• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    This method relates to the disconnection of a manual control box (10) of a multi-axis robot (R), comprising a cord (1) for connecting the housing (10) with a controller (C). The cord (1) has an input power line and an output power line for each of two electrical wiring circuits of an emergency stop button (10A), and an input power line and a line electrical output for each of two wiring circuits of a dead-man contactor (1 0B). The method comprises successive steps in which: a) an operator makes a request to disconnect the box (10), - b) for a predetermined duration, the safety controller (5) does not trigger an emergency stop on the basis of the control of the electrical wiring circuits, - c) at the end of the predetermined duration, the safety controller (5) does not trigger an emergency stop if and only if, on the one hand, only one of the two circuits emergency stop button wiring (10A) is open and, on the other hand, only one of the two wiring circuits of the dead-man switch (10B) is open.
    公开号:FR3028625A1
    申请号:FR1461134
    申请日:2014-11-18
    公开日:2016-05-20
    发明作者:Louis Garde
    申请人:Staeubli Faverges SCA；
    IPC主号:
    专利说明:

    [0001] BACKGROUND OF THE INVENTION The present invention relates to a method for disconnecting a manual control box from a multi-robot. -axes, as well as a robot for implementing such a method. It is known to equip a control device of a multi-axis robot arm with a manual control box that allows an operator to transmit control commands to the robot and to receive information relating to the operation of the robot, such as for example, positions of moving parts of the robot arm. The manual control box makes it possible to select a manual operating mode of the robot, for manually moving a mobile part of the robot arm, for example during a learning phase of trajectories, for a maintenance operation or, following a emergency stop, to reposition the robot arm in a suitable position.
    [0002] The manual control box usually has an emergency stop button and a dead-man switch off by default, which includes a control button that must be manually activated during use of the enclosure. manual control. When the operator has completed his intervention using the manual control box, he may need to disconnect the manual control box, for example to connect it to a control unit of another robot arm. In the absence of any particular device, the disconnection of the manual control box automatically triggers an emergency stop. To avoid such activation of the emergency stop when disconnecting the manual control box, US5444342 proposes to equip the manual control box with a switch connection / disconnection of the manual control box, it is necessary activate before disconnection of the manual control box, to allow disconnection. Upon activation of this switch, the electrical circuit of the emergency stop button is shunted, so that disconnection of the manual control box does not trigger an emergency stop. In addition, when activating the connection / disconnection contactor, the power supply of the functional circuits of the manual control box is cut off, so that it is impossible to use the manual control box when the button emergency stop is not functional. The solution of US5444342 does not comply with the new security constraints which require that the failure of an element does not compromise the safety of the operator. Indeed, for example, a failure of the power circuit breaker device of the functional circuits of the manual control box may allow the operator to use the manual control box while the button emergency stop is disabled. To comply with the safety requirements, the emergency stop button and the 5 dead-person contactor are each wired on two independent power lines, which are connected to a safety controller able to detect any wiring anomalies and to trip. the emergency stop. This structure requires replacing the connector of the cord of the manual control box, connecting the housing to the control unit of the robot, by a plug which closes the power lines of the emergency stop button so that the security controller authorizes the operation of the robot. A disadvantage of this plug is that the safety controller is not able to differentiate the cap of the manual control box, which does not allow in particular to set up safety routines that depend on the presence or absence of the manual control box.
    [0003] It is to these drawbacks that the invention more particularly intends to remedy by proposing a method of disconnecting a manual control box from a multi-axis robot making it possible to satisfy safety constraints. For this purpose, the subject of the invention is a method of disconnecting a manual control box from a multi-axis robot, the manual control box comprising: an emergency stop button, a contactor dead man; - a connection cord of the manual control box with a robot controller, the cord comprising: - an electrical input line and an electrical output line for each of two wiring circuits of the stop button emergency, and - an input power line and an output power line for each of two wiring circuits of the dead-man switch, the robot controller including: - a central unit capable of executing control programs of the arm robot and - a safety controller capable of testing the two wiring circuits of the emergency stop button and the two wiring circuits of the dead-man switch, and to trigger an emergency stop of the robot arm, characterized in that it com takes successive steps in which: 35 - a) an operator makes a request for disconnection of the manual control box, 3028625 3 - b) for a predetermined duration starting at the disconnection request, the safety controller suspends the control of the two electrical circuits for wiring the emergency stop button and the two wiring circuits of the dead-man switch so as not to trigger the emergency stop, 5 - c) at the end of the predetermined time, the safety does not trigger an emergency stop of the robot arm if and only if, on the one hand, only one of the two wiring circuits of the emergency stop button is open and, on the other hand, only one of the two wiring circuits of the dead-man switch are open. Thanks to the invention, the manual control box can be disconnected without triggering an emergency stop. In addition, when the manual control box is not disconnected after a predetermined time, then the safety controller detects that at least one wiring circuit of the emergency stop button or the dead-man switch is not in the expected state and triggers the emergency stop. The particular plug implemented in the invention allows the security controller to detect the presence of the plug with a high level of security, similar to the security level of the emergency stop, thanks to two redundant signals of category 4 / PLe according to ISO 13849-1 or SIL3 according to IEC62061 standard. The improvement of the security level is achieved without additional cost, and allows the central unit to easily distinguish between a lack of communication caused by a device error, and a lack of communication caused by the presence of the device. plug. According to advantageous but non-mandatory aspects of the invention, such a method may incorporate one or more of the following features, taken in any technically permissible combination: - In step b), an operator connects a plug to the control box 25 manually instead of the cord, the plug closing only one of the two wiring circuits of the emergency stop button and closing only one of the two wiring circuits of the dead-man switch. Advantageously, the method then furthermore comprises subsequent steps in which: a) an operator removes the cap, b ') for a second predetermined duration starting when the cap is withdrawn, the safety controller suspends control of the two circuits for wiring the emergency stop button and the two wiring circuits of the dead-man switch so as not to trigger the emergency stop, 3028625 4 - c ') at the end of the second duration The safety controller triggers the emergency stop if the two emergency stop button wiring circuits are open and the two dead-man switch wiring circuits are open. 5 - In step a), the disconnection request is made using the manual control box. Advantageously, the disconnection request command is received by an interface, in particular a touch screen of the manual control box. As a variant, during step a), the disconnection request is made by means of a disconnection contactor connected to the safety controller. Another object of the invention relates to a multi-axis robot for implementing a method according to the invention, the robot comprising a manual control box which comprises: an emergency stop button, - A dead-man contactor, - A connection cord of the manual control box with a robot controller, the cord comprising: - An input power line and an output power line for each of two wiring circuits of the control button. emergency stop, and an input power line and an output power line for each of two wiring circuits of the dead-man contactor, the robot controller including: a central unit capable of executing control programs; control of the robot arm and 25 - a safety controller able to test the two wiring circuits of the emergency stop button and the two wiring circuits of the dead-man switch and to trigger an emergency stop of the arm of robot, for the mis e implementation of the third step c). According to advantageous but non-obligatory aspects of the invention, such a robot may incorporate one or more of the following features, taken in any technically permissible combination: - The robot further comprises a cap capable of closing, when connected to the robot controller instead of the cord, only one of the two wiring circuits of the emergency stop button and only one of the two wiring circuits of the dead-man switch. 35 - The manual control unit comprises an interface, including a touch screen, adapted to receive a disconnect request order. The robot controller comprises a disconnect contactor connected to the safety controller and adapted to receive a disconnect request command. The invention will be better understood on reading the following description of a multi-axis robot and a method of disconnecting a manual control box of such a robot, given solely as an example. and with reference to the accompanying drawings in which: - Figure 1 is a schematic view of a multi-axis robot according to the invention; FIG. 2 is a diagram of the wiring of a manual control box of the robot of FIG. 1 to the safety controller; and FIG. 3 is a circuit diagram of a plug of the robot of FIG. 1. The arm B of the multi-axis robot R represented in FIG. 1 is provided with degrees of freedom, for example six in number, each controlled by a motor adapted to move a moving part of the robot arm B around geometric axes, to move a tool O in space. The motors are for example three-phase brushless motors. Each motor cooperates with an electromagnetic brake. Position sensors or encoders are distributed in the robot arm B and measure movement information relative degrees of freedom, for example the angular position of the moving parts around each of the axes. Alternatively, the sensors measure the velocity or acceleration of the moving parts, or a combination of motion information among position, velocity, and acceleration. The robot arm B is controlled by a robot controller C disposed in a cabinet A separate from the robot arm B. The cabinet A contains in particular a central unit 2, V power inverters and a safety controller 5. These three elements 2, V and 5 communicate with each other via a common bus 100. A connection / disconnection contactor 6 of the manual control unit 10 is electrically connected to the safety controller 5. This contactor 6 is accessible from the outside the cabinet A of the robot controller C and allows an operator to transmit a disconnection order to the robot controller C.
    [0004] The central unit 2 is configured to execute control programs of the robot arm B. It ensures the generation of the trajectory of the tool 0 from motion orders. The central unit 2 also calculates the angular positions to be reached for each of the degrees of freedom of the robot arm B, by applying a kinematic model associated with the robot arm B, as well as the calculation of the angular positions to be reached for each motor, taking into account any reductions and couplings. These position instructions of the motors are sent to the inverter V of each motor.
    [0005] 3028625 6 The V inverters provide electrical power to the motor phases and incorporate a torque-off function. A manual control unit 10 communicates with the central unit 2 via an Ethernet link formed by a cable 11, and has a communication interface with an operator, such as a touch screen 101. allows an operator to transmit control commands to the robot R and to receive operating information from the robot R, for example the position of the tool O. The manual control box 10 has a stop button of emergency 10A and a dead-man contactor 10B. The emergency stop button 10A and the dead-man contactor 10B are separately connected to the cabinet A, by means of two separate electrical connections 12 and 13. The whole of the electric cables of the links 11, 12 and 13 between the manual control box 10 and the robot controller C are assembled in a single cord 1 provided at its free end with a first connector 81, intended to be connected with a second connector 82 of the manual control box 10, located on the 15 of the robot controller C. As shown in FIGS. 2 and 3, the electrical connections 12 and 13 of the emergency stop button 10A and the dead-man contactor 10B each have a first wiring circuit AU1 or HM1 and a second AU2 or HM2 wiring circuit, which guarantee a double level of security.
    [0006] The wiring circuits AU1 and AU2 of the emergency stop button 10A belong to the link 12 and are each provided with a switch 91 or 92. The two switches 91 and 92 are closed by default, so that they allow the passage of electrical current in the AU1 and AU2 wiring circuits, and are mechanically connected in synchronism with the emergency stop button 10A. In other words, pressing the emergency stop button 10A causes the simultaneous opening of the two switches 91 and 92. The wiring circuits HM1 and HM2 of the dead-man contactor 10B belong to the link 13 and are each equipped with a switch 93 or 94. The two switches 93 and 94 are open by default, so that they prevent the passage of electric current in circuits HM1 and HM2. The switches 93 and 94 are mechanically connected in synchronism with the dead-man contactor 10B. Thus, the contact on dead-man contactor 10B causes the simultaneous closing of the two switches 93 and 94. For the wiring of the emergency stop 10A, the cord 1 of the manual control box 10 and the connectors 81 and 82 comprise four electrical conductors, namely an input line eAU1 and an output line sAU1 belonging to the first wiring circuit AU1, and an input line eAU2 and an output line sAU2 belonging to the second wiring circuit AU2, within the cable of the electrical connection 12.
    [0007] The switch 91 is interposed between the lines eAU1 and sAU1 of the first wiring circuit AU1 of the emergency stop button 10A. The switch 92 is interposed between the lines eAU2 and sAU2 of the second wiring circuit AU2 of the emergency stop button 10A. Similarly, for the wiring of the dead-man contactor 10B, the cord 1 of the manual control housing 10 and the connectors 81 and 82 have four additional electrical conductors, namely an input line eHM1 and an output line sHM1 belonging to to the first wiring circuit HM1, and an input line eHM2 and an output line sHM2 belonging to the second wiring circuit HM2, within the cable of the electrical connection 13.
    [0008] The switch 93 is interposed between the lines eHM1 and sHM1 of the first wiring circuit HM1 of the dead-man contactor 10B. The switch 94 is interposed between the lines eHM2 and sHM2 of the second wiring circuit HM2 of the dead-man contactor 10B. On the robot controller C side, each electrical line eAU1, sAU1, eAU2, sAU2, eHM1, sHM1, eHM2 and sHM2 is connected to the safety controller 5 so as to close each wiring circuit AU1, AU2, HM1 and HM2. The security controller 5 comprises a computing unit 52 able to carry out security functions, on the basis of information made accessible by the common bus 100 and by the input lines eAU1, eAU2, eHM1 and eHM2 and output sAU1 , sAU2, sHM1 and sHM2 connected to the emergency stop 10A and the dead-man contactor 10B. The calculation unit 52 is able to check whether a wiring circuit AU1, AU2, HM1 or HM2 is closed or open by applying an electrical signal to its input line eAU1, eAU2, eHM1 or eHM2 and comparing this signal to a signal measured at the output line sAU1, sAU2, sHM1 or sHM2 of this circuit. The calculation unit 52 is capable of triggering an emergency stop of the robot arm B, during which the calculation unit 52 activates the torque-cutting function of the 25 V-drives. When using the robot R the safety controller 5 continuously checks the wiring circuits of the emergency stop button AU1 and AU2 and the deadman contactor HM1 and HM2. This control is referred to as normal monitoring of the AU1 and AU2 emergency stop button wiring circuits and the HM1 and HM2 deadman contactor. More precisely, the safety controller 5 tests whether the current flows in each wiring circuit AU1, AU2, HM1 and HM2 and records the electrical state of each circuit. The safety controller 5 retrieves the logical information "0" when the circuit is open, that is to say when the current does not flow, and the logic information "1" when the circuit is closed, it is ie when the current passes.
    [0009] In the following, we note (a, b) the logical information pair of the wiring circuits AU1 and AU2 of the emergency stop button 10A, or respectively of the wiring circuits HM1 and HM2 of the contactor man- death 10B. "A" is the electrical state of the first wiring circuit AU1 or HM1, and "b" is the electrical state of the second wiring circuit AU2 or HM2. For the AU1 and AU2 wiring circuits of the emergency stop button 10A, the logical information pair (1, 1) retrieved simultaneously corresponds to an authorized operating state of the robot arm B. The stop button d emergency 10A is not actuated and the switches 91 and 92 are closed. For the AU1 and AU2 wiring circuits of the emergency stop button 10A, the pair of logical information (0, 0) retrieved simultaneously corresponds to an emergency stop state of the robot arm B. The button 10A emergency stop is actuated and the switches 91 and 92 are open. The safety controller 5 then triggers the emergency stop, if it is not already activated. For the AU1 and AU2 wiring circuits of the emergency stop button 10A, the logical information pairs (0, 1) and (1, 0) recovered simultaneously correspond to a malfunction of the AU1 or AU2 wiring circuits. In these two cases, the safety controller 5 triggers the emergency stop and issues a report of a fault of the wiring circuits AU1 and AU2 of the emergency stop button 10A. For the wiring circuits HM1 and HM2 of the dead-man contactor 10B, the pair of logical information (1, 1) recovered simultaneously corresponds to an actuation of the dead-man contactor 10B by an operator. The manual control box 10 is activated and the box 10 is authorized to control the robot arm B. The switches 93 and 94 are closed. For the wiring circuits HM1 and HM2 of the dead-man contactor 10B, the pair of logic information (0, 0) retrieved simultaneously corresponds to a state of deactivation of the manual control unit 10 in which the central unit 2 does not hold more account commands from the manual control box 10. The operator does not act on the dead-man contactor 10B. Switches 93 and 94 are open. The logical information pairs (0, 1) and (1, 0) recovered simultaneously on the wiring circuits HM1 and HM2 correspond to malfunctions of the wiring circuits HM1 or HM2. In these two cases, the safety controller 5 triggers the emergency stop and issues a report of a fault in the wiring circuits HM1 and HM2 of the dead-man contactor 10B. The robot controller C further comprises a plug 7, shown schematically in FIG. 3, intended to be connected to the second connector 82 of the cabinet A, on the robot controller C, in place of the first connector 81, when the manual control box 10 has been removed. When the plug 7 is connected to the second connector 82, the electrical lines eAU1 and sAU1 of the first wiring circuit AU1 of the emergency stop button 10A are electrically connected to each other via electrical conductors 7AU of the plug 7. Likewise, the electric lines eHM1 and sHM1 of the first wiring circuit HM1 of the dead-man contactor 10B are electrically connected to each other via electrical conductors 7HM of the plug 7. The plug 7 does not include any means of closing AU2 and HM2 wiring circuits. When the plug 7 is connected to the connector 82, the wiring circuits AU2 and HM2 are open. In a variant, the plug 7 electrically connects the electrical lines eAU2 and sAU2 10 of the second emergency stop circuit AU2, and the electrical lines eHM2 and sHM2 of the second dead-man circuit HM2, while the electrical lines eAU1 and sAU1 of the first emergency stop circuit AU1, and the electrical lines eHM1 and sHM1 of the first dead-man circuit HM1 are not connected, so that the plug 7 closes only the circuits AU2 and HM2 while the circuits AU1 and HM1 remain open.
    [0010] Thus, the plug 7 electrically connects the input and output lines of only one of the two wiring circuits AU1 or AU2 of the emergency stop button 10A, and the input and output lines of a single of the two wiring circuits HM1 and HM2 of the dead-man contactor 10B. The following description relates to a method of disconnecting the manual control box 10, for the disconnection between the manual control box 10 and the robot controller C. In a first step a), when an operator wishes to disconnect the box 10 of the manual control of the robot controller C, it selects using the interface 101 a disconnection function of the manual control box 10. This disconnection request is transmitted to the central unit 2 which records the order and transmits it to the safety controller 5. Alternatively, the disconnection order is transmitted to the safety controller 5 by the disconnect contactor 6. In a second step b) subsequent to step a), the safety controller 5 Suspends control of the wiring circuits AU1, AU2, HM1 and HM2 of the emergency stop button 10A and the deadman contactor 10B for a determined period t1, for example 30 seconds, starting s of the disconnect request. In other words, the safety controller 5 does not trigger an emergency stop even if the logical information couples of the wiring circuits AU1 and AU2 are different from (1, 1). Thus, the function of activating the breaking of torque, provided by the safety controller 5, is deactivated.
    [0011] In a third step c), subsequent to step b), the safety controller 5 then carries out a test of the wiring circuits AU1, AU2, HM1 and HM2 of the emergency stop button 10A and the contactor dead man 10B. This test consists in checking two conditions X and Y. According to the first condition X, an emergency stop circuit AU1 or AU2 is open while the other circuit AU2 or AU1 is closed, which corresponds to the pairs of logical information (0,1) and (1,0). According to the second condition Y, a dead-man circuit HM1 or HM2 is open, while the other circuit HM2 or HM1 is closed, which corresponds to the logical information pairs (0,1) and (1,0).
    [0012] The logical information quadruplet of the AU1, AU2, HM1 and HM2 wiring circuits is denoted (a, b, c, d). "A" is the electrical state of the first circuit of the emergency stop button AU1, "b" is the electrical state of the second circuit of the emergency stop button AU2, "c" is the electrical state of the first wiring circuit of the dead-man contactor HM1 and "d" is the electrical state of the second wiring circuit of the dead-man contactor HM2. With the plug 7 of the example shown in the figures, the two conditions X and Y are satisfied when the logical information of the wiring circuits AU1, AU2, HM1 and HM2 are equal to (1, 0, 1, 0). During the second step b), if an operator disconnects the cord 1 from the manual control box 10 and connects the plug 7 to the second connector 82 for the predetermined time t1, then the security controller 5 detects during the third step c) that the two conditions X and Y are satisfied, namely that a single wiring circuit AU1 of the emergency stop button 10B is closed and only one wiring circuit HM1 of the dead-man contactor 10B is closed . The safety controller 5 closes the test procedure without triggering the emergency stop. During the test procedure, the safety controller 5 simultaneously analyzes the electrical state of the wiring circuits AU1 and AU2 of the emergency stop button 10A and the wiring circuits HM1 and HM2 of the dead-man contactor 10B. In the third step c), after the predetermined duration t1 after the disconnection request, and if the two conditions X and Y are not fulfilled, the safety controller 5 triggers the emergency stop. In a first case, this means that the operator has not disconnected the cord 1 and the manual control box 10 is still connected at the end of the predetermined time t1. This configuration corresponds to the logical information (1, 1, 0, 0). The emergency stop triggered by the safety controller 5 then allows the operator to disconnect the manual control box 10 in a secure manner, by disconnecting the cord 1. The logic information 3028625 11 wiring circuits AU1, AU2, HM1 and HM2 are then equal to (0, 0, 0, 0). The test procedure ends. In a second case, the two conditions X and Y are not fulfilled when the operator has disconnected the cord 1 but has not connected the plug 7 to the second connector 82 at the end of the predetermined time t1. The logical information of the circuits AU1, AU2, HM1 and HM2 are then equal to (0, 0, 0, 0). The operator must then connect the plug 7 to the second connector 82 so that the X and Y conditions are met and the test procedure ends. The emergency stop being triggered, the user can connect the cap 7 safely.
    [0013] Thus, at the end of the predetermined duration t1, the safety controller 5 does not trigger an emergency stop of the robot arm B if and only if, on the one hand, only one of the two wiring circuits AU1 and AU2 of the emergency stop button 10A is open and, on the other hand, only one of the two wiring circuits HM1 HM2 of the dead-man contactor 10B is open. In the example of the plug 7 shown in the figures, this corresponds to the quadruplet of logical information (1, 0, 1, 0). As a variant, it may be the following configurations: (1, 0, 0, 1), (0, 1, 0, 1) or (0, 1, 1, 0). There are four operating configurations without hardware failure of the robot: - when the wiring circuits AU1, AU2, HM1 and HM2 are all open: (0, 0, 0, 20 0), - when the wiring circuits AU1, AU2, HM1 and HM2 are all closed: (1, 1, 1, 1), - when the two AU1 and AU2 wiring circuits of the emergency stop button 10A are open while the two wiring circuits of the contactor 10B are closed: (0, 0, 1, 1), - when the two circuits AU1 and AU2 of the emergency stop button 10A are closed while the two wiring circuits HM1 and HM2 of the contactor man -Mort 10B are open: (1, 1, 0, 0). For an operating error to result in the robot controller C erroneously detecting the presence of the plug 7 when it has not been put in place, and not triggering the emergency stop by mistake , it is necessary that two failures occur simultaneously, namely a first failure concerning the electrical state of only one of the wiring circuits AU1 and AU2 of the emergency stop button 10A, and a second failure concerning the electrical state of only one of the wiring circuits HM1 and HM2 of the dead-man contactor 10B.
    [0014] Thus, the disconnection procedure is in accordance with the safety principles requiring safe detection of failures of the security system of the robot controller C. The following is a method of connecting the manual control box 10 to the robot controller C, which comprises three successive steps a '), b') and c ').
    [0015] In the first step a '), the operator removes the plug 7. This step may follow the reconnection of the plug 7, during the disconnection process, as described above. In the second step b '), the security controller 5 detects the removal of the plug 7 by applying an electrical signal to each input line eAU1, eAU2, eHM1 or eHM2 10 and comparing this signal with a signal measured at the line output sAU1, sAU2, sHM1 or sHM2 of this circuit. When the plug 7 is disconnected, the logic information of the wiring circuits AU1, AU2, HM1 and HM2 are equal to (0, 0, 0, 0). The safety controller 5 then suspends the control of the wiring circuits AU1, AU2, HM1 and HM2 so as not to trigger an emergency stop for a second predetermined duration t2 starting when the plug 7 is withdrawn, for example 30 seconds. In the third step c '), the safety controller 5 then performs a test sequence of the electrical state of the wiring circuits AU1, AU2, HM1 and HM2, as described in step c) of the disconnection process. If the two conditions X and Y stated above are not fulfilled at the end of the second predetermined duration t2, the safety controller 5 considers that the plug 7 is still absent and reactivates the control of the wiring circuits AU1, AU2, HM1 and HM2 of the emergency stop button 10A and the deadman contactor HM1 and HM2. It is then able to perform the normal monitoring function of circuits AU1, AU2, HM1 and HM2. The connection process ends.
    [0016] If the manual control box 10 is connected and the two wiring circuits AU1 and AU2 of the emergency stop button 10A are closed, the safety controller 5 does not trigger an emergency stop. If the manual control box 10 is not connected then the safety controller 5 triggers an emergency stop since it will have detected that the two wiring circuits AU1 and AU2 of the emergency stop button 10A are open. . If both conditions X and Y are satisfied, it means that the plug 7 has been reconnected and that the robot controller C has returned to the previous configuration. The connection process ends. In this way, the connection procedure is also in accordance with the principles of security requiring a reliable detection of failures of the security system of the robot controller C. The emergency stop is triggered if, at the end of the second period 3028625 predetermined t2, the user has not reconnected the manual control box 10 or has not reconnected the plug 7. The invention applies to all types of multi-axis robots. In the context of the invention, the variants described can be combined with one another, at least partially.
    权利要求:
    Claims (10)
    [0001]
    CLAIMS1.- A method of disconnecting a manual control box (10) from a multi-axis robot (R), the manual control box (10) comprising: - an emergency stop button (10A), - a dead-man contactor (10B), - a cord (1) for connecting the manual control box (10) with a robot controller (C), the cord (1) comprising: - an input power line ( eAU1, eAU2) and an output power line (sAU1, sAU2) for each of two emergency stop button wiring circuits (AU1, AU2) (10A), and - an input power line (eHM1, eHM2) and an output power line (sHM1, sHM2) for each of two dead man switch (10B) wiring circuits (HM1, HM2), the robot controller (C) including: - a central unit (2) adapted to execute control programs of the robot arm (B) and - a safety controller (5) adapted to test the two wiring circuits (AU1, AU2) of the emergency stop button (10A) and both this (HB1, HM2) for wiring the dead-man contactor (10B), and for triggering an emergency stop of the robot arm (B), characterized in that it comprises successive steps in which: a) an operator performs a request to disconnect the manual control box (10), - b) for a predetermined duration (t1) started during the disconnection request, the safety controller (5) suspends the control of the two electrical wiring circuits (AU1 , AU2) of the emergency stop button (10A) and the two circuits (HM1, HM2) for wiring the dead-man contactor (10B) so as not to trigger the emergency stop, - c) for the term of the predetermined duration (t1), the safety controller (5) does not trigger an emergency stop of the robot arm (B) if and only if, on the one hand, only one of the two wiring circuits (AU1 , AU2) of the emergency stop button (10A) is open and, on the other hand, only one of the two wiring circuits (HM1, HM2) of the Dead man actor (10B) is open. 3028625 15
    [0002]
    2. A method according to claim 1, characterized in that during step b), an operator connects a plug (7) to the manual control box (10) in place of the cord (1), the plug (7). ) closing only one of the two wiring circuits (AU1, AU2)) of the emergency stop button (10A) and closing only one of the two wiring circuits (HM1, HM2) 5 of the dead-man contactor (10B).
    [0003]
    3. A process according to claim 2, characterized in that it further comprises subsequent steps in which: a) an operator removes the plug (7), 10-b ') for a second predetermined duration (t2) starting when removing the plug (7), the safety controller (5) suspends the control of the two wiring circuits (AU1, AU2) of the emergency stop button (10A) and the two circuits (HM1, HM2 ) of wiring the dead-man contactor (10B) so as not to trigger the emergency stop, 15 - c ') at the end of the second predetermined duration (t2), the safety controller (5) triggers the emergency stop if the two wiring circuits (AU1, AU2) of the emergency stop button (10A) are open and the two wiring circuits (HM1, HM2) of the dead-man contactor (10B) are open . 20
    [0004]
    4.- Method according to one of the preceding claims, characterized in that during step a), the disconnection request is performed using the manual control box (10).
    [0005]
    5. A method according to claim 4, characterized in that the disconnection request command is received by an interface, in particular a touch screen (101) of the manual control box (10).
    [0006]
    6. Method according to one of claims 1 to 2, characterized in that during step a), the disconnection request is made using a disconnection contactor (6) connected to the controller of security (5).
    [0007]
    7. Multi-axis robot (R) for carrying out a method according to one of the preceding claims, the robot comprising a manual control box (10) which comprises: a stop button; emergency (10A), - a dead-man contactor (10B), - a cord (1) for connecting the manual control box (10) with a robot controller (C), the cord (1) comprising: an input power line (eAU1, eAU2) and an output power line (sAU1, sAU2) for each of two emergency stop button wiring circuits (AU1, AU2) (10A), and input power line (eHM1, eHM2) and an output power line (sHM1, sHM2) for each of two dead man switch (10B) circuits (HM1, HM2), the robot controller (C) including : 10 - a central unit (2) capable of executing control programs of the robot arm (B) and - a safety controller (5) able to test the two wiring circuits (AU1, AU2) of the button emergency stop and the two wiring circuits (HM1, HM2) of the dead-man contactor (10B) and to trigger an emergency stop of the robot arm 15 (B), for the implementation of the third step c).
    [0008]
    8. multi-axis robot (R) according to claim 7, characterized in that it further comprises a cap (7) adapted to close, when connected to the robot controller (C) instead of the cord (1), only one of the two wiring circuits (AU1, AU2) of the emergency stop button (10A) and only one of the two wiring circuits (HM1, HM2) of the dead-man contactor (10B).
    [0009]
    9. Multi-axis robot (R) according to one of claims 7 or 8, characterized in that the manual control unit (10) comprises an interface, in particular a touch screen (101), adapted to receive an order Disconnect Request.
    [0010]
    10. Multi-axis robot (R) according to one of claims 7 to 9, characterized in that the robot controller (C) comprises a disconnection contactor (6) connected to the safety controller (5) and adapted to receive a disconnect request order.
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    同族专利:
    公开号 | 公开日
    US20160136814A1|2016-05-19|
    CN105598986B|2020-05-12|
    EP3023850A1|2016-05-25|
    US9821462B2|2017-11-21|
    EP3023850B1|2018-02-28|
    CN105598986A|2016-05-25|
    FR3028625B1|2018-04-27|
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    法律状态:
    2015-11-17| PLFP| Fee payment|Year of fee payment: 2 |
    2016-05-20| PLSC| Publication of the preliminary search report|Effective date: 20160520 |
    2016-11-23| PLFP| Fee payment|Year of fee payment: 3 |
    2017-11-27| PLFP| Fee payment|Year of fee payment: 4 |
    2019-11-25| PLFP| Fee payment|Year of fee payment: 6 |
    2020-11-25| PLFP| Fee payment|Year of fee payment: 7 |
    2021-11-24| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1461134|2014-11-18|
    FR1461134A|FR3028625B1|2014-11-18|2014-11-18|METHOD FOR DISCONNECTING A MANUAL CONTROL UNIT FROM A MULTI-AXIS ROBOT AND ROBOT FOR IMPLEMENTING SUCH A METHOD|FR1461134A| FR3028625B1|2014-11-18|2014-11-18|METHOD FOR DISCONNECTING A MANUAL CONTROL UNIT FROM A MULTI-AXIS ROBOT AND ROBOT FOR IMPLEMENTING SUCH A METHOD|
    US14/930,850| US9821462B2|2014-11-18|2015-11-03|Method for disconnecting a manual control unit from a multi-axis robot and robot for implementing such a method|
    CN201510788852.6A| CN105598986B|2014-11-18|2015-11-17|Method for disconnecting a manual control unit from a multi-axis robot and robot for carrying out the method|
    EP15194853.6A| EP3023850B1|2014-11-18|2015-11-17|Process for deconnecting a manual control unit of a multiaxis robot and robot for the implementation of such a process|
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