CN215358476U - Robot control device and robot system - Google Patents
Robot control device and robot system Download PDFInfo
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- CN215358476U CN215358476U CN202121629764.9U CN202121629764U CN215358476U CN 215358476 U CN215358476 U CN 215358476U CN 202121629764 U CN202121629764 U CN 202121629764U CN 215358476 U CN215358476 U CN 215358476U
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Abstract
The utility model provides a robot control device and a robot system. A robot control device controls a robot provided with an encoder, and is provided with: an input unit for inputting work environment information of the robot; a control unit configured to notify the robot of the work environment information input by the input unit, and to receive, from the robot, use state information of a battery of the encoder obtained by the robot based on the work environment information; and a display unit that displays the use state information of the battery received by the control unit in real time. From this, operating personnel can confirm in real time the user state of the battery of the encoder that corresponds with the actual operational environment of robot to can master the more accurate remaining life time of the battery of encoder, in time change the battery before the electric quantity of the battery of encoder exhausts, avoid carrying out complicated initial point to the robot and resume the operation.
Description
Technical Field
The present invention relates to a robot control device and a robot system, and more particularly, to a robot control device that controls a robot including an encoder and a robot system including the robot control device.
Background
As a robot used in a production site such as a factory, a multi-joint robot capable of performing a complicated operation is often used. The multi-joint robot is provided with a joint driving device at each joint, wherein the joint driving device comprises a motor and an encoder for detecting the rotation state of the motor. The encoder needs to maintain the final rotation state information of the motor at the time of shutdown when the robot is powered off and shutdown, so as to drive the motor from the maintained final rotation state when the robot is powered on again. For this reason, it is generally necessary to provide the encoder with a battery for supplying power to the encoder when the robot is in a shutdown state.
When the battery of the encoder runs out of charge, the final rotational state information of the motor held in the encoder is lost, and it is necessary to perform an origin recovery operation on the robot. The original point recovery operation needs to reset all joints of the robot, the operation process is complex, time is consumed, high technical requirements are required for operators, and the situation that field operators cannot execute the operation and need to send out professionals to the field exists.
In order to avoid the exhaustion of the battery of the encoder, in the conventional robot system, when the voltage of the battery of the encoder is lower than a set value, an alarm is given to prompt the replacement of the battery. However, in such a robot system, there is no indication when the voltage of the battery of the encoder is not lower than the set value, and even when the voltage of the battery of the encoder is lower than the set value, the robot system only gives an alarm without notifying the use state information of the battery, such as the voltage and the remaining power, and therefore, the operator cannot accurately grasp the remaining use time of the battery, and cannot replace the battery in time, and a professional is required to go to the site to perform the origin recovery operation.
SUMMERY OF THE UTILITY MODEL
The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a robot control device and a robot system that can accurately check the use state of a battery of an encoder of a robot in real time, thereby making it possible to grasp the remaining use time of the battery of the encoder, replace the battery in time before the battery of the encoder is exhausted, and avoid a complicated origin recovery operation for the robot.
Means for solving the problems
In order to achieve the above object, according to a first aspect of the present invention, there is provided a robot control device for controlling a robot including an encoder, comprising: an input unit for inputting work environment information of the robot; a control unit configured to notify the robot of the work environment information input by the input unit, and to receive, from the robot, use state information of a battery of the encoder obtained by the robot based on the work environment information; and a display unit that displays the use state information of the battery received by the control unit in real time.
According to this structure, because the robot control device can show the service condition information of the battery of the encoder that the robot obtained according to operational environment information in real time, consequently operating personnel can confirm the service condition of the battery of the encoder that corresponds with the actual operational environment of robot in real time to can master the more accurate remaining life time of the battery of encoder, in time change the battery before the electric quantity of the battery of encoder exhausts, avoid carrying out complicated initial point to resume the operation to the robot.
In the robot control device, the display unit may display the use state information of the battery when the robot is in an on state.
In the robot control device, the display unit may display the use state information of the battery before the robot is turned off.
In the robot control device, the work environment information may be at least one of an average temperature value and an average humidity value in a given time.
In the robot control device described above, the work environment information may be a maximum value and/or a minimum value of at least one of temperature and humidity in a given time.
In the above-described robot control device, the work environment information may be at least one of temperature values and humidity values at a plurality of time nodes set at a given time.
In the robot control device, the use state information may include a voltage of the battery and/or a remaining use time.
In the robot control device, the display unit may display information indicating that the encoder does not need to be powered by a battery when the encoder is an encoder that records information without using battery power.
In the robot control device, when the robot includes a plurality of encoders, the display unit may display use state information of the batteries corresponding to the plurality of encoders, or display use state information of the batteries provided in common to the plurality of encoders.
According to a second aspect of the present invention, there is provided a robot system characterized by comprising: a robot provided with an encoder; and the robot control device.
Effect of the utility model
According to the robot control device and the robot system of the present invention, the use state information of the battery of the encoder obtained by the robot according to the work environment information can be displayed in real time, so that the operator can confirm the use state of the battery of the encoder corresponding to the actual work environment of the robot in real time, and can grasp the more accurate remaining use time of the battery of the encoder, and the battery can be replaced in time before the electric quantity of the battery of the encoder is exhausted, thereby avoiding a complicated original point recovery operation for the robot.
Drawings
Fig. 1 is a schematic diagram showing a main configuration of a robot system according to the present invention.
Fig. 2 is a schematic diagram showing a main configuration of a robot according to the present invention.
Fig. 3 is a schematic diagram showing a main configuration of a robot controller according to the present invention.
Fig. 4 is a schematic diagram showing a display example of the robot controller according to the present invention.
Description of the symbols
100 robot system
200 robot
210 arm
220 joint
221 electric motor
222 encoder
230 cell
240I/O unit
300 robot control device
310 control unit
320 display part
330 input unit
340I/O unit
360 operating part
Detailed Description
The present invention will be described below with reference to the accompanying drawings based on preferred embodiments. The embodiments are not limited to the embodiments of the present invention but exemplify the present invention, and all the features and combinations thereof described in the embodiments are not necessarily essential to the present invention. The same or equivalent constituent elements and components shown in the respective drawings are denoted by the same reference numerals, and overlapping description thereof will be omitted as appropriate. The scale and shape of each part shown in the drawings are set for convenience of explanation, and are not to be construed as limiting unless otherwise specified. Even in the same component, there may be a slight difference in scale between the drawings.
(embodiment mode)
< robot System 100>
Fig. 1 is a schematic diagram showing a main configuration of a robot system 100 according to the present invention.
As shown in fig. 1, the robot system 100 includes a robot 200 and a robot controller 300.
The robot 200 is a multi-joint robot, and includes a plurality of arms 210, a plurality of joints 220, a battery 230, an I/O section 240, and the like. The number of arms 210 and joints 220 is not limited to the number shown in the figures, and may be set according to actual production needs. The battery 230 is used to supply power to an encoder described later when the robot 200 is in the shutdown state, and may be, for example, a primary battery, a secondary battery, or the like. The I/O unit 240 is used for transmitting and receiving information to and from the robot controller 300.
The robot controller 300 is connected to the robot 200 to control the robot 200, and any connection method such as wired connection or wireless connection may be used as the connection method. The robot control device 300 is, for example, a robot teach pendant, a computer device that communicates with the robot 200, or the like. The robot controller 300 can receive the use state information of the battery 230 from the robot 200 and display the use state information in real time.
The robot control device 300 includes a display unit 320 capable of displaying the use state information of the battery 230, an I/O unit 340 that transmits and receives information to and from the robot 200, an operation unit 360 operated by an operator, a control unit and an input unit, which will be described later. The installation positions of the respective parts are not limited to those shown in the drawings, and may be changed as needed, for example, the display part 320 may be installed at a position of the housing of the robot controller 300 where the display part is easy to be observed by the operator, and the operation part 360 may be installed at a position of the housing of the robot controller 300 where the operation is easy to be performed by the operator.
< robot 200>
Fig. 2 is a schematic diagram showing a main configuration of a robot 200 in the robot system 100.
For simplicity of illustration, only the structure of one joint 220 and the battery 230 of the robot 200 are shown in fig. 2. The same applies to the structure of the other joints 220.
As shown in fig. 2, a motor 221 and an encoder 222 are provided in the joint 220. The joint 220 may further include a reduction gear, a bearing, and other structures, and the illustration and description of these structures are omitted here.
The motor 221 drives the corresponding arm to cause the robot to perform a production operation. As the motor 221, for example, a servo motor can be used.
The encoder 222 detects the rotation state of the motor 221, and at the time when the robot 200 is turned off, the encoder 222 records the rotation state information of the motor 221 at that time, so that the motor 221 is driven from the recorded rotation state when the robot 200 is turned on again. The rotation state information of the motor 221 includes information such as a rotation direction and a rotation amount of the motor 221.
The battery 230 is connected to the encoder 222, and starts to supply power to the encoder 222 when the robot 200 is turned off, so that the encoder 222 can still maintain the recorded rotation state information of the motor 221 in the state where the robot 200 is turned off.
As the use state information of the battery 230, the voltage and the remaining use time of the battery 230 are included. The voltage of the battery 230 may be detected by an existing voltage detection unit. The remaining usage time of the battery 230 may be obtained by referring to a data correspondence table stored in advance in the robot 200, and in the data correspondence table, for example, voltage data, operating environment data such as temperature and humidity, remaining usage time data, and the like of the battery 230 are stored in correspondence. The data correspondence table may be obtained by performing experiments on the battery 230 in advance, for example, by changing the working environment data such as temperature and humidity with a given scale to determine the corresponding remaining usage time. The use state information of the battery 230 may include information such as the remaining power (for example, 50%) of the battery 230, or may be any of these pieces of information.
The robot 200 can transmit and receive data to and from the robot controller 300. For example, the use state information of the battery 230 is transmitted to the robot controller 300, and the work environment information and the like are received from the robot controller 300.
< robot control device 300>
Fig. 3 is a schematic diagram showing a main configuration of a robot controller 300 in the robot system 100.
As shown in fig. 3, the robot controller 300 includes a control unit 310, a display unit 320, and an input unit 330 as main components, and the illustration and description of other components are omitted here.
The control unit 310 receives the use state information of the battery 230 of the encoder 222 from the robot 200.
Fig. 4 is a schematic diagram showing an example of display in which the display unit 320 displays the use state information of the battery 230, and shows the voltage of the battery 230 and the remaining use time information. Here, assuming that the battery 230 is a general 1.5V dry battery, the voltage of the battery 230 gradually decreases with the passage of time, and the remaining use time is gradually shortened, for example, after a certain period of use, the voltage of the battery 230 becomes 1.2V, and the remaining use time becomes 3 hours. After the control unit 310 receives the information on the voltage of the battery 230 and the remaining use time from the robot 200, the display unit 320 performs the display as shown in fig. 4. The operator can know the use state of the battery 230 at any time based on the use state information of the battery 230 displayed in real time on the display unit 320, and can perform processing in time when the battery 230 needs to be replaced.
Since the encoder 222 does not need to be powered by the battery 230 when the robot 200 is powered on and operates, and only needs to be powered by the battery 230 when the robot 200 is powered off and shutdown, the display unit 320 displays the use state information of the battery 230 before the robot 200 is powered off and shutdown, so that an operator can confirm the use state of the battery 230 before the robot 200 is powered off and shutdown.
Specifically, the robot 200 exchanges information with the robot controller 300 in real time during the power-on operation, and for example, the robot 200 feeds back the rotation state information of the motor detected by the encoder to the robot controller 300, and the robot controller 300 adjusts and controls the operation of the robot 200 based on the information. Therefore, when the robot 200 is powered on, it is not necessary to record information of the encoder and to supply power to the encoder using the battery 230. On the other hand, when the robot 200 is powered off and powered off, the battery 230 needs to be used to supply power to the encoder, so that the encoder can record the final rotation state information of the motor detected by the encoder at the moment that the robot is powered off and can feed back the information to the robot control device 300, and the robot control device 300 can acquire the information to accurately control the robot 200 when the robot is powered on again. That is, the battery 230 of the encoder does not operate when the robot 200 is in the power-on state, and starts to operate until the robot 200 is powered on again when the robot 200 becomes the power-off state.
If the battery 230 of the encoder is exhausted, the encoder cannot record the final rotation state information of the motor when the robot is powered off, and thus, when the robot 200 is powered on again, the origin recovery operation needs to be performed. As described above, the origin recovery operation requires resetting all joints of the robot, the operation process is complicated, time is consumed, and the technical requirements on the operator are high, so that the field operator cannot perform the operation and needs to send a professional to the field. Therefore, in order to avoid the exhaustion of the battery 230 of the encoder, it is important to allow the operator to accurately grasp the remaining usage time of the battery 230 and replace the battery in time.
In the present embodiment, the display unit 320 displays the use state information of the battery 230 in real time when the robot 200 is in the on state, so that the operator can confirm the use state of the battery 230 and grasp the remaining use time of the battery 230 when the robot 200 is in the on state, particularly before the robot is turned off. Further, it is preferable that the display unit 320 displays the use state information of the battery 230 when the robot 200 is about to be in the power-off state, that is, displays the current use state information of the battery 230 when the battery 230 is about to start operating, so that the operator can more accurately grasp the remaining use time of the battery 230, and the battery 230 can be replaced in time before the battery of the encoder 230 runs out, thereby avoiding a complicated origin recovery operation for the robot 200.
The articulated robot 200 includes the encoder 222 for each of the joints 220, and the display unit 320 can display the use state information of each battery when a corresponding battery is provided for each of the encoders 222, and the display unit 320 can display the use state information of the battery when a battery is provided for the encoders 222 in common. This makes it possible to reliably provide the use state information of the battery for any situation.
Among the encoders 222, there are encoders that do not require battery power to record information, and there are optical absolute encoders, for example. With such an encoder, it is not necessary to use a battery, and naturally, it is not necessary to display the use state information of the battery. However, if the display unit 320 does not display any information, the operator may mistakenly assume that a failure has occurred in a certain part of the system and therefore the display is not performed, and therefore unnecessary operations such as failure detection may be performed. In the present embodiment, when the encoder 222 is an encoder that records information without using battery power, the display unit 320 displays information indicating that the encoder 222 does not need to use battery power, thereby avoiding unnecessary operations such as detecting a failure by an operator.
The input unit 330 is used to input work environment information of the robot 200, such as temperature, humidity, and the like in the work environment of the robot 200. The input unit 330 may be a keyboard, a stylus pen, or the like.
The remaining usage time of the battery 230 may be affected by various factors in the working environment of the robot 200. For example, in general, the remaining usage time of the battery 230 may be shortened at a lower temperature. When the working environment information is not obtained from the control unit 310, the robot 200 searches the stored data correspondence table for the remaining usage time in accordance with the standard factory production environment information (for example, 23 ℃ c. and 50% humidity), and transmits the searched usage time to the control unit 310. However, in the case where the actual working environment of the robot 200 is different from the conditions in the standard factory production environment, there is an error in the remaining use time of the battery 230 obtained from the standard factory production environment information.
In the present embodiment, in order to improve the accuracy of the remaining usage time of the battery 230, the control unit 310 notifies the robot 200 of the work environment information input through the input unit 330, and receives the usage state information of the battery 230, including the remaining usage time of the battery 230, obtained by the robot 200 from the work environment information. Thereby, a more accurate remaining usage time of the battery 230 corresponding to the actual working environment of the robot 200 can be obtained.
The work environment information may be a temperature value, a humidity value, or the like measured by an operator using a meter such as a thermometer or a hygrometer provided in the work environment of the robot 200, or may be a temperature value, a humidity value, or the like estimated by the operator for the work environment.
When the temperature and humidity in the working environment of the robot 200 change within a given time, the working environment information may be an average temperature value and an average humidity value within a given time. Here, the predetermined time may be set as needed, for example, 1 year, 1 month, 1 week, or the like. By adopting the average temperature value and the average humidity value in a given time as the operating environment information, it is possible to avoid frequent fluctuations in the displayed use state information of the battery 230. In addition, only either one of the average temperature value and the average humidity value in a given time may be used as the operating environment information.
When the temperature and humidity in the working environment of the robot 200 change within a predetermined time, the maximum value and the minimum value of the temperature and humidity within the predetermined time may be used as the working environment information. The upper limit value and the lower limit value of the use state information of the battery 230 affected by the temperature and the humidity can be obtained from the maximum value and the minimum value of the temperature and the humidity. In particular, when the operator knows the lower limit value of the remaining use time of the battery 230, the operator can more reliably avoid the exhaustion of the electric power of the battery 230, and can more reliably avoid the origin recovery operation of the robot 200. In addition, only the maximum value and the minimum value of any one of the temperature and the humidity in a predetermined time may be set as the operating environment information, or only the maximum value and the minimum value may be set.
In addition, when the temperature and humidity in the working environment of the robot 200 change within a given time, as the working environment information, temperature values and humidity values at a plurality of time nodes set within the given time may be used. In the case where the working environment of the robot 200 is unstable, for example, in the case where the temperature and humidity frequently fluctuate, by setting a plurality of time nodes within a given time and taking the temperature value and the humidity value at each time node as the working environment information, the time interval at which the working environment information is given can be further shortened, so that the use state information of the battery 230 is further accurately obtained, and the situation where the working environment is unstable can be coped with. In addition, only any one of the temperature value and the humidity value at the plurality of time nodes set at a given time may be used as the operating environment information.
(Effect)
According to the above embodiment, since the robot control device can display the use state information of the battery of the encoder obtained by the robot from the working environment information in real time through the control unit and the display unit, the operator can confirm the use state of the battery of the encoder corresponding to the actual working environment of the robot in real time, and thus can grasp the more accurate remaining use time of the battery of the encoder, and replace the battery in time before the electric quantity of the battery of the encoder is exhausted, thereby avoiding performing a complicated origin recovery operation on the robot.
According to the embodiment, the battery of the encoder supplies power to the encoder only when the robot is in the power-off state, so that the display part can enable an operator to confirm the use state of the battery when the robot is in the power-on state, particularly before the power-off state, by displaying the use state information of the battery when the robot is in the power-on state, particularly before the power-off state.
According to the above-described embodiment, since the operating environment information is at least one of the average temperature value and the average humidity value over a given time, it is possible to avoid frequent fluctuations in the displayed use state information of the battery.
According to the above-described embodiment, since the operating environment information is the maximum value and/or the minimum value of at least one of the temperature and the humidity within a given time, it is possible to more reliably avoid the exhaustion of the electric power of the battery, and thus it is possible to more reliably avoid the origin restoring work to the robot.
According to the above-described embodiment, since the operating environment information is at least one of the temperature value and the humidity value at the plurality of time nodes set in a given time, the time interval at which the operating environment information is given can be further shortened, so that the use state information of the battery can be further accurately obtained, and it is possible to cope with a situation in which the operating environment is unstable.
According to the above embodiment, since the robot is generally provided with the plurality of encoders, and the display unit displays the use state information of each battery when the plurality of batteries are provided corresponding to the plurality of encoders, and the display unit displays the use state information of the battery when one battery is provided in common to the plurality of encoders, the use state information of the battery can be reliably provided for any situation.
According to the above embodiment, since the use state information includes the voltage and the remaining use time of the battery, the operator can easily know the amount of power of the battery and the time for continuing the power supply, so that the timely replacement of the battery of the encoder can be easily realized.
According to the above-described embodiment, when the encoder is an encoder that records information without using battery power, the display unit displays information indicating that the encoder does not need to use battery power, and therefore, it is possible to avoid an unnecessary operation such as a failure detection by an operator as compared with a case where such information display is not performed.
While the present invention has been described with reference to the preferred embodiments thereof, it will be understood by those skilled in the art that various changes, substitutions and alterations can be made therein without departing from the spirit of the utility model, and various technical aspects obtained by making such changes, substitutions and alterations are also included in the scope of the utility model.
Industrial applicability
The robot control device and the robot system according to the present invention can be widely applied to various devices that perform work by using a robot.
Claims (10)
1. A robot control device for controlling a robot provided with an encoder, comprising:
an input unit for inputting work environment information of the robot;
a control unit configured to notify the robot of the work environment information input by the input unit, and to receive, from the robot, use state information of a battery of the encoder obtained by the robot based on the work environment information; and
and a display unit for displaying the use state information of the battery received by the control unit in real time.
2. The robot control apparatus according to claim 1,
the display part displays the use state information of the battery when the robot is in a starting state.
3. The robot control apparatus according to claim 2,
the display unit displays the use state information of the battery before the robot is powered off.
4. The robot control apparatus according to any one of claims 1 to 3,
the operating environment information is at least one of an average temperature value and an average humidity value over a given time.
5. The robot control apparatus according to any one of claims 1 to 3,
the operating environment information is a maximum value and/or a minimum value of at least one of temperature and humidity in a given time.
6. The robot control apparatus according to any one of claims 1 to 3,
the operating environment information is at least one of temperature values and humidity values at a plurality of time nodes set at a given time.
7. The robot control apparatus according to any one of claims 1 to 3,
the usage state information includes a voltage and/or a remaining usage time of the battery.
8. The robot control apparatus according to any one of claims 1 to 3,
in a case where the encoder is an encoder that records information without using battery power, the display section displays information indicating that the encoder does not need to use battery power.
9. The robot control apparatus according to any one of claims 1 to 3,
when the robot includes a plurality of encoders, the display unit displays the use state information of each battery corresponding to each of the plurality of encoders, or displays the use state information of a battery provided in common to the plurality of encoders.
10. A robotic system, comprising:
a robot provided with an encoder; and
the robot control device of any one of claims 1 to 9.
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| CN202121629764.9U CN215358476U (en) | 2021-07-16 | 2021-07-16 | Robot control device and robot system |
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| CN202121629764.9U CN215358476U (en) | 2021-07-16 | 2021-07-16 | Robot control device and robot system |
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| CN215358476U true CN215358476U (en) | 2021-12-31 |
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