JPH05228885A - Industrial robot system - Google Patents

Abstract

PURPOSE:To make any function holdable even in the case where a controller and a robot body are separated from each other by installing a connector for connecting a battery power unit, in a part of the robot body aside from a connector for power being fed out of the controller. CONSTITUTION:A robot body 1 is operated and controlled by a drive motor with an absolute position detecting encoder. In addition, a controller 2 is connected to the robot body 1, which is controlled by this controller, by a coupling cable 3 via a connector. In this case, a connector 5 for connecting a battery power unit 4 is installed in a part of the robot body 1 additionally. Incidentally, a charging control circuit 6 controlling a supply voltage being fed out of the controller 2 to the charging voltage of a battery to be used, a battery 7 to be parallelly connected to a load encoder, and a discharge control and encoder supply voltage adjusting circuit 8 adjusting a supply voltage for a discharge control circuit of the battery 7 and the load encoder are all installed in the battery power unit 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot constituted by a drive motor having an absolute position detection type encoder, in which a battery for backing up the encoder is permanently installed near the robot main body so that the robot itself has a movable part. The present invention relates to an industrial robot device capable of always calculating and storing an absolute position.

[0002]

2. Description of the Related Art In recent years, by incorporating an absolute position detection type encoder into a drive motor of each robot movable part, the robot itself can calculate and store the rotation direction and the number of rotations of each drive motor and the rotation position within one rotation. It is possible.

In the conventional industrial robot apparatus of this type, the operation of the robot movable portion can be easily controlled by reading the value detected by the encoder incorporated in each drive motor as the absolute position of the robot. It was a thing. However, conventionally, the calculated value of the encoder is deleted when the power supply line from the robot controller is turned off.
Therefore, even in such a case, backup by an external battery is required to store and hold the detected value of each encoder.

[0004]

When assembling the conventional industrial robot as described above, the robot controller and the robot body are connected by a cable to perform initial adjustment. Then, after the adjustment is completed, the connection cable is removed and the controller and robot body are transported separately to the site of use, and when the controller and body are recombined at the site of use, the state after the initial adjustment made during assembly is reproduced. In order to do so, each encoder must always be excited even during the separation. Further, it is necessary to consider that the encoder is inevitably excited even when the power supply line is turned off to prevent a worker's malfunction or danger.

Further, in order to deal with the case of being left in a warehouse for a long time due to distribution problems, it is necessary to prepare an external DC power source so that the battery can be easily charged. It was Further, there is an inconvenient problem that it is important to control charging / discharging in order to prevent damage to the battery.

The present invention solves the above problems, and an object of the present invention is to provide an industrial robot apparatus capable of controlling the charging / discharging of a battery and keeping the position of the robot itself stored in any case. And

[0007]

In order to achieve the above object, the industrial robot apparatus according to the present invention has a battery permanently installed near the robot body, and the battery is used to constantly back up the absolute position detection type encoder. The robot itself can store the current position of each movable part even under severe conditions, and the value detected by the encoder is maintained even when the robot is not used (when the power is off), when the robot is transported, or when an emergency stop occurs. The configuration.

In addition, even if it is left for a long time, the external D
A circuit for preventing overcharging and overdischarging is provided so that the battery can be charged by separately preparing a C power source and connecting and connecting the power source connector.

[0009]

With the above-described structure, the present invention makes it possible for the robot itself to always maintain the absolute position of the robot, no matter what the situation.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

As shown in the figure, a controller 2 for controlling the main body 1 is connected to a main body 1 of an industrial robot configured to control the operation of each movable part of the robot by a drive motor having an absolute position detection encoder. 3 through a connector (not shown), a connector 5 for connecting the battery power supply device 4 is provided in a part of the main body 1, and the battery power supply device 4 is connected. As shown in FIG. 2, the battery power supply device 4 adjusts the power supply voltage sent from the controller 2 to the charging voltage of the battery to be used, and controls the charging voltage and the charging current. A battery 7 composed of a three-cell lead-acid battery connected in parallel with a load encoder incorporated in a drive motor, a discharge control circuit for this battery 7, and a discharge control and encoder supply voltage adjusting circuit 8 for adjusting the supply voltage to the load encoder. It is provided.

In the above structure, in normal use, the battery power supply device 4 is charged using the power supply line flowing through the connection cable 3. Since the battery power supply device 4 is connected in parallel with the load encoder, the battery 7 is charged when the power supplied from the controller 2 is on, and discharged when it is off to back up the load encoder.

What is important here is that the lead wire from the battery to the load encoder is not broken, that is, the robot main body 1 and the battery 7 are integrated and the supply current constantly flows to the load encoder. Further, when the battery 7 is charged / discharged, if the control is not performed, the battery is damaged and the performance of the battery is significantly deteriorated. For that purpose, it is necessary to use a charge / discharge control circuit as shown in FIG. 2. In the charge control circuit 6, the power supply voltage sent from the controller 2 is adjusted to the charge voltage of the battery to be used, and Control charging voltage and charging current. In addition, an external DC power source is separately prepared and the controller 2
The same charging can be performed by replacing the power connector sent from.

The discharge control and encoder supply voltage adjusting circuit 8 controls the discharge of the battery 7,
The supply voltage to the load encoder is adjusted. as a result,
The lead storage battery serving as the battery 7 may be unable to be recharged when it is in an overdischarged state, but when the discharge voltage becomes a certain value or less, the load is disconnected and the battery is protected.

Further, the circuit current consumption at the time of adjusting the supply voltage to the load encoder is reduced, and the battery holding time is extended.

[0016]

As is apparent from the above embodiments, according to the present invention, the encoder incorporated in the drive motor is constructed so that the battery mounted outside the robot body can always receive the backup voltage. So
Even if the robot controller and the robot body are separated, the encoder incorporated in each drive motor can provide an industrial robot apparatus capable of continuously storing the value.

Further, since the battery is installed near the robot body, the battery can be easily replaced due to the shortened battery life.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an industrial robot apparatus according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a battery power supply device of the industrial robot device.

[Explanation of symbols]

 1 Industrial Robot Main Body 2 Robot Controller 3 Connection Cable 4 Battery Power Supply Device 5 Connector 6 Charge Control Circuit 7 Battery 8 Discharge Control and Encoder Supply Voltage Adjustment Circuit

Claims (2)

[Claims] 1. An industrial robot main body configured to control the operation of each robot movable part by a drive motor having an absolute position detection encoder, and separate from a power supply connector sent from a robot controller. An industrial robot device that has a connector for connecting a battery power supply device to a part of the main body. 2. A machine body of a robot comprising a battery power supply connector provided with a battery power supply device comprising a secondary battery, a charge control circuit for the secondary battery and a discharge control circuit for converting a battery voltage into an encoder backup voltage. 2. The industry according to claim 1, wherein the robot itself is semi-permanently capable of storing and holding the absolute position of each movable part by being installed outside and repeatedly supplying current to the encoder while controlling charging and discharging of the battery. Robot device.