JPS591591U

JPS591591U - Industrial robot safety equipment

Info

Publication number: JPS591591U
Application number: JP9663482U
Authority: JP
Inventors: 守杉山; 和田　公雄; 岡本　教志; 汲田　善一郎
Original assignee: 本田技研工業株式会社
Priority date: 1982-06-29
Filing date: 1982-06-29
Publication date: 1984-01-07

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【図面の簡単な説明】[Brief explanation of the drawing]

本考案の実施の１例のブロック図、第２図はその中の電
流制限器の特性図、第３図は通常運転時及び教示、調整
時の速度指令に対する負荷電温特　　　、性図である。１・・・モータ、２ａ〜２ｄ・・・トランジスタ、５・
・・　。加算器、７・・・負荷電流検出器、８・・・制限値設定
器、９・・・電流制限器。A block diagram of an example of the implementation of the present invention, Fig. 2 is a characteristic diagram of a current limiter therein, and Fig. 3 is a diagram of load current temperature characteristics with respect to speed commands during normal operation, teaching, and adjustment. . 1...Motor, 2a-2d...Transistor, 5.
・・・ . Adder, 7... Load current detector, 8... Limit value setter, 9... Current limiter.

Claims

【実用新案登録請求の範囲】[Scope of utility model registration request]

速度指令信号及びモータの回転数に応じた信号を加算す
る加算器の出力により前記モータの速度を指令速度に自
動調整するようにしたロボットにおいて、負荷電流検出
器と、モニド指令により通常運転時又は教示及び調整時
のいずれかの制限値に設定自在の制限値設定器と前記負
荷電流検出器により枚用された負荷電流と制限値設定器
の制限値とを比較し、負荷電流が該制限値を超過した時
出力電流を発生する電流制限器とを備え、前記制限値設
定器の教示及び調整時の制限値は通常運転時の制限値よ
り小さく設定され、該制限値設定器が教示及び調整時の
制限値に設定され、負荷電流が該制限値を超過したとき
、前記電流制限器の、出力電流を前記加算器に加え、負
荷電流を通常運転時より小さな最大電流値に制限するよ
うにしたことを特徴とする産業用ロボットの安全装置。In a robot in which the speed of the motor is automatically adjusted to the command speed by the output of an adder that adds a signal corresponding to the speed command signal and the motor rotation speed, a load current detector and a monido command are used to adjust the motor speed during normal operation or A limit value setter that can be freely set to any limit value during teaching and adjustment and the load current detected by the load current detector are compared with the limit value of the limit value setter, and the load current is determined to be the limit value. and a current limiter that generates an output current when the limit value setter exceeds the limit value, and the limit value during teaching and adjustment of the limit value setting device is set smaller than the limit value during normal operation, and the limit value setting device is configured to teach and adjust the limit value. When the load current exceeds the limit value, the output current of the current limiter is added to the adder to limit the load current to a maximum current value smaller than that during normal operation. A safety device for industrial robots that is characterized by: