TWI792783B - Teaching equipment for electromechanical systems - Google Patents

Teaching equipment for electromechanical systems Download PDF

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TWI792783B
TWI792783B TW110147745A TW110147745A TWI792783B TW I792783 B TWI792783 B TW I792783B TW 110147745 A TW110147745 A TW 110147745A TW 110147745 A TW110147745 A TW 110147745A TW I792783 B TWI792783 B TW I792783B
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emergency stop
circuit
mode
switch
stop circuit
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TW110147745A
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TW202326324A (en
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黃彥舜
陳毅弘
張順凱
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上銀科技股份有限公司
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Abstract

本發明所提供機電系統的教導設備用以連接機電設備的緊停迴路，教導設備包括多段鑰匙開關、一致能開關及一安全控制裝置。多段鑰匙開關包括一第一模式及一第二模式，並用以切換在第一模式或第二模式。多段鑰匙開關在切換時產生一切換信號。致能開關連接緊停迴路。安全控制裝置連接多段鑰匙開關，並用以接收多段鑰匙開關的切換信號。安全控制裝置包括一暫態緊停電路及一斷路時間。暫態緊停電路連接緊停迴路。安全控制裝置依據切換信號觸發緊停迴路進入緊停狀態。緊停狀態包括暫態緊停電路中斷緊停迴路直到斷路時間到才復歸緊停迴路。The teaching equipment of the electromechanical system provided by the present invention is used to connect the emergency stop circuit of the electromechanical equipment. The teaching equipment includes a multi-stage key switch, an enabling switch and a safety control device. The multi-segment key switch includes a first mode and a second mode, and is used to switch between the first mode and the second mode. The multi-segment key switch generates a switching signal when switching. The enabling switch is connected to the emergency stop circuit. The safety control device is connected with the multi-segment key switch, and is used for receiving switching signals of the multi-segment key switch. The safety control device includes a transient emergency stop circuit and a break time. The transient emergency stop circuit is connected to the emergency stop circuit. The safety control device triggers the emergency stop circuit to enter the emergency stop state according to the switching signal. The emergency stop state includes the transient emergency stop circuit interrupting the emergency stop circuit until the break time is up before returning to the emergency stop circuit.

Description

機電系統的教導設備Teaching equipment for electromechanical systems

本發明與機電系統有關，特別是指一種機電系統的教導設備。The invention relates to electromechanical systems, in particular to a teaching device for electromechanical systems.

隨著自動化生產、搬運或其他作業流程的需求增加，帶動機器人的使用。但機器人運行過程中可能因為誤動作、故障、更改動作或行程而需要停機，目前通常是觸發機器人的緊停開關來暫停動作，以進行相關維修並確保相關作業人員安全。As the demand for automated production, handling or other operations increases, the use of robots is driven. However, during the operation of the robot, it may be necessary to stop due to malfunction, failure, change of action or schedule. At present, the emergency stop switch of the robot is usually triggered to suspend the action, so as to carry out related maintenance and ensure the safety of relevant operators.

機器人或機電設備需要通過教導設備的教導程序來建立自動化或測試作業流程，以讓機器人或機電設備能建立或執行自動化運作，但現行機器人的緊停開關與教導設備的各開關是獨立的運作，且沒有被硬體線路連接在一起，因此，教導設備的各開關運作需透過軟體運作來通知機器人是否進入緊停狀態。Robots or electromechanical equipment need to establish automation or test procedures through the teaching program of the teaching equipment, so that the robot or electromechanical equipment can establish or execute automatic operations, but the emergency stop switch of the current robot and each switch of the teaching equipment operate independently. And they are not connected together by hardware lines. Therefore, the operation of each switch of the teaching device needs to be operated through software to notify the robot whether it has entered the emergency stop state.

再者，教導設備的三段鑰匙開關及致能開關的運作是透過軟體來判斷操作位置以控制機電設備的運行。三段鑰匙開關是用以切換選擇運行模式。致能開關是一種三段開關，依按壓動作可分為中位、壓緊及完全鬆開，中位及壓緊分別對應不同的運行模式。實際運作時，三段鑰匙開關或致能開關可能會故障或軟體誤判致能開關的按壓動作，導致機電設備沒有隨著三段鑰匙開關切換至關閉或致能開關完全放開而停止運行。或者，使用者在操作致能開關時，誤觸(動作)導致按壓動作自中位切換至壓緊或鬆開，導致機電設備對應進入連續運行或停止運行，如此，軟體判斷後執行亦可能會發生危險。Furthermore, the operation of the three-stage key switch and the enable switch of the teaching equipment is to judge the operating position through software to control the operation of the electromechanical equipment. The three-stage key switch is used to switch and select the operating mode. The enable switch is a three-stage switch. According to the pressing action, it can be divided into neutral position, compression and complete release. The neutral position and compression correspond to different operation modes. In actual operation, the three-stage key switch or the enabling switch may fail or the software may misjudge the pressing action of the enabling switch, resulting in the electromechanical equipment not stopping when the three-stage key switch is switched to off or the enabling switch is fully released. Or, when the user operates the enable switch, a false touch (action) causes the pressing action to switch from the neutral position to compression or release, causing the electromechanical equipment to enter continuous operation or stop operation correspondingly. In this way, execution after software judgment may also cause Dangerous.

有鑑於上述缺失，本發明的其中一目的在於提供一種機電系統的教導設備，以透過硬體電路將教導設備的各開關連接至緊停迴路，來避免軟體誤判的問題。In view of the above shortcomings, one object of the present invention is to provide a teaching device of an electromechanical system, which connects each switch of the teaching device to the emergency stop circuit through a hardware circuit, so as to avoid the problem of software misjudgment.

緣是，依據本發明所提供機電系統的教導設備用以連接機電設備的緊停迴路，教導設備包括多段鑰匙開關、一致能開關及一安全控制裝置。多段鑰匙開關包括一第一模式及一第二模式，並用以切換在第一模式或第二模式。多段鑰匙開關在切換時產生一切換信號。致能開關連接緊停迴路。安全控制裝置連接多段鑰匙開關，並用以接收多段鑰匙開關的切換信號。安全控制裝置包括一暫態緊停電路及一斷路時間。暫態緊停電路連接緊停迴路。安全控制裝置依據切換信號觸發緊停迴路進入緊停狀態。緊停狀態包括暫態緊停電路中斷緊停迴路直到斷路時間到才復歸緊停迴路。The reason is that the teaching equipment of the electromechanical system provided by the present invention is used to connect the emergency stop circuit of the electromechanical equipment. The teaching equipment includes a multi-stage key switch, an enabling switch and a safety control device. The multi-segment key switch includes a first mode and a second mode, and is used to switch between the first mode and the second mode. The multi-segment key switch generates a switching signal when switching. The enabling switch is connected to the emergency stop circuit. The safety control device is connected with the multi-segment key switch, and is used for receiving switching signals of the multi-segment key switch. The safety control device includes a transient emergency stop circuit and a break time. The transient emergency stop circuit is connected to the emergency stop circuit. The safety control device triggers the emergency stop circuit to enter the emergency stop state according to the switching signal. The emergency stop state includes the transient emergency stop circuit interrupting the emergency stop circuit until the break time is up before returning to the emergency stop circuit.

如此，本發明的機電系統的教導設備的多段鑰匙開關在切換時可透過安全控制裝置來觸發緊停狀態，且致能開關也可以中斷緊停迴路來觸發緊停信號，以提高機電設備的使用安全及可靠度。In this way, the multi-stage key switch of the teaching equipment of the electromechanical system of the present invention can trigger the emergency stop state through the safety control device when switching, and the enable switch can also interrupt the emergency stop circuit to trigger the emergency stop signal, so as to improve the use of electromechanical equipment safety and reliability.

以下藉由所列舉的若干實施例配合圖式，詳細說明本發明的技術內容及特徵，本說明書內容所提及的“連接”或“電連接”用語，只是以正常形成電性導通或連接的用語，並非作為限制主張範圍的用意。The technical content and characteristics of the present invention will be described in detail below by listing several embodiments in conjunction with the drawings. The terms "connection" or "electrical connection" mentioned in the content of this specification only refer to the normal formation of electrical conduction or connection. The terms are not intended to limit the scope of claims.

為了詳細說明本發明的技術特點所在，茲舉以下的實施例並配合圖式說明如後，其中：In order to describe the technical features of the present invention in detail, the following embodiments are given and illustrated as follows in conjunction with the drawings, wherein:

如圖1所示，該圖是本發明的機電系統10的示意圖。機電系統10包括一機電設備30及一教導設備50。教導設備50連接機電設備30，且用以控制機電設備30的運作，機電設備30包括一機械手臂31及一緊停迴路33。緊停迴路33連接機械手臂31，且包括一緊停開關35及一安全繼電器模組37。緊停開關35可觸發緊停迴路33進入緊停狀態，以讓機械手臂31中斷或暫停運行，來達到安全保護功能。其中，安全繼電器模組37可讓機械手臂31停止、激磁及重置。As shown in FIG. 1 , which is a schematic diagram of an electromechanical system 10 of the present invention. The electromechanical system 10 includes an electromechanical device 30 and a teaching device 50 . The teaching device 50 is connected to the electromechanical device 30 and is used to control the operation of the electromechanical device 30 . The electromechanical device 30 includes a mechanical arm 31 and an emergency stop circuit 33 . The emergency stop circuit 33 is connected to the mechanical arm 31 and includes an emergency stop switch 35 and a safety relay module 37 . The emergency stop switch 35 can trigger the emergency stop circuit 33 to enter the emergency stop state, so that the operation of the mechanical arm 31 is interrupted or suspended, so as to achieve the safety protection function. Wherein, the safety relay module 37 can stop, energize and reset the mechanical arm 31 .

教導設備50連接機電設備30，且驅動機電設備30的運作，運作包括調整或設定機電設備30的作業流程、動作及狀態等。The teaching device 50 is connected to the electromechanical device 30 and drives the operation of the electromechanical device 30 . The operation includes adjusting or setting the operation process, action and status of the electromechanical device 30 .

教導設備50包括多段鑰匙開關51、致能開關53及安全控制裝置55。多段鑰匙開關51包括第一模式及第二模式，並用以切換在第一模式或第二模式。多段鑰匙開關51在切換時產生切換信號。切換信號的產生是第一模式切換至第二模式，或第二模式切換至第一模式。The teaching device 50 includes a multi-stage key switch 51 , an enable switch 53 and a safety control device 55 . The multi-stage key switch 51 includes a first mode and a second mode, and is used to switch between the first mode and the second mode. The multi-stage key switch 51 generates switching signals when switching. The generation of the switching signal is switching from the first mode to the second mode, or switching from the second mode to the first mode.

本實施例中，第一模式可以是手動程序或稱教導程序，第二模式可以是自動(AUTO)程序。手動程序可依據運行速度分為第一手動模式及第二手動模式。第一手動模式可作為機電設備30的點位教導、試行及程式建立等。第二手動模式可用來檢視機電設備30的程式。自動程序通常在自動化生產或作業中運行，以讓機電設備30執行自動化作業。其他實施例中，多段鑰匙開關51可以有更多的模式，例如關閉(OFF)模式或協作模式等。In this embodiment, the first mode may be a manual program or a teaching program, and the second mode may be an automatic (AUTO) program. The manual program can be divided into a first manual mode and a second manual mode according to the running speed. The first manual mode can be used for point teaching, trial operation and program establishment of the electromechanical equipment 30 . The second manual mode can be used to check the program of the electromechanical device 30 . Automated programs are typically run in automated production or operations to allow electromechanical equipment 30 to perform automated operations. In other embodiments, the multi-segment key switch 51 can have more modes, such as OFF mode or cooperation mode.

致能開關53連接緊停迴路33，以使致能開關53與緊停迴路33連動。The enabling switch 53 is connected to the emergency stop circuit 33 , so that the enabling switch 53 is linked with the emergency stop circuit 33 .

安全控制裝置55連接多段鑰匙開關51，並用以接收多段鑰匙開關51的切換信號，安全控制裝置55可以偵測多段鑰匙開關51的切換，其中，當多段鑰匙開關51有切換時，安全控制裝置55可依據切換信號來判斷多段鑰匙開關51的切換及對應地切換模式。當多段鑰匙開關51沒有切換時，安全控制裝置55可偵測多段鑰匙開關51目前所對應的模式。The safety control device 55 is connected to the multi-stage key switch 51, and is used to receive the switching signal of the multi-stage key switch 51. The safety control device 55 can detect the switching of the multi-stage key switch 51, wherein, when the multi-stage key switch 51 is switched, the safety control device 55 The switching of the multi-stage key switch 51 can be judged according to the switching signal and the corresponding switching mode can be switched. When the multi-stage key switch 51 is not switched, the safety control device 55 can detect the current corresponding mode of the multi-stage key switch 51 .

安全控制裝置55包括一暫態緊停電路551及一斷路時間。暫態緊停電路551連接緊停迴路33。其中，安全控制裝置55依據切換信號觸發緊停迴路進入一緊停狀態，緊停狀態包括暫態緊停電路551中斷緊停迴路33直到斷電時間到才復歸緊停迴路33，如此，機電系統10會處在緊停狀態。在緊停狀態時，機電設備30是不能被運作或激磁。The safety control device 55 includes a transient emergency stop circuit 551 and a break time. The transient emergency stop circuit 551 is connected to the emergency stop circuit 33 . Wherein, the safety control device 55 triggers the emergency stop circuit according to the switching signal to enter an emergency stop state, and the emergency stop state includes the transient emergency stop circuit 551 interrupting the emergency stop circuit 33 until the power-off time is up before returning to the emergency stop circuit 33, so that the electromechanical system 10 will be at a tight stop. In the emergency stop state, the electromechanical device 30 cannot be operated or excited.

斷電時間是為了讓機電設備30能識別緊停迴路33已被觸發緊停狀態，因此，斷電時間與機電設備30的電子元件反應靈敏度有關。本實施例中，斷電時間約0.8秒，其他實施例中，斷電時間可以更長或較短，較短需參考電子元件反應靈敏度，以避免觸發緊停狀態，但機電設備30沒有識別緊急狀態已啟動。較長則需考量浪費機電設備30等待時間。The power-off time is for the electromechanical device 30 to recognize that the emergency stop circuit 33 has been triggered to the emergency stop state. Therefore, the power-off time is related to the response sensitivity of the electronic components of the electromechanical device 30 . In this embodiment, the power-off time is about 0.8 seconds. In other embodiments, the power-off time can be longer or shorter, and the shorter needs to refer to the response sensitivity of electronic components to avoid triggering the emergency stop state, but the electromechanical device 30 does not recognize emergency Status is started. If it is longer, the waiting time of the electromechanical equipment 30 needs to be considered.

隨後，緊停狀態可透過緊停迴路33的重置(Reset)程序來清除緊停狀態。警停狀態被清除後，機電設備30可以重新運作或激磁。Subsequently, the emergency stop state can be cleared through the Reset procedure of the emergency stop circuit 33 . After the shutdown condition is cleared, the electromechanical device 30 can be reactivated or energized.

如圖2所示，安全控制裝置55還包括接收電路553、判斷電路555及橋接電路557。接收電路553連接多段鑰匙開關51，且接收切換信號。接收電路553可透過邏輯閘元件的組成來判斷切換信號，並用以調整斷路時間，本實施例中，斷路時間對應一脈波的導通時間T，因此，接收電路553可透過調整脈波的導通時間來達成調整時間的目的。As shown in FIG. 2 , the safety control device 55 further includes a receiving circuit 553 , a judging circuit 555 and a bridge circuit 557 . The receiving circuit 553 is connected to the multi-stage key switch 51 and receives switching signals. The receiving circuit 553 can judge the switching signal through the composition of the logic gate element, and is used to adjust the disconnection time. In this embodiment, the disconnection time corresponds to the conduction time T of a pulse wave. To achieve the purpose of adjusting the time.

判斷電路555連接接收電路553、暫態緊停電路551及橋接電路557，且判斷切換信號對應第一模式或第二模式。此外，當多段鑰匙開關51沒有切換時，判斷電路555亦能判斷多段鑰匙開關51目前所對應的模式。The judging circuit 555 is connected to the receiving circuit 553 , the transient emergency stop circuit 551 and the bridge circuit 557 , and judges whether the switching signal corresponds to the first mode or the second mode. In addition, when the multi-stage key switch 51 is not switched, the judging circuit 555 can also judge the current mode corresponding to the multi-stage key switch 51 .

橋接電路557連接緊停迴路33及致能開關53，且與致能開關53是旁路關係。在多段鑰匙開關51位在第二模式時，判斷電路555觸發橋接電路557，以使緊停開關53及橋接電路557形成旁路迴路57。旁路迴路57是繞過致能開關53，而使電機系統進行自動程序，也就是繞過手動程序。緊停迴路33的四端點N1-N4是連接圖1的機電設備31的安全繼電器模組37。The bridge circuit 557 is connected to the emergency stop circuit 33 and the enabling switch 53 , and is in a bypass relationship with the enabling switch 53 . When the multi-stage key switch 51 is in the second mode, the judging circuit 555 triggers the bridge circuit 557 so that the emergency stop switch 53 and the bridge circuit 557 form a bypass loop 57 . The bypass loop 57 bypasses the enable switch 53 to enable the motor system to perform an automatic program, that is, bypass the manual program. The four terminals N1-N4 of the emergency stop circuit 33 are connected to the safety relay module 37 of the electromechanical device 31 in FIG. 1 .

如圖3所示，接收電路553包括二非或閘(NOR Gate)5531、5532、三反相器(NOT Gate)5533、5534、5535、一或閘(OR Gate)5536、二電阻器R1、R2及二電容器C1、C2。判斷電路555包括一第一電晶體Q1、一第二電晶體Q2及一第三電晶體Q3。暫態緊停開關551及橋接電路557分別是一繼電器5511、5571。As shown in Figure 3, the receiving circuit 553 includes two NOR gates (NOR Gate) 5531, 5532, three inverters (NOT Gate) 5533, 5534, 5535, one OR gate (OR Gate) 5536, two resistors R1, R2 and two capacitors C1, C2. The judging circuit 555 includes a first transistor Q1 , a second transistor Q2 and a third transistor Q3 . The transient emergency stop switch 551 and the bridge circuit 557 are respectively a relay 5511 and 5571 .

反相器5533的輸入端連接多段鑰匙開關51及非或閘5531的輸入端，電阻器R1及電容器C1電連接二反相器5533、5534的輸入端。反相器5534的輸出端連接非或閘5531的輸入端。反相器5533的輸出端連接非或閘5532的輸入端，電阻器R2及電容器C2電連接反相器5533的輸出端及反相器5535的輸入端。反相器5535的輸出端連接非或閘5532的輸入端。二非或閘5531、5532的輸出端連接或閘5536的輸入端，或閘5536的輸出端連接第一電晶體Q1的閘極(gate)。The input end of the inverter 5533 is connected to the input ends of the multi-stage key switch 51 and the NOR gate 5531 , and the resistor R1 and the capacitor C1 are electrically connected to the input ends of the two inverters 5533 and 5534 . The output terminal of the inverter 5534 is connected to the input terminal of the NOR gate 5531 . The output terminal of the inverter 5533 is connected to the input terminal of the NOR gate 5532 , and the resistor R2 and the capacitor C2 are electrically connected to the output terminal of the inverter 5533 and the input terminal of the inverter 5535 . The output terminal of the inverter 5535 is connected to the input terminal of the NOR gate 5532 . The output ends of the two NOR gates 5531 and 5532 are connected to the input end of the OR gate 5536, and the output end of the OR gate 5536 is connected to the gate of the first transistor Q1.

第一電晶體Q1的源極(source)連接電源。第一電晶體Q1的汲極(Drain)連接暫態緊停電路551的繼電器5511，以控制繼電器5511的開關運作。繼電器5511的常開接點是串接在緊停迴路33。A source (source) of the first transistor Q1 is connected to a power source. The drain of the first transistor Q1 is connected to the relay 5511 of the transient emergency stop circuit 551 to control the switching operation of the relay 5511 . The normally open contact of the relay 5511 is connected in series with the emergency stop circuit 33 .

第二電晶體Q2的閘極連接反相器5533的輸出端，第二電晶體Q2的源極連接接地端，第二電晶體Q2的汲極電連接第三電晶體Q3的汲極、第一電晶體Q1的閘極及電源。第三電晶體Q3的源極連接接地端。第三電晶體Q3的閘極電連接接地端及繼電器5571的常閉接點，繼電器5571的常閉接點連接電源。繼電器5571的常開接點電連接緊停迴路33，且與致能開關53形成旁路關係。繼電器5571連接第二電晶體Q2的閘極連接反相器5533的輸出端，以依據多段鑰匙開關51的第二模式來控制繼電器5571的開關運作。The gate of the second transistor Q2 is connected to the output terminal of the inverter 5533, the source of the second transistor Q2 is connected to the ground terminal, the drain of the second transistor Q2 is electrically connected to the drain of the third transistor Q3, the first Gate and power supply of transistor Q1. The source of the third transistor Q3 is connected to the ground terminal. The gate electrode of the third transistor Q3 is electrically connected to the ground terminal and the normally closed contact of the relay 5571, and the normally closed contact of the relay 5571 is connected to the power supply. The normally open contact of the relay 5571 is electrically connected to the emergency stop circuit 33 and forms a bypass relationship with the enabling switch 53 . The relay 5571 is connected to the gate of the second transistor Q2 and the output terminal of the inverter 5533 to control the switching operation of the relay 5571 according to the second mode of the multi-stage key switch 51 .

本實施例中，多段鑰匙開關51自第二模式切換至第一模式，使切換信號產生脈波而觸發在高位階(例如1)，以使或閘5536的輸出端輸出切換信號來觸發第一電晶體Q1截止，而使繼電器5511的常開接點打開，讓緊停迴路33斷開，以觸發緊停狀態。斷開的時間與斷路時間相同，也就是脈波又從高位階回到低位階(例如0)，斷路時間透過調整電阻器R1、R2及電容器C1、C2的參數來調整。斷路時間到時，第一電晶體Q1導通，而使繼電器5511的常開接點閉合，緊停迴路33導通。In this embodiment, the multi-stage key switch 51 is switched from the second mode to the first mode, so that the switching signal generates a pulse wave and triggers at a high level (for example, 1), so that the output terminal of the OR gate 5536 outputs a switching signal to trigger the first mode. The transistor Q1 is turned off, so that the normally open contact of the relay 5511 is opened, and the emergency stop circuit 33 is disconnected to trigger the emergency stop state. The disconnection time is the same as the disconnection time, that is, the pulse wave returns from a high level to a low level (for example, 0). The disconnection time is adjusted by adjusting the parameters of the resistors R1, R2 and capacitors C1 and C2. When the disconnection time is up, the first transistor Q1 is turned on, so that the normally open contact of the relay 5511 is closed, and the emergency stop circuit 33 is turned on.

多段鑰匙開關51自第一模式切換至第二模式時，切換信號產生脈波而觸發在低位階(例如0)，以使或閘5536的輸出端輸出切換信號來觸發第一電晶體Q1截止，而使繼電器5511的常開接點打開，讓緊停迴路33斷開，以觸發緊停狀態。直到斷路時間到時，第一電晶體Q1導通，而使繼電器5511的常開接點閉合，緊停迴路33導通。切換信號的脈波觸發在低位階時，反相器5533的輸出端會輸出高位階信號(例如1)，以觸發第二電晶體Q2導通、第三電晶體Q3截止及繼電器5571運作，以讓繼電器5571的常開接點閉合，使得旁路迴路57導通。When the multi-stage key switch 51 is switched from the first mode to the second mode, the switching signal generates a pulse wave and is triggered at a low level (for example, 0), so that the output terminal of the OR gate 5536 outputs a switching signal to trigger the first transistor Q1 to be cut off, And the normally open contact of relay 5511 is opened, and the emergency stop circuit 33 is disconnected to trigger the emergency stop state. When the cut-off time is up, the first transistor Q1 is turned on, so that the normally open contact of the relay 5511 is closed, and the emergency stop circuit 33 is turned on. When the pulse trigger of the switching signal is at a low level, the output terminal of the inverter 5533 will output a high-level signal (such as 1) to trigger the second transistor Q2 to be turned on, the third transistor Q3 to be turned off, and the relay 5571 to operate, so that The normally open contact of the relay 5571 is closed, so that the bypass loop 57 is turned on.

當多段鑰匙開關51沒有切換，也就是維持前次運作模式時，切換信號沒有相對地高低位階的變化而不會產生脈波，或閘5536的輸出端輸出切換信號會觸發第一電晶體Q1導通，因此，不會觸發緊停狀態。When the multi-segment key switch 51 is not switched, that is, when the previous operation mode is maintained, the switching signal does not have a relatively high or low level change and no pulse wave is generated, or the output of the gate 5536 outputs a switching signal that triggers the first transistor Q1 to be turned on , therefore, the emergency stop state will not be triggered.

其他實施例中，各電路透過上述的邏輯或開關的說明讓本領域技術人員能使用其他元件及元件數量來實現相關電路，故不以圖3的電路圖為限。In other embodiments, through the description of logic or switches above, those skilled in the art can use other components and the number of components to realize related circuits, so it is not limited to the circuit diagram of FIG. 3 .

其中，雖然在第二模式時，致能開關53的運作不會觸發緊停狀態，但多段鑰匙開關51有切換或緊停開關31有觸發時，仍可透過緊停開關31、橋接電路557及暫態緊停電路551所形成的旁路迴路57來觸發緊停狀態。Wherein, although in the second mode, the operation of the enable switch 53 will not trigger the emergency stop state, but when the multi-stage key switch 51 is switched or the emergency stop switch 31 is triggered, the emergency stop switch 31, the bridge circuit 557 and the emergency stop switch 31 can still be activated. The bypass loop 57 formed by the transient emergency stop circuit 551 triggers the emergency stop state.

多段鑰匙開關51在第一模式時，橋接電路557是不運作。致能開關53包括運行模式及斷開模式。運行模式例如按壓在中位位置。斷開模式例如完全鬆開及完全壓緊位置。在致能開關53自運行模式切換至斷開模式時，致使致能開關53中斷緊停迴路33，而觸發緊停狀態，以讓機電設備停止運行，來避免使用者誤動作而發生危險。When the multi-stage key switch 51 is in the first mode, the bridge circuit 557 is not in operation. The enable switch 53 includes a running mode and an off mode. The operating mode is, for example, pressed in the neutral position. Disengagement modes such as fully unclamped and fully compressed positions. When the enabling switch 53 switches from the running mode to the disconnecting mode, the enabling switch 53 interrupts the emergency stop circuit 33 and triggers the emergency stop state, so that the electromechanical equipment stops running, so as to avoid danger caused by user misoperation.

綜合上述，本發明的教導設備可以在緊停迴路被中斷時觸發緊停狀態，以實現硬體觸發緊停狀態，來提高機電設備使用安全及可靠度。Based on the above, the teaching device of the present invention can trigger the emergency stop state when the emergency stop circuit is interrupted, so as to realize the hardware triggering the emergency stop state, and improve the safety and reliability of the electromechanical equipment.

透過上述實施例說明本領域技術人員可理解本發明的教導設備的技術及目的，因此，上述關於教導設備的配置亦能在硬體中透過數量或邏輯元件安排來改變來達成相同的技術及目的，因此，實施例中所說明的教導設備只是以本實施例中的說明，並非作為限制主張範圍的用意。Through the above embodiments, those skilled in the art can understand the technology and purpose of the teaching device of the present invention. Therefore, the above configuration of the teaching device can also be changed in the hardware through the number or arrangement of logical components to achieve the same technology and purpose. Therefore, the teaching device described in the embodiment is only an illustration in this embodiment, and is not intended to limit the scope of claims.

10:機電系統10: Electromechanical system

30:機電設備30: Electromechanical equipment

31:機械手臂31: Mechanical arm

33:緊停迴路33: Emergency stop circuit

35:緊停開關35: Emergency stop switch

37:安全繼電器模組37:Safety relay module

50:教導設備50: teaching equipment

51:多段鑰匙開關51: Multi-stage key switch

53:致能開關53: enable switch

55:安全控制裝置55: Safety control device

551:暫態緊停電路551: Transient emergency stop circuit

5511:繼電器5511: Relay

553:接收電路553: Receive circuit

5531,5532:非或閘5531,5532: NOR gate

5533,5534,5535:反相器5533,5534,5535: Inverter

5536:或閘5536: OR gate

555:判斷電路555: judgment circuit

557:橋接電路557: Bridge circuit

5571:繼電器5571: Relay

57:旁路迴路57: Bypass circuit

N1,N2,N3,N4:端點N1, N2, N3, N4: endpoints

R1,R2:電阻器R1, R2: Resistors

C1,C2:電容器C1, C2: Capacitors

Q1:第一電晶體Q1: The first transistor

Q2:第二電晶體Q2: The second transistor

Q3:第三電晶體Q3: The third transistor

有關機電系統的教導設備的詳細構造、特點與其製作方法將於以下的實施例予以說明，然而，應能理解的是，以下將說明的實施例以及圖式僅只作為示例性地說明，其不應用來限制本發明的申請專利範圍，其中：The detailed structure, characteristics and manufacturing method of the teaching equipment related to the electromechanical system will be described in the following embodiments. However, it should be understood that the embodiments and drawings to be described below are only for illustrative purposes and should not be used. To limit the patent scope of the present invention, wherein:

圖1是本發明的機電系統的實施例的示意圖。 圖2是圖1中緊停開關、緊停迴路及教導設備的組成方塊圖。 圖3是延續圖2，並顯示接收電路、判斷電路、暫態緊停開關及橋接電路的電路圖。 Figure 1 is a schematic diagram of an embodiment of the electromechanical system of the present invention. Fig. 2 is a block diagram of the emergency stop switch, emergency stop circuit and teaching equipment in Fig. 1. FIG. 3 is a continuation of FIG. 2 and shows a circuit diagram of a receiving circuit, a judging circuit, a transient emergency stop switch and a bridge circuit.

10:機電系統 10: Electromechanical system

30:機電設備 30: Electromechanical equipment

31:機械手臂 31: Mechanical arm

33:緊停迴路 33: Emergency stop circuit

35:緊停開關 35: Emergency stop switch

37:繼電器 37: Relay

50:教導設備 50: teaching equipment

51:多段鑰匙開關 51: Multi-stage key switch

53:致能開關 53: enable switch

55:安全控制裝置 55: Safety control device

551:暫態緊停電路 551: Transient emergency stop circuit

Claims (7)

一種機電系統的教導設備，用以連接一機電設備的一緊停迴路，且包括：多段鑰匙開關，包括一第一模式及一第二模式，並用以切換在該第一模式或該第二模式，該多段鑰匙開關在切換時產生一切換信號；一致能開關，連接該緊停迴路；及一安全控制裝置，連接該多段鑰匙開關，並用以接收該多段鑰匙開關的切換信號，該安全控制裝置包括一暫態緊停電路及一斷路時間，該暫態緊停電路連接該緊停迴路，該安全控制裝置依據該切換信號觸發該緊停迴路進入一緊停狀態，該緊停狀態包括該暫態緊停電路中斷該緊停迴路直到該斷路時間到才復歸該緊停迴路。 A teaching device for an electromechanical system, which is used to connect an emergency stop circuit of an electromechanical device, and includes: a multi-stage key switch, including a first mode and a second mode, and is used to switch between the first mode and the second mode , the multi-segment key switch generates a switching signal when switching; an enabling switch is connected to the emergency stop circuit; and a safety control device is connected to the multi-segment key switch and used to receive the switching signal of the multi-segment key switch, the safety control device Including a transient emergency stop circuit and a break time, the transient emergency stop circuit is connected to the emergency stop circuit, the safety control device triggers the emergency stop circuit to enter an emergency stop state according to the switching signal, and the emergency stop state includes the temporary stop The state emergency stop circuit interrupts the emergency stop circuit until the breaking time is up before resuming the emergency stop circuit. 如請求項1所述的機電系統的教導設備，其中，該安全控制裝置包括一接收電路及一判斷電路，該接收電路接收該切換信號，該判斷電路連接該接收電路及該暫態緊停電路，且判斷該切換信號對應該第一模式或該第二模式。 The teaching equipment of the electromechanical system as described in claim 1, wherein the safety control device includes a receiving circuit and a judging circuit, the receiving circuit receives the switching signal, and the judging circuit is connected to the receiving circuit and the transient emergency stop circuit , and determine whether the switching signal corresponds to the first mode or the second mode. 如請求項2所述的機電系統的教導設備，其中，該接收電路用以調整該斷路時間。 The teaching device of the electromechanical system according to claim 2, wherein the receiving circuit is used to adjust the disconnection time. 如請求項2所述的機電系統的教導設備，其中，該安全控制裝置包括一橋接電路，連接該緊停迴路、該致能開關及該判斷電路，且與該致能開關是旁路關係，在該第二模式時，該緊停開關及該橋接電路形成一旁路迴路。 The teaching equipment of the electromechanical system according to claim 2, wherein the safety control device includes a bridge circuit connected to the emergency stop circuit, the enable switch and the judgment circuit, and is in a bypass relationship with the enable switch, In the second mode, the emergency stop switch and the bridge circuit form a bypass loop. 如請求項1所述的機電系統的教導設備，其中，該多段鑰匙開關在該第一模式時，該致能開關包括一運行模式及一斷開模式，在該運行模式切換至該斷開模式時該致能開關中斷該緊停迴路，以使該緊停迴路進入該緊停狀態。 The teaching device for the electromechanical system as claimed in claim 1, wherein when the multi-stage key switch is in the first mode, the enable switch includes an operating mode and an off mode, and switches from the operating mode to the off mode At this time, the enabling switch interrupts the emergency stop circuit, so that the emergency stop circuit enters the emergency stop state. 如請求項1所述的機電系統的教導設備，其中，該第一模式包括一手動程序，該第二模式包括一自動程序。 The teaching device for an electromechanical system as claimed in claim 1, wherein the first mode includes a manual procedure, and the second mode includes an automatic procedure. 如請求項1所述的機電系統的教導設備，其中，該緊停迴路包括一緊停開關。The teaching device of the electromechanical system according to claim 1, wherein the emergency stop circuit includes an emergency stop switch.
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