to the conventional structure disclosed in Patent Document 1, the number of relays used can be reduced. This extends the replacement cycle of the enable switch device 100 and consequently the teach pendant 4. Furthermore, it reduces the downtime and operating costs of the robot system 1.
[0069] The load drive control device 200 according to this embodiment includes at least an enable switch device 100 and a robot controller (control device) 3. The robot controller 3 is configured to communicate with the enable switch device 100.
[0070] When the enable switch device 100 is determined to be in the ON state, the robot controller 3 sends a drive enable signal to the motor (load) M configured to communicate with the robot controller 3.
[0071] When the enable switch 100 is determined to be in the off state, the robot controller 3 sends a drive stop signal to the motor M.
[0072] According to this embodiment, the robot controller 3 enables or restricts the driving of the motor M based on the state of the enable switch device 100. This prevents accidents caused by operator error and ensures operator safety. Furthermore, it prevents the robot 2 from moving unexpectedly, enabling the robot system 1 to operate safely.
[0073] Furthermore, if a fault is detected in either the first switch SW1 or the second switch SW2, the robot controller 3 sends a drive stop signal to the motor M.
[0074] In this way, the robot 2 connected to the enable switch device 100 can be prevented from moving unexpectedly, and the robot system 1 can operate safely. In addition, it is easy to detect whether the first switch SW1 and the second switch SW2 are faulty and what type they are. As a result, it is easy to replace and repair the teach pendant 4 equipped with the enable switch device 100, and the downtime and operating costs of the robot system 1 can be reduced.
[0075] (Implementation Method 2)
[0076] Figure 5 The transition of the operating state of the enable switch device according to this embodiment is illustrated schematically. Furthermore, for ease of explanation, in... Figure 5 In the accompanying drawings shown thereafter, the same symbols are used for the same parts as in Embodiment 1, and detailed descriptions are omitted.
[0077] The enable switch device 100 of this embodiment differs from the enable switch device 100 of Embodiment 1 in the following aspects.
[0078] like Figure 5 As shown, when the operating state of the enable switch device 100 changes from position 1 (first position) to position 2 (second position), the first state determination unit 12 determines that the operating state of the enable switch device 100 has changed after a transfer time T1 elapses from the time the state change is detected.
[0079] Furthermore, when the operating state of the enable switch device 100 changes from position 3 (third position) to position 1, the first state determination unit 12 determines that the operating state of the enable switch device 100 has changed after a transition time T1 elapses from the time the state change is detected. In this embodiment, the transition time T1 is set to 24 milliseconds, but it is not particularly limited to this setting.
[0080] On the other hand, when the operating state of the enable switch device 100 changes from position 2 to either position 1 or position 3, the first state determination unit 12 determines that the operating state of the enable switch device 100 has changed after a transition time T0 (< T1) has elapsed immediately after detecting the state change.
[0081] According to this embodiment, the start time of driving the motor M can be delayed by a transition time T1 from the moment the enable switch 100 enters the intermediate operating state. This prevents the robot 2 from starting to move before the operator notices, ensuring operator safety. Furthermore, sometimes after the enable switch 100 transitions from the intermediate operating state to the fully operating state, it further transitions to a non-operating state. In such cases, the transition time T1 is delayed to determine whether the enable switch 100 has changed from the fully operating state to the non-operating state. This delays the start time of the robot 2's movement caused by the next intermediate operation, improving operator safety.
[0082] On the other hand, when the enable switch device 100 switches from an intermediate operating state to a fully operating state or a non-operating state, it is necessary to quickly stop the robot 2's movement in order to ensure the operator's safety.
[0083] In these situations, immediately after detecting a state transition, it is determined that the operating state of the enable switch 100 has changed. Therefore, the robot controller 3 can quickly send a drive stop signal to the robot 2, stopping the robot 2's movement. This improves operator safety.
[0084] (Implementation Method 3)
[0085] Figure 6 This diagram shows a schematic structural diagram of the load drive control device according to this embodiment. Figure 7 The diagram schematically illustrates the transition of the operating state of the enabling switch device. Figure 8 The determination results in the first state determination unit and the second state determination unit are shown. Additionally, in Figure 6 In this embodiment, only the enable switch device 100 in the teach pendant 4 is shown as a circuit diagram, which is the same as in Embodiment 1. Similarly, in Figure 6 In the figure, only the motor M connected to one joint axis 2b is shown.
[0086] The enable switch device 100 of this embodiment differs from the enable switch device 100 of Embodiment 1 in the following aspects.
[0087] First, such as Figure 6 As shown, the enable switch device 100 includes at least the first to fourth switches SW11 to SW22, the first signal processing unit 10, and the second signal processing unit 20.
[0088] Switches 1 through 4, SW11 through SW22, are all two-position switches. In each of switches 1 through 4, terminal c is a common terminal and is connected to the power supply 30. That is, switches 1 through 4, SW11 through SW22, are connected in parallel. Furthermore, the operation of each of switches 1 through 4, SW11 through SW22, is the same as the operation of switch 1, SW1, and switch 2, SW2, as shown in Embodiment 1.
[0089] The first signal processing unit 10 is configured to determine the state of the first switch SW11 and the second switch SW21 respectively. That is, it is configured to determine whether the first switch SW11 and the second switch SW21 are in an on or off state. In addition, the first signal processing unit 10 is configured to detect whether the first switch SW11 and the second switch SW21 are faulty.
[0090] Furthermore, similar to the structure shown in Embodiment 1, the first signal processing unit 10 includes at least a first signal input unit 11, a first state determination unit 12, and a first state output unit 13. The function of the first signal input unit 11 is the same as that shown in Embodiment 1, and its description is omitted.
[0091] The first state determination unit 12 determines the state of the first switch SW11 and the second switch SW21 based on the signal input from the first signal input unit 11. That is, it determines whether the first switch SW11 and the second switch SW21 are in the on or off state. Furthermore, the first state determination unit 12 detects whether the first switch SW11 and the second switch SW21 are faulty based on the signal input from the first signal input unit 11. Here, the presence and type of fault in the first switch SW11 and the second switch SW21 are detected using the same method as shown in Embodiment 1. For example, in the first switch SW11, if the potential of terminal a and the potential of terminal b are both H potentials, it is determined that a short circuit fault has occurred in the first switch SW11. In the second switch SW21, if the potential of terminal a and the potential of terminal b are both L potentials, it is determined that an open circuit fault has occurred in the second switch SW21.
[0092] Based on the determination result in the first state determination unit 12, the first state output unit 13 outputs information related to the states of the first switch SW11 and the second switch SW21, i.e., whether the first switch SW11 and the second switch SW21 are in the on or off state, to the robot controller 3. Additionally, the first state output unit 13 can also output fault information for the first switch SW11 and the second switch SW21 to the robot controller 3.
[0093] The function and structure of the second signal processing unit 20 are the same as those of the first signal processing unit 10. However, the second signal processing unit 20 processes the input signals of the third switch SW12 and the fourth switch SW22.
[0094] The second signal processing unit 20 is configured to determine the state of the third switch SW12 and the fourth switch SW22. That is, it is configured to determine whether the third switch SW12 and the fourth switch SW22 are in an on or off state. In addition, the second signal processing unit 20 is configured to detect whether there is a fault in the third switch SW12 and the fourth switch SW22.
[0095] Furthermore, the second signal processing unit 20 has at least a second signal input unit 21, a second state determination unit 22, and a second state output unit 23.
[0096] The second signal input unit 21 receives the output signals of the third switch SW12 and the fourth switch SW22 respectively, and inputs them to the second state determination unit 22.
[0097] The second state determination unit 22 determines the state of the third switch SW12 and the fourth switch SW22 based on the signal input from the second signal input unit 21. That is, it determines whether the third switch SW12 and the fourth switch SW22 are in the on or off state. In addition, the second state determination unit 22 detects whether the third switch SW12 and the fourth switch SW22 are faulty based on the signal input from the second signal input unit 21.
[0098] Based on the determination result in the second state determination unit 22, the second state output unit 23 outputs information related to the states of the third switch SW12 and the fourth switch SW22, i.e., whether the third switch SW12 and the fourth switch SW22 are in the on or off state, to the robot controller 3. Additionally, the second state output unit 23 can also output fault information for the third switch SW12 and the fourth switch SW22 to the robot controller 3.
[0099] Furthermore, the enable switch device 100 determines the operating state of the enable switch device 100 based on the determination results of the first signal processing unit 10 and the second signal processing unit 20.
[0100] As described above, the first signal processing unit 10 only determines the state of the first switch SW11 and the second switch SW21. The second signal processing unit 20 only determines the state of the third switch SW12 and the fourth switch SW22. Therefore, based on the determination results of the first signal processing unit 10 and the second signal processing unit 20, the operating state of the enable switch device 100 is finally determined.
[0101] like Figure 7 as well as Figure 8 As shown, when all four switches SW11 to SW22 are in the off state, the operating state of the enabling switch device 100 is determined to be position 1 (position 1). That is, the enabling switch device 100 is determined to be in the off state (non-operating state).
[0102] When the first switch SW11 and the third switch SW12 are both in the ON state, and the second switch SW21 and the fourth switch SW22 are both in the OFF state, the operating state of the enabling switch device 100 is determined to be position 2 (second position). That is, the enabling switch device 100 is determined to be in the ON state (intermediate operating state).
[0103] When all four switches SW11 to SW22 are in the ON state, the operating state of the enabling switch device 100 is determined to be position 3 (third position). That is, the enabling switch device 100 is determined to be in the ON state (fully operational state). The time when either the second switch SW21 or the fourth switch SW22 becomes ON is the time when the operating state of the enabling switch device 100 is determined to be position 3.
[0104] Furthermore, if any of the first to fourth switches SW11 to SW22 malfunctions, the enabling switch device 100 is determined to be in the off state, which goes without saying.
[0105] Furthermore, in order to obtain the final determination result, the first signal processing unit 10 and the second signal processing unit 20 are configured to communicate with each other. Figure 6 In the example shown, serial communication is performed between the first signal processing unit 10 and the second signal processing unit 20.
[0106] If the determination result in the first signal processing unit 10 is consistent with the determination result in the second signal processing unit 20, the determination result is determined to be the operating state of the enable switch device 100.
[0107] On the other hand, if the determination result in the first signal processing unit 10 is inconsistent with the determination result in the second signal processing unit 20, it is determined that the enable switch device 100 is in the off state.
[0108] Alternatively, these determinations can also be performed by the first signal processing unit 10, which receives the determination result from the second state determination unit 22, for example, by the first state determination unit 12. Or, these determinations can also be performed by the second signal processing unit 20, which receives the determination result from the first state determination unit 12, for example, by the second state determination unit 22.
[0109] Alternatively, an additional determination unit (not shown) may be provided inside either the first signal processing unit 10 or the second signal processing unit 20, or inside the enable switch device 100. In this case, the additional determination unit receives the determination results from the first signal processing unit 10 and the determination results from the second signal processing unit 20 to determine the state of the enable switch device 100.
[0110] Alternatively, the state of the enable switch device 100 can be determined by the robot controller 3, which receives the output signal from the first state output unit 13 and the output signal from the second state output unit 23.
[0111] According to this embodiment, the same effects as those achieved by the structure shown in Embodiment 1 can be achieved. That is, the operating state of the enable switch device 100 can be determined with a simple structure. As a result, it is possible to avoid the operator from being in a dangerous situation due to operator error or other reasons. In addition, it is possible to prevent the robot 2 from moving accidentally, and to enable the robot system 1 to operate safely.
[0112] Furthermore, according to this embodiment, it is possible to easily detect whether the first to fourth switches SW1 to SW22 installed inside the enable switch device 100 are faulty and what type of fault they are. This prevents the robot 2 connected to the enable switch device 100 from operating unexpectedly, ensuring the safe operation of the robot system 1. Moreover, the teach pendant 4 equipped with the enable switch device 100 can be easily replaced or repaired. This reduces downtime and operating costs of the robot system 1.
[0113] Furthermore, the enable switch device 100 shown in this embodiment is a so-called dual circuit that includes two sets of combined circuits of two switches and a signal processing unit as shown in Embodiment 1. Moreover, the enable switch device 100 shown in this embodiment is configured to correctly determine the operating state of the enable switch device 100 only when both sides of the two combined circuits are functioning normally.
[0114] Therefore, the first signal processing unit 10 and the second signal processing unit 20 are configured to communicate with each other. Furthermore, if the determination result in the first signal processing unit 10 is inconsistent with the determination result in the second signal processing unit 20, it is determined that the enable switch device 100 is in the off state.
[0115] This improves operator safety. Furthermore, it prevents accidental movement of robot 2, ensuring the safe operation of robot system 1.
[0116] Furthermore, in the load drive control device 200 according to this embodiment, if any of the first to fourth switches SW11 to SW22 is detected to be faulty, the robot controller 3 sends a drive stop signal to the motor M.
[0117] In this way, the robot 2 connected to the enable switch device 100 can be prevented from operating unexpectedly, and the robot system 1 can operate safely. Furthermore, the presence and type of faults in the first to fourth switches SW11 to SW22 can be easily detected. Therefore, the teach pendant 4 equipped with the enable switch device 100 can be easily replaced or repaired, reducing downtime and operating costs of the robot system 1.
[0118] (Implementation Method 4)
[0119] Figure 9 The diagram schematically illustrates the transition of the operating state of the enable switch device according to this embodiment.
[0120] The structure of the enable switch device 100 in this embodiment is the same as that shown in Embodiment 3. That is, the enable switch device 100 has a dual circuit.
[0121] On the other hand, the enable switch device 100 of this embodiment has the same structure as that shown in Embodiment 2. When determining the operating state of the enable switch device 100, after a given transition time has elapsed since the state transition was detected, it is determined that the operating state of the enable switch device 100 has transitioned.
[0122] Specifically, when the operating state of the enable switch device 100 changes from position 1 to position 2, the first state determination unit 12 and the second state determination unit 22 determine that the operating state of the enable switch device 100 has changed after a transfer time T2 elapses from the detection of the state change.
[0123] Furthermore, if the operating state of the enable switch device 100 changes from position 3 to position 1, the first state determination unit 12 and the second state determination unit 22 determine that the operating state of the enable switch device 100 has changed after a transition time T2 elapses from the detection of the state change.
[0124] Furthermore, the transition time T2 can be the same as or different from the transition time T1 shown in Embodiment 2. The enable switch device 100 of this embodiment includes 1 to 4 switches SW11 to SW22, and considering their response time, the transition time T2 is preferably longer than the transition time T1.
[0125] On the other hand, when the operating state of the enable switch device 100 changes from position 2 to either position 1 or position 3, the first state determination unit 12 and the second state determination unit 22 determine that the operating state of the enable switch device 100 has changed after a transition time T0 (< T1, T2) has elapsed immediately after the state change is detected.
[0126] According to this embodiment, the same effect as that achieved by the structure shown in Embodiment 2 can be achieved. That is, the start time of driving the motor M can be delayed by a transition time T2 from the moment the enable switch device 100 just enters the intermediate operation state. This prevents the robot 2 from starting to move before the operator notices, ensuring operator safety. Furthermore, after the enable switch device 100 transitions from the intermediate operation state to the fully operational state, it may sometimes further transition to a non-operation state. In such cases, the transition time T2 is delayed to determine whether the enable switch device 100 has changed from the fully operational state to the non-operation state. This delays the start time of the robot 2's movement caused by the next intermediate operation, improving operator safety.
[0127] On the other hand, when the enable switch device 100 switches from an intermediate operating state to a fully operating state or a non-operating state, it is necessary to quickly stop the robot 2's movement in order to ensure the operator's safety.
[0128] In these situations, immediately after detecting a state transition, it is determined that the operating state of the enable switch 100 has changed. Therefore, the robot controller 3 can quickly send a drive stop signal to the robot 2, stopping the robot 2's movement. This improves operator safety.
[0129] Alternatively, as shown in Embodiment 3, the state of the enable switch device 100 can be ultimately determined by either the first state determination unit 12 or the second state determination unit 22. Alternatively, the state of the enable switch device 100 can be ultimately determined by another determination unit (not shown) disposed inside the enable switch device 100.
[0130] Furthermore, in industrial machinery used during welding and processing operations, if robot 2 moves or stops unexpectedly, the operator is likely to be exposed to danger.
[0131] Therefore, the enable switch device 100 and the load drive control device 200 of this application specification are preferably connected to and used with the robot 2 equipped with the aforementioned industrial machinery.
[0132] Industrial availability
[0133] The enable switch device disclosed herein can determine the operating state through a simple structure and can perform fault detection of the internal two-position switch, thus it is useful in applications to industrial machinery with robots.
[0134] Symbol Explanation
[0135] 1 Robot System
[0136] 2 robots
[0137] 2a Robot Arm
[0138] 2b joint axis
[0139] 3. Robot controller (control device)
[0140] 4. Teach pendant
[0141] 4a Operating switch
[0142] 5. Communication cables
[0143] 10. Signal Processing Unit 1
[0144] 11 First Signal Input Section
[0145] 12. First State Determination Unit
[0146] 13 First State Output Section
[0147] 20 Second Signal Processing Unit
[0148] 21 Second Signal Input Section
[0149] 22 Second State Determination Unit
[0150] 23 Second State Output Section
[0151] 30 power supply
[0152] 100 Enable Switch Device
[0153] 200 load drive control device
[0154] M motor (load)
[0155] SW1 First Switch
[0156] SW2 second switch
[0157] SW11 First Switch
[0158] SW21 Second Switch
[0159] SW12 third switch
[0160] SW22, fourth switch.
Claims
1. An enabling switch device, wherein the operating states are respectively transferred to position 1, position 2, and position 3. The enabling switch device includes at least a first switch, a second switch, and a first signal processing unit. The first switch and the second switch are two-position switches capable of switching between off and on states. When off, the first terminal is at a first potential and the second terminal is at a second potential, which is different from the first potential. When on, the first terminal is at the second potential and the second terminal is at the first potential. A fault can be determined to have occurred if both the first terminal and the second terminal are at either the first potential or the second potential. The first switch and the second switch are configured such that, when operated from the first position to the third position via the second position, at each position, the first switch switches to off, on, and on, and the second switch switches to off, off, and on. The first signal processing unit determines the first position when both the first switch and the second switch output a combination of potentials corresponding to off; determines the second position when the first switch outputs a combination of potentials corresponding to on and the second switch outputs a combination of potentials corresponding to off; determines the third position when both the first switch and the second switch output a combination of potentials corresponding to on; and determines that the first terminal and the second terminal have the same potential in the output of the first switch or the second switch, the first switch or the second switch corresponding to that output has malfunctioned.
2. The enable switch device according to claim 1, wherein, The first signal processing unit includes at least a first signal input unit, a first state determination unit, and a first state output unit. The first signal input unit receives the output signals of the first switch and the second switch respectively, and inputs them to the first state determination unit. The first state determination unit determines, based on the signal input from the first signal input unit, which of the first to third positions the operating state of the enable switch device is, and detects whether there is a fault in either the first switch or the second switch. The first state output unit outputs the operating state of the enable switch device based on the determination result in the first state determination unit.
3. The enable switch device according to claim 2, wherein, The first state determination part determines that the operating state of the enable switch device has changed after a given time elapsed since the state change was detected, when the operating state of the enable switch device changes from the first position to the second position and from the third position to the first position.
4. The enable switch device according to claim 3, wherein, When the operating state of the enable switch device changes from the second position to either the first or the third position, the first state determination unit determines that the operating state of the enable switch device has changed immediately after detecting the state change.
5. An enabling switch device, wherein the operating states are respectively transferred to position 1, position 2, and position 3. The enabling switch device includes at least a first switch, a second switch, a third switch, a fourth switch, a first signal processing unit, and a second signal processing unit. The first to fourth switches are two-position switches capable of switching between off and on states. When off, the first terminal is at a first potential and the second terminal is at a second potential, which is different from the first potential. When on, the first terminal is at the second potential and the second terminal is at the first potential. A fault can be determined to have occurred if both the first and second terminals are at either the first or the second potential. The first to fourth switches are configured such that, when operated from the first position to the third position via the second position, at each position, the first and third switches switch to off, on, and on respectively, and the second and fourth switches switch to off, off, and on respectively. The first signal processing unit determines the first position when the first to fourth switches output a combination of potentials corresponding to the off position; determines the second position when the first and third switches output a combination of potentials corresponding to the on position and the second and fourth switches output a combination of potentials corresponding to the off position; determines the third position when the first to fourth switches output a combination of potentials corresponding to the on position; and determines that the first to fourth switches corresponding to the output have malfunctioned when the first terminal and the second terminal of each of the first to fourth switches have the same potential.
6. The enable switch device according to claim 5, wherein, The first signal processing unit includes at least a first signal input unit, a first state determination unit, and a first state output unit. The first signal input unit receives the output signals of the first switch and the second switch respectively, and inputs them to the first state determination unit. The first state determination unit determines the state of the first switch and the second switch based on the signal input from the first signal input unit, and detects whether each switch has a fault. The first state output unit outputs information related to the respective states of the first switch and the second switch based on the determination result of the first state determination unit. The second signal processing unit includes at least a second signal input unit, a second state determination unit, and a second state output unit. The second signal input unit receives the output signals of the third switch and the fourth switch respectively, and inputs them to the second state determination unit. The second state determination unit determines the state of the third switch and the fourth switch based on the signal input from the second signal input unit, and detects whether each switch has a fault. The second state output unit outputs information related to the states of the third switch and the fourth switch based on the determination result of the second state determination unit. The first signal processing unit and the second signal processing unit are configured to communicate with each other. If the determination result in the first signal processing unit is consistent with the determination result in the second signal processing unit, the determination result is determined to be the operating state of the enable switch device. If the determination result in the first signal processing unit is inconsistent with the determination result in the second signal processing unit, it is determined that the enable switch device is in the off state.
7. The enable switch device according to claim 6, wherein, The first state determination unit and the second state determination unit determine that the operating state of the enable switch device has changed after a given time elapsed since the state change was detected, when the operating state of the enable switch device changes from the first position to the second position and from the third position to the first position, respectively.
8. The enable switch device according to claim 7, wherein, When the operating state of the enable switch device changes from the second position to either the first or the third position, the first and second state determination units determine that the operating state of the enable switch device has changed immediately after detecting the state change.
9. A load drive control device, comprising at least: The enabling switch device according to any one of claims 1 to 4; and The control device is configured to communicate with the enable switch device. When the control device determines that the enable switch is in the ON state, it sends a drive enable signal to the load configured to communicate with the control device. If the control device determines that the enable switch is in the off state, the control device sends a drive stop signal to the load.
10. The load drive control device according to claim 9, wherein, If a fault is detected in either the first switch or the second switch, the control device sends a drive stop signal to the load.
11. A load drive control device, comprising at least: The enabling switch device according to any one of claims 5 to 8; and The control device is configured to communicate with the enable switch device. When the control device determines that the enable switch is in the ON state, it sends a drive enable signal to the load configured to communicate with the control device. If the control device determines that the enable switch is in the off state, the control device sends a drive stop signal to the load.
12. The load drive control device according to claim 11, wherein, If any of the first to fourth switches is detected to be faulty, the control device sends a drive stop signal to the load.