JPH08294886A - Robot control device - Google Patents

Abstract

PURPOSE: To make automatic return to the initial condition quickly and smoothly by providing a plurality of return programs to the initial condition, furnishing a stop position sensing means and operating condition sensing means, and selecting the suitable program for the given condition when a robot stopped on the way of its works is to be started on the basis of the results from sensing made by the two sensing means. CONSTITUTION: A ROM as a storing part provided in a robot controller 4 contains a plurality of, for example three, return programs to the initial condition which are to control a reversible motor so that a robot stopped on the way of its works is returned automatically to the initial state. A stop position sensing means and an operating condition sensing means are furnished, and when the robot 1 stopped on the way of its works is to be started, a selecting means installed in the robot controller 4 selects the program suitable for the given condition to return the robot 1 automatically to its initial state on the basis of the results from sensing made by the two sensing means. Thus restitution takes place automatically in conformity to the selected program.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot controller.

[0002]

2. Description of the Related Art In recent years, various robots have been used in a variety of industrial fields to repeat predetermined work, which contributes to labor saving and improvement of work efficiency.

[0003] In order to ensure safety, such a robot can be returned to the initial state once and restarted from the initial state when it is stopped in the middle of work due to an error, a power failure, an emergency stop operation by an operator, or the like. Desirable,
A system considering such safety is adopted in many robots.

By the way, it is general that an operator manually performs an operation of returning a robot stopped during a work to an initial state.

[0005]

However, it is complicated for the operator to manually return the robot to the initial state every time the robot stops during the work.

Further, it takes a long time to manually return the robot to the initial state, which causes a reduction in work efficiency.

Further, in order to perform the manual operation for returning the robot to the initial state, an operator who is skilled in the operation of the robot is required, and it takes time to train the operator and when the skilled operator is absent, work is required. It will be interrupted.

[0008]

According to the first aspect of the present invention,
In a robot that performs a preset work by being driven by a drive means and moving on a predetermined movement path, a stop position detection means for detecting a stop position of the robot stopped during the work, and a stop position during the work An operation state detection unit that detects an operation state of the robot, a detection result storage unit that stores a detection result of these detection units, and a drive unit that automatically returns the robot stopped during work to an initial state. A storage unit storing a plurality of initial state return programs for controlling the means, and one initial state return program suitable for automatically returning the robot to the initial state when the robot stopped during work is started. There is provided selection means for selecting based on the detection result of the stop position detection means and the detection result of the operation state detection means. It was.

According to a second aspect of the present invention, in the first aspect of the invention, a manual operation detecting means for detecting that a manual operation is performed on the robot stopped during the work, and a detection result by the detecting means. And an emergency stop means for emergency stop of the drive means based on the detection result by the manual operation detection means when the robot stopped during the work is started.

[0010]

According to the first aspect of the invention, when the robot is stopped during the work, the stop position of the robot is detected by the stop position detecting means, and the operation state of the robot at the time of stop is detected by the operation state detecting means. The detection results are detected and stored in the detection result storage means. Then, when the robot stopped during the work is started, one initial state restoration program suitable for automatically returning the robot to the initial state is provided by the detection result by the stop position detection means and the operation state detection means. The robot is automatically returned to the initial state by being selected by the selection unit based on the detection result and controlling the drive unit according to the selected initial state return program.

According to the second aspect of the present invention, when the manual operation detecting means detects that a manual operation is performed on the robot stopped during the work, the detection result is stored in the detection result storing means. When the robot stopped during the work is started, the emergency stop means is activated based on the detection result of the manual operation detection means, and the drive means is brought to an emergency stop so that the robot automatically returns to the initial state. Stop without performing.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a schematic structure of a system that uses a robot 1 to perform a predetermined work. The robot 1 is equipped with a large number of reversible motors (not shown) as driving means, A hand unit 3 for gripping 2 is provided. A robot controller 4 is connected to the robot 1, and a personal computer 5 is connected to the robot controller 4.

FIG. 2 is a movement path diagram of the robot 1. This robot 1 is a → b → c → d → e → f during normal work.
→ g → a Move along the path. Then, the work 2 is gripped at the c position, and the work 2 is inserted at a predetermined position at the g position. The x position is a position at which the robot 1 stops while holding the work 2 and collects the work 2 when the robot 1 is automatically returned to the initial state.

The robot controller 4 has a stop position detecting means for detecting the stop position of the robot 1 when the robot 1 stops during the work due to an error, a power failure, an emergency stop operation by an operator, or the like, and a stop during the work. An operation state detection unit that detects an operation state of the robot 1 and a manual operation detection unit that detects that a manual operation is performed on the robot 1 stopped during the work are provided. In addition, each of these means is the robot controller 4
This is a process executed by a CPU (not shown) in the robot controller 4 according to a program stored in a ROM (not shown) therein.

Further, C of the robot controller 4
In the PU, there is provided a register 6 which is a detection result storage means for storing the detection result of each of the above means. As shown in FIG. 3, the register 6 is assigned to a register A for setting a manual operation presence / absence flag, a register B for setting an open / closed state flag of the hand unit 3, and a register C for counting the robot position. The robot position is represented by a count. For example, in the movement route diagram of FIG.
a = 1, b = 2, c = 3, d = 4, e = 5, f = 6, g
= 7.

Next, as shown in FIG. 4, in the ROM, which is a storage unit provided in the robot controller 4, the robot 1 stopped during the work is automatically returned to the initial state. 3 initial state restoration programs (programs A, B,
C) is stored. Then, when the robot 1 stopped during the work is started, one initial state restoration program suitable for automatically returning the robot 1 to the initial state is detected by the stop position detection means and the operation state detection. The robot controller 4 is provided with selection means for selecting based on the detection result of the means. The selecting means is a process executed by the CPU in the robot controller 4 according to the program stored in the ROM in the robot controller 4.

Further, in the robot controller 4, there is provided an emergency stop means for making an emergency stop of the reversible motor based on the detection result by the manual operation detection means when the robot 1 stopped during the work is started up. ing. The emergency stop means is a process executed by the CPU in the robot controller 4 according to the program stored in the ROM in the robot controller 4.

In such a structure, the robot 1 moves in the order of symbols on the movement path diagram shown in FIG. 2 and repeats the work of inserting the work 2 into a predetermined position.

When the robot 1 is stopped during work due to a power failure, an error, or the like, the stop position of the robot 1 is detected by the stop position detecting means, and the operating state of the robot 1 at that time (hand part) 3 is "open" or "closed"
Is detected by the operating state detecting means, and the detection results are stored in the register 6. Further, when the robot 1 is manually operated after the robot 1 is stopped in the middle of the work, detection is performed by the manual operation detection means, and the detection result is stored in the register 6.

Next, the operation of the robot 1 when the robot 1 stopped during the work is activated will be described with reference to the flowchart of FIG.

First, the personal computer 5 takes in the register A (step 1) and judges whether or not a manual operation is performed (step 2). If no manual operation is performed, the registers B and C are fetched (steps 3 and 4).

Then, it is judged whether or not the hand portion 3 is "open" and the position of the robot 1 is "a≤robot position≤c" (step 5). If this condition is met, the program A shown in FIG. 4 is selected and activated (step 6), and the robot 1 is driven according to the program A to return to the initial state. The initial state means a state in which the position of the robot 1 is a and the hand unit 3 is “open”.

Next, when the condition of step 5 is not met, it is judged whether or not the hand portion 3 is "closed" and the position of the robot 1 is "c≤robot position≤f" ( Step 7). If this condition is met, the program B shown in FIG. 4 is selected and activated (step 8), and the robot 1 is driven in accordance with the program B to return to the initial state. The work 2 gripped by the robot 1 is collected at the x position.

Next, when the conditions of steps 5 and 7 are not met, the program C shown in FIG. 4 is selected and activated (step 9), and the robot 1 is driven in accordance with the program C to obtain the initial state. Return to.

On the other hand, when it is determined in step 2 that the manual operation is performed, the reversible motor is emergency stopped by operating the emergency stop means (step 10).
The robot 1 stops as it is without performing the operation of automatically returning to the initial state. The reason for stopping the robot 1 in such an emergency is that if the manual operation is performed after the robot 1 is stopped, the system cannot grasp the position of the robot 1 and the open / closed state of the hand unit 3, and the state is changed from the initial state to the initial state. This is because it is extremely dangerous that the operation of automatically returning is performed. When this emergency stop occurs, the operator manually returns the robot 1 to the initial state.

[0026]

According to the invention described in claim 1, when the robot is started while it is working,
Since the robot can be returned to the initial state by controlling the drive means according to the initial state return program,
Since it is not necessary to manually return the robot to the initial state, the handling of the robot can be improved and the work efficiency can be improved. Since an optimal initial state restoration program is selected and restored to the initial state according to the stop position and the operating state at the time of stopping, there is an effect that automatic restoration to the initial state can be smoothly performed in the shortest time. .

According to the second aspect of the present invention, when the robot is manually operated after being stopped during the work, the manual operation detecting means for detecting the manual operation is provided. It is possible to stop the robot from automatically returning to the initial state by activating the emergency stop means based on the detection result.Therefore, you can move from the stop position to a different position by performing a manual operation after stopping during work. There is an effect that the danger associated with the robot automatically performing an operation of returning to the initial state can be eliminated, and the safety of work can be improved.

[Brief description of drawings]

FIG. 1 is a schematic structural diagram of a system for performing a predetermined work using a robot.

FIG. 2 is a movement path diagram of a robot.

FIG. 3 is an explanatory diagram illustrating contents stored in a register.

FIG. 4 is an explanatory diagram illustrating three initial state restoration programs stored in a ROM.

FIG. 5 is a flowchart for explaining the operation of the robot when the robot stopped during the work is activated.

[Explanation of symbols]

 1 robot 6 detection result storage means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tsuyoshi Mizuno 1-1-1, Ishishiba, Matsumoto-shi, Nagano Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto factory (72) Inventor Hideki Miyamoto 1-1-1, Ishishiba, Matsumoto-shi, Nagano No. Ishikawajima Shibaura Machinery Co., Ltd.Matsumoto Factory

Claims (2)

[Claims] 1. A robot, which is driven by a driving device and moves on a predetermined moving path to perform a preset work, and a stop position detecting device for detecting a stop position of the robot stopped during the work, An operation state detection means for detecting the operation state of the robot stopped during the work, a detection result storage means for storing the detection result of these detection means, and the robot stopped during the work are automatically returned to the initial state. A storage unit that stores a plurality of initial state return programs for controlling the driving means so as to enable one initial state suitable for automatically returning the robot to the initial state when the robot stopped during work is started. A selection for selecting a state restoration program based on the detection result by the stop position detection means and the detection result by the operation state detection means A control device for a robot, characterized in that it is provided with selecting means. 2. A manual operation detecting means for detecting that a manual operation has been performed on a robot stopped during work,
The detection result storage means for storing the detection result by the detection means is provided, and the emergency stop means for emergency stopping the drive means based on the detection result by the manual operation detection means when the robot stopped during the work is started is provided. The control device for the robot according to claim 1, wherein: