JPH0411356B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an emergency stop device for a mobile assembly robot that operates while traveling on a predetermined track.

[Background of the invention]

In conventional stand-alone robots, the emergency stop signal was transmitted by electric wires connecting the robot and the control device, but in mobile robots that have a driving function, the electric wires get in the way of moving.
It became necessary to transmit an emergency stop signal wirelessly.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to eliminate the above-mentioned drawbacks of the prior art and to provide an inexpensive and wireless emergency stop device for a mobile robot.

[Summary of the invention]

The present invention provides a wireless intercom at a fixed position outside the track of a mobile robot and a mobile robot on the track, and uses a call signal from the wireless intercom as an emergency stop signal, thereby achieving a wireless emergency stop for the mobile robot. It's something that happened.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be specifically described based on the drawings.

FIG. 1 shows the overall configuration of a processing (assembly) line to which a traveling robot is applied. FIG. 2 is an enlarged view of the robot portion in FIG. 1. In FIG. 1, an articulated robot 11 having five degrees of freedom is mounted on a traveling device 12a and travels on a closed loop track 13. An assembly jig 14 is provided on the traveling device 12a so that the robot 11 can perform assembly work even while traveling. Since the robot runs on a closed-loop track, power cannot be supplied by wire as is normally the case.
Therefore, as shown in FIGS. 1 and 2, a power supply wire 15 is arranged in a closed loop like the track 13, and the power is taken in by a current collector 16 provided on the traveling device 12b.

Further, the control device 17 is provided on the traveling device 12b connected to the traveling device 12a, and the control device 17 is provided on the traveling device 12b connected to the traveling device 12a.
The robot 11 and the traveling devices 12a and 12b are controlled by the power supplied by the robot 6. Peripheral devices 21, 22, 2 shown in FIG.
3, 24, and 25 are tasks that cannot be done by robot 11.
For example, it performs tasks such as dimensioning, measuring, oiling, and screw tightening.

Further, the central control device 27 communicates with the control device 17 of the robot 11 via the signal exchange device 26 shown in FIG.
The type of robot assembly (processing) work, work start, and travel start command signals are transmitted to the robot 11, and the peripheral devices 21, 22, 23, 2 are controlled.
This is a device that centrally controls 4 and 25 as well.

Since the signal transmission/reception device 26 is installed only at a predetermined robot stop position,
1, it is not possible to issue commands such as a stop command using this signal transmitting/receiving device 26. A transmitting wireless intercom 28 is installed in front of the central control device 27 so that the central control device 27 can make an emergency stop to the traveling robot 11 in the event of a robot abnormality, etc. A receiving wireless intercom 29 is installed above. A transmitting wireless intercom 28 installed in the front of the central control device 27 is equipped with a call push button 30 for calling a receiving wireless intercom 29 installed in the controller 17 of the mobile robot. This call push button 30 is for receiving wireless intercom 2.
9 can be called at any time, and if this call signal is used as an emergency stop signal, while driving,
An emergency stop can be made in any state of the mobile robot, whether it is working or stopped.

FIG. 3 is a block diagram showing the configuration of the mobile robot emergency stop device of the present invention. This configuration consists of a transmitting wireless intercom 28 installed outside the traveling robot track, a receiving wireless intercom 29 installed in the traveling robot, an emergency stop circuit 34 and a drive circuit 38 inside the traveling robot control device 17. Become. When the call push button 30 of the wireless intercom 28 for transmission is pressed,
A calling signal is transmitted to the transmitting circuit 31 to the receiving wireless intercom. A receiving circuit 32 in the receiving wireless intercom 29 receives a call signal from the transmitting wireless intercom 28, and displays a call signal through a call output circuit.
The LED 36 is turned on, the call buzzer 37 is sounded, and a call signal is sent to the emergency stop circuit 34 of the controller 17 of the mobile robot. The emergency stop switch 35 is a switch installed in the controller 17 of the mobile robot to perform an emergency stop of the mobile robot, and the emergency stop switch 35 is a switch installed in the controller 17 of the mobile robot to perform an emergency stop of the mobile robot.
4, and the emergency stop circuit 34 transmits an emergency stop signal to the drive circuit 38 when either a call signal or an emergency stop switch signal is input.

FIG. 4 shows the emergency stop circuit 34 inside the control device 17.
This shows that. The terminals 40, 41, and 42 are connected to the call output circuit 33 of the receiving wireless intercom 29, and the terminal 40 is connected to the call output circuit 33 of the receiving wireless intercom 29.
The + side of the power supply and the terminal 41 are the call output circuit 33
The call signal output and terminal 42 are connected to the power supply side of the call output circuit 33. When a call signal is output from the call output circuit 33 to the terminal 41, the transistor 46 becomes conductive and the photocoupler 47
The input side light emitting diode lights up and the output side phototransistor becomes conductive.

On the other hand, when the emergency stop switch 35 connected to the terminals 43 and 44 is turned on, the light emitting diode on the input side of the photocoupler 48 lights up, and the phototransistor on the output side becomes conductive.

The outputs of the two types of photocouplers mentioned above are converted from negative logic to positive logic by inverter circuits 49 and 50, and the OR circuit 51 calculates the logical sum, and the emergency stop signal is used as the output signal of the emergency stop circuit 34 and is connected to the emergency stop signal output terminal. By transmitting the signal to the drive circuit 38 via the signal and turning off the power of the drive circuit, the mobile robot can be brought to an emergency stop using either the call signal from the wireless intercom or the emergency stop signal.

〔Effect of the invention〕

As explained above, according to the present invention, an emergency stop of a mobile robot can be performed wirelessly while the robot is moving using a simple device, and a practical effect is achieved.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a mobile robot, peripheral devices, central control device, etc., FIG. 2 is an enlarged perspective view of the mobile robot shown in FIG. 1, and FIG. FIG. 4 is a block diagram showing the configuration of the emergency stop device for a mobile robot. FIG. 4 is a diagram showing an emergency stop circuit inside the mobile robot. 11... Traveling robot, 12a, 12b... Traveling device, 13... Track, 14a, 14b... Assembly jig,
15... Power supply wire, 16... Current collector, 17... Control device, 27... Central control device, 28... Wireless intercom for transmission, 29... Wireless intercom for reception.

Claims (1)

[Claims] 1. In a mobile robot running on a predetermined orbit, a transmitting wireless intercom with a call button for calling the mobile robot is installed at a predetermined fixed position outside the orbit, and a receiving wireless intercom is installed at a predetermined fixed position outside the orbit. An intercom is installed on the mobile robot, and the call signal generated by pressing the call button of the transmitting wireless intercom installed at a fixed position is received by the receiving wireless intercom installed on the mobile robot, and the received signal is transmitted to the mobile robot. An emergency stop device for a mobile robot, which is used as an emergency stop signal for the robot to bring the mobile robot to an emergency stop.