公开(公告)号：US6160324A

公开(公告)日：2000-12-12

申请号：US297148

申请日：1999-04-26

申请人： Akihiro Terada ,  Mitsuhiro Yasumura ,  Shinsuke Nakao

发明人： Akihiro Terada ,  Mitsuhiro Yasumura ,  Shinsuke Nakao

IPC分类号： B25J19/06 ,  B25J9/22 ,  B25J13/02 ,  H01H3/02 ,  H01H9/02 ,  H01H71/52 ,  H01H3/16

CPC分类号： B25J13/02 ,  H01H3/022 ,  H01H9/0235 ,  H01H2225/008 ,  H01H2300/026 ,  Y10T307/766 ,  Y10T307/786 ,  Y10T307/826

摘要： A deadman switch mechanism and a teaching operation panel equipped with the deadman switch mechanism, in which possibility of losing a safety function is low even if failure happens in a contact or other elements of a circuit. When an operator grips at least one of grip levers (GL1; GL2) with normal force, the grip levers turn around axes (AX4; AX5), shoulder portions (SD1; SD2) abut on slave levers (SL1; SL2) and turns the slave levers connected by a link (LK) around an axis (AX3) in the direction denoted by an arrow B, simultaneously, so that switches (SW1; SW2) are turned into an ON-state, simultaneously. Then, two circuits including those switches, respectively, output ON-signals independently and these signals are subjected to AND process, to allow the robot to operate. In an emergency, when an operator releases gripping of the grip levers (GL1; GL2), the slave levers (SL1; SL2) turn in the direction denoted by an arrow A, simultaneously, so that the switches (SW1; SW2) are brought into an OFF-state, simultaneously, and the robot stops immediately.

摘要翻译： PCT No.PCT / JP98 / 03772 Sec。 371日期1999年4月26日 102（e）1999年4月26日PCT PCT 1998年8月25日PCT公布。 公开号WO99 /​​ 10138 日期1999年3月4日，即使在触点或电路的其他元件中发生故障，死机开关机构和配备有死机开关机构的教学操作面板也可能失去安全功能。 当操作者以正常的力握住至少一个握柄（GL1，GL2）时，把手杠杆绕轴（AX4; AX5）转动，肩部（SD1; SD2）靠在从动杆（SL1; SL2）上，并转动 同时由箭头B所示的方向通过连杆（LK）围绕轴线（AX3）连接的从动杆，使得开关（SW1; SW2）同时变为接通状态。 然后，分别包括那些开关的两个电路分别输出ON信号，这些信号经过AND处理，以允许机器人操作。 在紧急情况下，当操作者释放把手（GL1，GL2）的夹持时，从动杆（SL1; SL2）同时向箭头A方向转动，从而使开关（SW1; SW2） 同时进入OFF状态，机器人立即停止。