U.S. patent application number 10/587185 was filed with the patent office on 2007-07-19 for automatic machine control device.
This patent application is currently assigned to KABUSHIKI KAISHA YASKAWA DENKI. Invention is credited to Kiyoshi Hirakawa, Michiharu Tanaka.
Application Number | 20070163322 10/587185 |
Document ID | / |
Family ID | 34805504 |
Filed Date | 2007-07-19 |
United States Patent
Application |
20070163322 |
Kind Code |
A1 |
Hirakawa; Kiyoshi ; et
al. |
July 19, 2007 |
Automatic machine control device
Abstract
When a brake is released by worker's operation, a subject
automatic machine is specified so as to prevent an accident due to
an error, such as misconception. An automatic machine control
device includes a brake releasing unit that releases a brake when a
motor is not driven, and a brake release indication unit that is
provided on the automatic machines or in the vicinities of the
automatic machines. When brake releasing is made by worker's
operation, the fact is indicated on the brake release indication
unit of a subject automatic machine.
Inventors: |
Hirakawa; Kiyoshi; (Fukuoka,
JP) ; Tanaka; Michiharu; (Fukuoka, JP) |
Correspondence
Address: |
WESTERMAN, HATTORI, DANIELS & ADRIAN, LLP
1250 CONNECTICUT AVENUE, NW
SUITE 700
WASHINGTON
DC
20036
US
|
Assignee: |
KABUSHIKI KAISHA YASKAWA
DENKI
2-1, Kurosaki-shiroishi, Yahatanishi-ku
Kitakyushu-shi
JP
806-0004
|
Family ID: |
34805504 |
Appl. No.: |
10/587185 |
Filed: |
January 5, 2005 |
PCT Filed: |
January 5, 2005 |
PCT NO: |
PCT/JP05/00039 |
371 Date: |
July 25, 2006 |
Current U.S.
Class: |
72/187 |
Current CPC
Class: |
B25J 19/0004 20130101;
B25J 9/1674 20130101; G05B 2219/42284 20130101; G05B 2219/40218
20130101 |
Class at
Publication: |
072/187 |
International
Class: |
B21B 1/00 20060101
B21B001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 26, 2004 |
JP |
2004-016758 |
Claims
1. An automatic machine control device, which controls at least one
automatic machine having a motor or a brake for holding a driving
shaft connected to the motor, the automatic machine control device
comprising: a brake releasing unit that releases the brake when the
motor is not driven; and a brake release indication unit that is
provided on the automatic machine or in the vicinity of the
automatic machine, wherein the brake release indication unit
indicates that the brake is ready to be released by the brake
releasing unit.
2. The automatic machine control device according to claim 1,
wherein the automatic machine has a driving power indication unit
for indicating that the motor is driven, and the driving power
indication unit serves as the brake release indication unit when
the motor is not driven, and selects one state of different
indication states, such as when the motor is driven or when the
brake is to be released.
3. The automatic machine control device according to claim 1,
wherein the automatic machine is a robot, and the automatic machine
control device is a robot control device.
Description
TECHNICAL FIELD
[0001] The present invention relates to an automatic machine
control device that specifies a subject automatic machine when a
brake of a driving shaft having the brake is released by worker's
operation.
RELATED ART
[0002] An automatic machine, such as a rotary jig, a tilting jig,
an industrial robot, or the like, which includes a motor, has a
brake in order to keep its position against gravity when driving
power of the motor is cut off. The brake is an exciting release
type. The brake is effective for security because the brake stops
the automatic machine in a short coast distance even though driving
power of the motor is cut off due to power failure or the like
during the operation of the automatic machine.
[0003] In a production system having a plurality of automatic
machines, an automatic machine or an automatic machine control
device breaks down during operation, the broken automatic machine
or automatic machine control device stops within a working area of
another automatic machine. At this time, the automatic machine
detects a breakdown or abnormality due to the breakdown and stops
operation, and the automatic machine holds the motor by cutting off
brake driving power. The stop automatic machine interrupts
operations of other automatic machines, and thus it may be
impossible to continue production. In addition, in order to analyze
or restore the broken automatic machine or automatic machine
control device, the automatic machine needs to be moved to a
predetermined position. The automatic machine is moved to the
predetermined position when the brake is released according to
worker's operation.
[0004] In known brake releasing, in order to release a brake of an
individual shaft driving motor of a robot, a brake release
operating switch is provided at a robot arm (Patent Document 1).
Alternatively, a device that releases the brake is provided on a
manipulator side to be separated from a path for releasing the
brake of the motor when the robot is driven, and a commercial-use
power supply is connected to the device when the brake is released,
and the brake is released by switch operation (Patent Document 2).
In addition, a brake releasing device that, if necessary, releases
the brake by changing the connection to the brake, is provided
(Patent Document 3).
[0005] As such, in a known robot control device or automatic
machine control device, when a position or a posture of a robot
main body or an automatic machine main body is manually changed, a
brake releasing operation is performed or a brake releasing device
is mounted on the robot main body or the automatic machine main
body, or provides.
[0006] Patent Document 1: Japanese Patent No. 2823079
[0007] Patent Document 2: JP-A-2001-269884
[0008] Patent Document 3: JP-A-6-304886
DISCLOSURE OF THE INVENTION
Problem that the Invention is to Solve
[0009] In the known automatic machine (or robot) having the motor,
in Patent Documents 1 to 3, in order to release the brake, a worker
needs to operate an operating switch that is provided on or in the
vicinity of the automatic machine main body. Further, according to
Patent Document 2, the commercial-use power supply needs to be
connected to the brake releasing device. In addition, according to
Patent Document 3, the brake releasing device needs to be provided
on the automatic machine. However, in a working system, to which
the automatic machine is applied, since there are many apparatuses,
such as jigs, cables, pipes, and the like, around the automatic
machine, an access to the automatic machine main body, or an access
for connecting the commercial-use power supply or mounting the
brake releasing device may be not easy. Moreover, when the worker
needs to go up on the apparatuses so as to perform a job, the
worker can be endangered because the job is performed in an unsafe
place. Accordingly, a method that moves an installation place of
the operating switch to a place where the operating switch can be
easily operated has been used.
[0010] In a production system having a plurality of automatic
machines disposed to be close to one another, if the installation
place of the brake releasing switch is distant from the automatic
machine, as the above-described method, the correspondence of the
automatic machine to the brake releasing switch to be operated may
not be obtained. Therefore, an erroneous operation that a brake of
another automatic machine, not a subject automatic machine having a
brake to be released, is released instead of may occur. The
erroneous operation means that a brake of an automatic machine not
intended by the worker is released. Because of the erroneous
operation, a mechanism part of the automatic machine drops due to
gravity to thereby damage or distort the automatic machine main
body, the jig, or the workpiece. In addition, the worker around the
automatic machine can be endangered.
[0011] For example, as proposed in JP-A-8-194511, one control
device that can achieve an effective job by operating a plurality
of automatic machines has the same problem.
[0012] An object of the invention is to provide an automatic
machine control device that can prevent an erroneous operation,
remove an excessive loss due to the erroneous operation, and care
worker's safety by indicating that a brake is ready to be released,
on an automatic machine main body having a brake to be released or
in the vicinity of the automatic machine main body.
Means for Solving the Problem
[0013] In order to solve the above-described problems, the
invention has the following configuration.
[0014] According to a first aspect of the invention, there is
provided with an automatic machine control device, which controls
at least one automatic machine having a motor or a brake for
holding a driving shaft connected to the motor, the automatic
machine control device including: a brake releasing unit that
releases the brake when the motor is not driven; and a brake
release indication unit that is provided on the automatic machine
or in the vicinity of the automatic machine, wherein the brake
release indication unit indicates that the brake is ready to be
released by the brake releasing unit.
[0015] According to a second aspect of the invention, there is
provided with the automatic machine control device according to the
first aspect, the automatic machine has a driving power indication
unit for indicating that the motor is driven, and the driving power
indication unit serves as the brake release indication unit when
the motor is not driven, and selects one state of different
indication states, such as when the motor is driven or when the
brake is to be released.
[0016] According to a third aspect of the invention, there is
provided with the automatic machine control device according to the
first aspect, wherein the automatic machine is a robot, and the
automatic machine control device is a robot control device.
Advantage of the Invention
[0017] According to the first aspect of the invention, when brake
releasing is selected by the worker, the fact is indicated so as to
prevent an erroneous operation of a worker. This is particularly
effective when the automatic machines are densely disposed.
[0018] According to the second aspect of the invention, a driving
power input lamp provided in the automatic machine is also used to
indicate that brake releasing is selected. Since the indication
states are changed for identification, the brake release indication
unit does not need to be separately provided.
[0019] According to the third aspect of the invention, the
invention is applied to the robot. In case of a vertical
multi-joint robot, a robot arm is likely to drop by gravity due to
unexpected brake releasing. Therefore, according to the third
aspect of the invention, a great erroneous operation prevention
effect is obtained. In particular, a great erroneous operation
prevention effect can be obtained in a working system having a
plurality of robots densely disposed.
BRIEF DESCRIPTION OF THE DRAWINGS
[0020] FIG. 1 is a brake releasing circuit diagram showing a first
embodiment of the invention.
[0021] FIG. 2 is a brake releasing circuit diagram showing a second
embodiment of the invention.
[0022] FIG. 3 is a flicker circuit diagram that is applied to the
second embodiment of the invention.
DESCRIPTION OF REFERENCE NUMERALS AND SIGNS
[0023] 1: POWER SUPPLY
[0024] 2: CIRCUIT BREAKER
[0025] 3: CONTROL POWER SUPPLY UNIT
[0026] 4: CONTROL POWER RELAY
[0027] 10: BRAKE POWER SUPPLY UNIT
[0028] 11, 41, 51: INTERLOCK CONTACT
[0029] 12, 42: FIRST CONTACT
[0030] 13, 16, 19, 22: RECTIFIER
[0031] 14, 44: FIRST BRAKE
[0032] 15, 45: SECOND CONTACT
[0033] 17, 47: SECOND BRAKE
[0034] 18: THIRD CONTACT
[0035] 20: THIRD BRAKE
[0036] 21: FOURTH CONTACT
[0037] 23: FOURTH BRAKE
[0038] 24: RELEASING BRAKE POWER SUPPLY UNIT
[0039] 25: RELEASE SELECTION CONTACT
[0040] 26, 62: FIRST RELEASE CONTACT
[0041] 27, 29, 31, 33: RECTIFIER
[0042] 28, 64: SECOND RELEASE CONTACT
[0043] 30: THIRD RELEASE CONTACT
[0044] 32: FOURTH RELEASE CONTACT
[0045] 34, 49, 59: LAMP
[0046] 40: FIRST AUTOMATIC MACHINE
[0047] 43, 46, 48: RECTIFIER
[0048] 50: SECOND AUTOMATIC MACHINE
[0049] 53, 58: RECTIFIER
[0050] 61: FIRST AUTOMATIC-MACHINE BRAKE RELEASE Selection
Contact
[0051] 63, 65, 67: RECTIFIER
[0052] 66, 76: FLICKER CIRCUIT
[0053] 71: SECOND AUTOMATIC-MACHINE BRAKE RELEASE Selection
Contact
[0054] 73, 75, 77: RECTIFIER
[0055] T0, T1: TIME-LIMIT OPERATION AND INSTANTANEOUS Return Type
Relay
BEST MODE FOR CARRYING OUT THE INVENTION
[0056] Preferred embodiments of the invention will now be described
with reference to the drawings.
Embodiment 1
[0057] FIG. 1 is a brake circuit diagram of an automatic machine
control device according to the invention. FIG. 1 shows main parts
of the invention. Reference numeral 10 denotes a brake power supply
unit for releasing a brake when a motor of an automatic machine is
driven. Reference numeral 11 denotes an interlock contact. For
example, an auxiliary contact of an electromagnetic contactor,
which is used for inputting and cutting off driving power to the
motor, is used as the interlock contact 11. An individual brake
circuit, which releases the brake, branches off from the interlock
contact 11. A first contact 12, a rectifier 13, and a first brake
14 form a first individual brake circuit. Similarly, a second
contact 15, a rectifier 16, and a second brake 17 form a second
individual brake circuit. A third contact 18, a rectifier 19, and a
third brake 17 form a third individual brake circuit. A fourth
contact 21, a rectifier 22, and a fourth brake 23 form a fourth
individual brake circuit. Meanwhile, a member that attenuates a
surge voltage generated when a brake current is cut off is not
shown. The interlock contact 11 is provided to cut off the supply
of releasing power to the brakes, even though the contacts 12, 15,
18, and 21 for individually releasing the brakes are fused and
bonded.
[0058] Reference numeral 24 denotes a releasing brake power supply
unit for releasing the brakes by worker's operation when the motors
of the automatic machine are not driven. A release selection
contact 25 serves as the main part when the brakes are released by
the worker's operation. The release selection contact 25 may be a
contact of a switch or a contact of a relay. The release selection
contact 25 is connected to the first brake 14 through a first
release contact 26 and a rectifier 27. Similarly, the release
selection contact 25 is connected to the second brake 17 through a
second release contact 28 and a rectifier 29. Further, the release
selection contact 25 is connected to the third brake 20 through a
third release contact 30 and a rectifier 31. In addition, the
release selection contact 25 is connected to the fourth brake 23
through a fourth release contact 32 and a rectifier 33. Moreover,
the release selection contact 25 is connected to a lamp 34. The
lamp 34 is mounted on the automatic machine or is provided in the
vicinity of the automatic machine. The lamp 34 may be a flicker or
a rotating pilot lamp.
[0059] Each of the first release contact 26, the second release
contact 28, the third release contact 30, and the fourth release
contact 32 may be a contact of a switch or a contact of a relay.
The contacts 25, 26, 28, 30, and 32 are closed by pressing an
operating switch for a brake releasing operation.
[0060] In order for the worker to release the brakes when the
motors are not driven, according to this embodiment, the brake
power supply unit 10 and the releasing brake power supply unit 24
are supplied with power exclusively to each other from a power
supply 1. That is, in a state where the motors are driven, a
circuit breaker 2 is closed such that power is supplied to the
brake power supply unit 10 and a control power supply unit 3 from
the power supply 1. At this time, since a control power relay 4 is
energized and excited, a normally closed contact is opened, and
power is not supplied to the releasing brake power supply unit 24.
Even if driving of the motor stops due to emergency stop, the power
supply to the brake power supply unit 10 and the control power
supply unit 3 continues. Therefore, it may be impossible for the
worker to perform the operation of releasing the brakes. When the
circuit breaker 2 is opened, power is not supplied to the brake
power supply unit 10 and the control power supply unit 3.
Therefore, the control power relay is un-energized and the normally
closed contact is closed, such that power is supplied to the
releasing brake power supply unit 24.
[0061] When the automatic machine, the motor of which is driven,
operates, first, the circuit breaker 2 is closed, and power is
supplied to the control power supply unit 3 and the brake power
supply unit 10. At this time, the control power relay 4 is
energized and excited, and the contact is opened. Therefore, power
is not supplied to the releasing brake power supply 24. If the
motor is driven, power is supplied to a motor driving device (not
shown). At this time, the electromagnetic contactor is used when
power is supplied, and the interlock contact 11, which uses the
auxiliary contact of the electromagnetic contactor, is closed.
Further, driving power is supplied to the motors so as to generate
a desired torque. Then, the first contact 12, the second contact
15, the third contact 18, and the fourth contact 21 are closed at
almost the same time, such that power for unlocking the brakes is
supplied to the first brake 14, the second brake 17, the third
brake 20, and the fourth brake 23 from the brake power supply unit
10. As a result, the brakes are unlocked. Meanwhile, each of the
rectifiers 13, 16, 19, and 22 prevents a backflow of brake
unlocking power.
[0062] When driving of the motor stops, the first contact 12, the
second contact 15, the third contact 18, and the fourth contact 21
are opened at almost the same time, and power to a driving power
supply of the motor is cut off to thereby stop the supply of the
driving power to the motor. At this time, the interlock contact 11
is opened.
[0063] When the automatic machine does not operate, the circuit
breaker 2 is in an open state, power is not supplied to the control
power supply unit 3, and control power is not generated. Therefore,
the control power relay 4 is un-energized and the normally closed
contact is closed, such that power is supplied to the releasing
brake power supply unit 24.
[0064] When the release selection contact 25 is closed by the
worker's operation, the lamp 34 connected thereto lights. The lamp
34 performs brake release indication, and indicates that the brakes
of the automatic machine subject to brake releasing are ready to be
released.
[0065] In a state where the release selection contact 25 is closed
by the worker's operation, when the first release contact 26, for
example, is closed, a brake releasing current flows from the
releasing brake power supply unit 24 to the release selection
contact 25, the first release contact 26, the rectifier 27, and the
first brake 14, such that the first brake 14 is released.
Similarly, when the second release contact 28, the third release
contact 30, and the fourth release contact 32 are closed, the
second brake 17, the third brake 20, and the fourth brake 23 are
released, respectively.
[0066] In a production system having a plurality of automatic
machines disposed thereon, according to the above-described brake
releasing indication, it is possible for the worker to identify
which automatic machine has the brakes to be released. When the
lamp 34 is the flicker or the rotating pilot lamp, it is more
likely to attract worker's attention, and thus an erroneous
operation can be markedly prevented.
[0067] The invention is different from Patent Documents 1 to 3 in
that, since an operation around the automatic machine subject to
brake releasing is excluded, the brake releasing indication is
provided on a subject automatic machine or in the vicinity of the
subject automatic machine, such that the subject automatic machine
can be easily identified.
Embodiment 2
[0068] FIG. 2 is a diagram showing the configuration of a second
embodiment. In this embodiment, two automatic machines are
controlled by one control device. Moreover, parts related to this
embodiment are mainly shown in the drawing. The same parts as those
in FIG. 1 are represented by the same reference numerals, and the
descriptions of some parts will be omitted. Reference numerals 40
and 50 denote a first automatic machine and a second automatic
machine, respectively. Reference numeral 41 denotes an interlock
contact of the first automatic machine. The interlock contact 41
includes at least two poles. One pole of the interlock contact is
connected to a first brake 44 through a first contact 42 and a
rectifier 43, and also is connected to second brakes 47-1 and 47-2
through a second contact 45 and a rectifier 46. The other pole of
the interlock contact supplies power from a control power supply
unit 3 to a lamp 49 through a rectifier 48. The brakes 44, 47-1,
and 47-2 are included in the first automatic machine. When driving
power of motors of the first automatic machine is input, the
interlock contact 41, which is an auxiliary contact, is closed,
control power is supplied to the lamp 49, and the lamp 49 lights.
Lighting of the lamp indicates that the motor is driven.
Immediately after the motor generates a torque, the first contact
42 and the second contact 45 are closed, and brake power is
supplied to the brakes 44, 47-1, and 47-2, such that the brakes are
released.
[0069] The same is applied to a second automatic machine having
brakes 54 and 57, and a lamp 59, and thus the description thereof
will be omitted.
[0070] Reference numeral 61 denotes a brake release selection
contact of the first automatic machine, and reference numeral 71
denotes a brake release selection contact of the second automatic
machine. When the automatic machine does not operate, for example,
when the brake release selection contact 61 of the first automatic
machine is closed, and then a first release contact 62 is closed,
power is supplied from a releasing brake power supply unit 24 to
the first brake 44 through the first release contact 62 and a
rectifier 63. Similarly, when a second release contact 64 is
closed, power is supplied to the second brakes 47-1 and 47-2
through a second release contact 64 and a rectifier 65. A flicker
circuit 66 is connected in parallel with a power supply circuit to
the brakes. An output of the flicker circuit 66 is connected to the
lamp 49 through a rectifier 67.
[0071] A brake releasing circuit of the second automatic machine
from the brake releasing contact 71 is the same as the brake
releasing circuit of the first automatic machine, and thus the
description thereof will be omitted.
[0072] FIG. 3 shows flicker circuits 66 and 76 shown in FIG. 2. In
the drawing, T0 and T1 represent time-limit operation and
instantaneous return type relays (that is, on-delay timers, and
hereinafter, simply referred to as timer). T0a and T0a1 represent
normally opened contacts of the timer T0, and T1b represents a
normally closed contact of the timer T1. FLP and FLN represent
power supplies to this circuit. When the brake release selection
contacts 61 and 71 in FIG. 2 are closed, a voltage is supplied
through both ends.
[0073] The operation of the flicker circuit will now be
described.
[0074] (1) In a state where power is not supplied to the power
supplies FLP and FLN, the timer T0 and the timer T1 are not
excited. Here, the contacts T0a and T0a1 of the timer T0 are opened
and the contact T1b of the timer T1 is closed.
[0075] (2) When power is supplied to the power supplies FLP and
FLN, the timer T0 is energized because the contact T1b is closed.
Since the timer T0 is the time-limit operation type timer, the
contacts T0a and T0a1 keep in open states until a predetermined
time passes.
[0076] (3) When the predetermined time set in the timer T0 passes,
the contact T0a of the Timer T0 is closed, and the timer T1 is
energized. Since the contact T1b of the timer T1 is the time-limit
operation type timer, the contact T1b is not opened until the
predetermined time passes. Therefore, the conduction state of the
timer T0 is continued, and the contact T0a keeps in the closed
state.
[0077] (4) If a predetermined time set in the timer T1 passes, the
contact T1b of the timer T1 is opened. Since the timer T0 connected
to the contact T1b is the instantaneous return type timer, the
contact T0a of the timer T0 is opened. Since the timer T1 connected
to the T0a is also the instantaneous return type, the contact T1b
is closed and is in the state (2).
[0078] (5) The states (2), (3), and (4) are repeated until power is
not supplied to the power supplies FLP and FLN. The contact T0a of
the timer T0 is opened during the predetermined time set in the
timer T0 and then is closed during the predetermined time set in
the timer T1. The contact T0a1 operates at the same timing as the
contact T0a, in the same phase and is disconnected from the relay
of the power FLP.
[0079] The outputs of the flicker circuits 66 and 76 are connected
to the lamps 49 and 59 through the rectifiers 67 and 77,
respectively. Therefore, when the brake release selection contacts
61 and 71 are closed, the lamps 49 and 59 flicker. Moreover, when
the brake release selection contacts 61 and 71 are closed, and the
brakes are released by the worker, power is not supplied to the
control power supply unit 3 because the circuit breaker 2 is
opened.
[0080] Flickering cycles of the lamps can be changed by changing
the predetermined time set in the timers T0 and T1. In addition,
lighting and flickering of the lamps may be implemented by a CPU or
other electronic parts.
[0081] In this embodiment, two indication states, that is, lighting
and flickering, are indicated by one lamp. Alternatively, when the
two states may be indicated in different colors, the worker can
easily identify the two states.
[0082] As such, when the motors are driven by closing the circuit
breaker 2 that usually operates in the automatic machine, the lamps
49 and 59 are in normally lighting states. When the brakes are
released by the worker's operation in a state where the automatic
machine does not operate, if the brake release selection contacts
61 or 71 is closed, the lamp 49 or 59 of the closed brake release
selection contact 61 or 71 flickers. Therefore, the worker can
clearly identify the automatic machine that has brakes to be
released, and an erroneous operation that brakes of another
automatic machine are released can be prevented.
Industrial Applicability
[0083] When brakes of an automatic machine are released by worker's
operation, since it is possible to specify a subject automatic
machine, an automatic machine control device can be applied to a
numerical control machine tool, a robot, a positioner, or the like,
which has brakes.
* * * * *