JP2003039375A - Robot control method and system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot control method and system capable of further assuring safety without reducing operational efficiency. SOLUTION: The robot control system includes a robot 1A; a controller 4A for controlling the action of the robot 1A; a plurality of other robots 1B to 1D cooperating with the robot 1A; controllers 4B to 4D for controlling the action of the other robots 1B to 1D; and a relay part 6 which outputs signals to the controllers 4B to 4D of the other robots 1B to 1D upon the input of signals from the controller 4A of the robot 1A. The relay part 6 is provided with selecting switches 71 to 7N which output emergency stop signals to the controller 4B of the robot 1B upon the input of the emergency stop signal from the controller 4A of the robot 1A.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot control system composed of a plurality of industrial robots,
The present invention relates to a robot control method and a control system for stopping each robot when stopping the robot when an abnormality occurs in each robot and its surroundings.

[0002]

2. Description of the Related Art In a robot used for industrial purposes,
Rather than being used by robots alone, work jigs for handling processed workpieces, tools for transportation and welding, tools such as torches, etc. are attached, and each robot cooperates to perform a series of processing and welding. I always work. Further, the industrial robot is provided with an emergency stop switch in order to ensure the safety of the operator of the robot and those engaged in work around the robot. Since the emergency stop switch is electrically connected in series with the safety circuit, the servo power supply for driving the motor in the robot body is cut off when the switch is operated.

Further, the emergency stop switch is an emergency stop switch attached to the main body of the control device, a door opening / closing switch of a safety fence for securing a safety area around the robot, and an external emergency stop switch from the peripheral system. Also, it refers to the switches that detect the occurrence of factors that impair safety, such as the overtravel switch of the robot body.Each switch is linked with the servo power supply drive circuit to enable turning on the servo power, It is also configured to control the interruption.

A conventional robot control system composed of a plurality of robots will be described below.

First, a safety circuit for each robot constituting the robot control system will be described with reference to FIG.

Normally, the switch 21 to the switch 2 are set for each factor that obstructs the turning on of the servo power supply 5 to the robot body 1.
The relay 3 is arranged in series up to n and electrically applies a voltage (24 V) to one end of the switch 21 and controls the ON / OFF of the servo power supply 5 at the final end of the switch 2n. , Signal lines are formed. Therefore, if the servo power-on permission signal is output from the outside to the servo power supply 5 in the control device 4 and there is no factor that obstructs the power-on of the servo power supply 5 to the robot body 1, the switch 21
To the switch 2n are closed, a voltage (24V) is generated on the signal line, the relay coil 31 is excited, the relay contact 32 is closed, and the servo power supply in the servo power supply 5 is closed. The closing circuit is driven. Then, when the servo power is turned on, energization (control) to the motor 11 forming the robot body 1 is started, and the shaft lock (brake 12) of the motor 11 is turned off in a circuit manner.

Here, temporarily, a factor that prevents the servo power supply 5 from being turned on occurs, and even one of the switches from the switch 21 to the switch 2n is operated (opened).
At this time, the first signal line is cut off and no voltage (24V) is generated. Then, the relay coil 31 is de-energized and the relay contact 32 is opened so that the servo power supply 5 is cut off and the motor 11 of the robot body 1 is energized (controlled).
And the brake 12 can be turned on.

As described above, when any of the emergency stop switches 21 to 2n is opened for each robot, the signal line which is the servo power-on permission line is cut off and the servo power supply 5 is cut off. However, the robot 1 can be stopped immediately. When the signal line of the control device of one robot is cut off, the signal of the emergency stop output of the relay contact 32 is input to the switch 2n of the control device of the other robot to turn off the switch 2n and cut off the signal line. To do.

Therefore, when a plurality of robots 1 perform a cooperative work as shown in FIG. 6, the relay contact 32 of each robot 1 to be coordinated is used as an emergency stop output on a signal line which is a servo power-on permission line. Each of the robots is assigned so that when any of the robots to be cooperated is brought to the emergency stop state, the robots to cooperate with each other are immediately brought to the emergency stop state and the servo power can be turned off.

[0010]

However, in the above-mentioned conventional robot control system, a plurality of robots are arranged in a production line or the like, and machining and exchange of works are performed by a cooperative work of the plurality of robots. is there. At that time, when the jig attached to the tip of the robot is replaced, turn off the servo power of the robot,
When the work area is kept in a safe state, even a robot in another workable area may be moved to the emergency stop state, which may cause a decrease in work efficiency.

According to the present invention, in a robot control method and control system using a robot, the robot control method and control system can further ensure the safety of the robot control system without impairing work efficiency. The purpose is to provide.

[0012]

According to a first aspect of the present invention, there is provided a robot control method, a robot, a control unit for controlling the operation of the robot, a plurality of other robots that cooperate with the robot, and the operation of the other robot. A method of controlling a robot having a control unit for controlling a robot, wherein when relaying an emergency stop signal from the control unit of the robot and outputting the signal to a control unit of another robot, at least one of the plurality of other robots is selected. The feature is that the control unit of one robot is selected.

According to the robot control method of the first aspect, it is possible to select, from a plurality of robots which may perform cooperative operation, robots which are simultaneously brought into the emergency stop state. For this reason, it is possible to reliably stop only the robot for which safety is to be ensured, without stopping the operable robot. Further, since the robot to be stopped safely can be easily selected and can be changed, the work efficiency can be improved without impairing the safety.

A robot control system according to claim 2 is
A robot and a control unit that controls the operation of the robot,
A plurality of other robots that cooperate with the robot, a control unit that controls the operation of the other robots, and a relay unit that inputs signals from the robot control units and outputs signals to the control units of the other robots. The relay unit is provided with a selection unit that outputs an emergency stop signal to the control unit of the robot selected from at least one of the plurality of other robots when the emergency stop signal is input from the control unit of the robot. It is characterized by.

According to the robot control system of the second aspect, the same effect as that of the first aspect can be obtained.

A robot control method according to a third aspect of the present invention includes a robot, a control unit that controls the operation of the robot, a plurality of other robots that cooperate with the robot, and a control unit that controls the operation of the other robot. A method of controlling a robot provided, wherein when an emergency stop signal from a robot control unit is relayed and a signal is output to a control unit of another robot, an emergency stop signal is output from a plurality of other robots by an operation unit. It is characterized in that the controller of the robot that outputs is selected.

According to the robot control method of the third aspect, in a plurality of robots which may perform cooperative operation, in addition to the same effect as in the first aspect, a robot which simultaneously shifts to an emergency stop state can be easily operated by an operation panel. Can be selected.

A robot control system according to a fourth aspect is
A robot and a control unit that controls the operation of the robot,
A plurality of other robots that cooperate with the robot, a control unit that controls the operation of the other robots, a relay unit that inputs a signal from the control unit of the robot and outputs a signal to the control unit of the other robot, When an emergency stop signal is input to the relay unit, an operation unit for selecting the robot control unit that outputs the emergency stop signal is provided, and the relay unit receives the emergency stop signal from the robot control unit. It is characterized in that selection means for outputting an emergency stop signal to the control section of the robot set by the operation section is provided.

According to the robot control system of the fourth aspect, the same effect as the third aspect can be obtained.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Claims 1 and 2 of the present invention
The first embodiment corresponding to will be described. A robot control method and system according to the first embodiment of the present invention will be described with reference to FIGS.

First, referring to FIG. 1, a safety circuit for each robot constituting the robot control system will be described.

Normally, from the switch 21 to the switch 2 for each factor that obstructs the turning on of the servo power supply 5 to the robot body 1.
The relay 3 is arranged in series up to n and electrically applies a voltage (24 V) to one end of the switch 21 and controls the ON / OFF of the servo power supply 5 at the final end of the switch 2n. , Signal lines are formed. Therefore, if the servo power-on permission signal is output from the outside to the servo power supply 5 in the control device 4 and there is no factor that obstructs the servo power-on to the robot body 1, each of the switches 21 to 2n The switch is in the closed state,
A voltage (24 V) is generated on the signal line, the relay coil 31 is excited, the relay contact 32 is closed, and the servo power supply circuit in the servo power supply 5 is driven. Then, when the servo power supply 5 is turned on, energization (control) to the motor 11 forming the robot body 1 is started,
The shaft lock (brake 12) of the motor 11 is turned off in a circuit manner.

Here, tentatively, a factor that hinders turning on of the servo power supply 5 occurs, and even one of the switches from the switch 21 to the switch 2n is operated (opened).
At this time, the first signal line is cut off and no voltage (24V) is generated. Then, the relay coil 31 is de-energized and the relay contact 32 is opened so that the servo power supply 5 is cut off and the motor 11 of the robot body 1 is energized (controlled).
And the brake 12 can be turned on.

As described above, when any of the emergency stop switch 21 to the switch 2n is opened for each robot, the signal line which is the servo power-on permission line is cut off and the servo power is cut off. The robot can be stopped immediately.

Next, the structure of the present invention will be described with reference to FIG. The plurality of robots 1A to 1D have control devices 4A to 4D, respectively, and configure the emergency stop signal lines shown in FIG. In addition, each of the control devices 4A to 4D is connected to the connection unit 61 to the connection unit 6N in the relay unit 6.
Connected to any of up to. Then, the connecting portion 61
From the connection unit 6N, the selection switch 7 in the selection means 7
1 to the selection switch 7N. Therefore,
As shown in FIG. 11, the emergency stop signal line switch 2N between the robots is connected to the emergency contact signal relay switch 32N of each robot 1 as shown in FIG. It is possible to assign the stop output.

Therefore, in the case of FIG. 2, when trying to bind the signal lines for the emergency stop of the robot 1A and the robot 1B,
By connecting with the selection switch 73 and the selection switch 7N, the relay contact 3 in the robot control devices 4A and 4B can be connected to the emergency stop signal line between the robot 1A and the robot 1B.
2 (emergency stop output) is assigned to the switch 2N. As a result, for example, when any of the switches 21 to 2n of the signal line of the robot 1 is turned off, the emergency stop output due to the operation of the relay contact 32 is transmitted through the connection portion 63, the selection switches 73, 7N and the connection portion 6N to the control device 4B.
Is input to the switch 2n of the signal line, and is turned off to cut off the signal line.

In this way, it is possible to easily switch the allocation of the emergency stop output of the robot of each cooperation partner to the emergency stop signal line for each robot by connecting the selection switch 7N.

A second embodiment corresponding to claims 3 and 4 of the present invention will be described below. A second embodiment of the present invention will be described with reference to FIGS. In addition, regarding the same configuration as the first embodiment,
The description is omitted by giving the same reference numerals.

First, referring to FIG. 3, the structure of the present invention will be described. The plurality of robots 1A to 1D have operation panels 8A to 8D for operating selection switches, respectively. Therefore, select the robot that you want to connect the signal line for emergency stop using an arbitrary operation panel. Then, the selection switches connected to the control devices of the selected robots 1A to 1D are connected through the selection switch central portion 7A, and the relay contact of each robot is connected to the signal line of the emergency stop between the robots 1A to 1D. It is possible to assign the 32 emergency stop outputs to the switch 2N.

Next, referring to FIG. 4, operation panels 8A and 8C are provided.
The means for allocating the emergency stop output of the relay contact 32 to the switch 2N will be described.

The emergency stop output of the control device 4A of the robot 1A is connected to the relay 93 of the selection switch 73 via the connecting portion 63 in advance. Further, at the tip of the relay 93, the emergency stop output of the robot 1C on the side of connection and the contact of the switch 2n are connected to the connecting portion 6 (N-
Selection switch 7 (N-1) connected via 1)
It is connected to the relay 9 (N-1). Therefore, a signal is sent from the operation panels 8A and 8C so that a voltage is applied to the signal line for the connecting portion 63 and the signal line for the connecting portion 6 (N-1). When voltage is applied, each relay 9
The relay coils 3 and 9 (N-1) are excited, the relay contacts are closed, and the connecting portion 63 and the connecting portion 6 (n-
1) can be connected.

As described above, it is possible to easily switch the allocation of the emergency stop output of each cooperative partner robot to the emergency stop signal line for each robot by selecting the operation panels 8A to 8D.

[0033]

According to the robot control method of the first aspect of the present invention, it is possible to select, from a plurality of robots that may perform cooperative operation, the robots that are brought into the emergency stop state at the same time. For this reason, it is possible to reliably stop only the robot for which safety is to be ensured, without stopping the operable robot. Further, since the robot to be stopped safely can be easily selected and can be changed, the work efficiency can be improved without impairing the safety.

According to the robot control system of the second aspect, the same effect as that of the first aspect can be obtained.

According to the robot control method of the third aspect, in a plurality of robots which may perform a cooperative operation, in addition to the same effect as in the first aspect, the robot which is simultaneously brought into the emergency stop state can be easily operated by the operation panel. Can be selected.

According to the robot control system of the fourth aspect, there is the same effect as the third aspect.

[Brief description of drawings]

FIG. 1 is a block diagram showing connection of a safety circuit in a configuration of a robot control system according to a first embodiment of the present invention.

FIG. 2 is a connection diagram showing a configuration of a robot control system according to the first embodiment of the present invention.

FIG. 3 is a connection diagram showing a configuration of a robot control system according to a second embodiment of the present invention.

FIG. 4 is an explanatory diagram illustrating a configuration of an operation panel and a selection switch according to the second embodiment of the present invention.

FIG. 5 is a block diagram showing connection of a safety circuit in a configuration of a conventional robot control system.

FIG. 6 is a connection diagram showing a configuration of a conventional robot control system.

[Explanation of symbols]

1 robot 11 motor 12 brakes 1A robot 1B robot 1C robot 1D robot 21 switch 22 switch 2 (n-1) switch 2n switch 3 relays 31 relay coil 32 relay contacts 4 control device 4A control device 4B controller 4C controller 4D control device 5 Servo power supply 6 connection 61 Connection 62 Connection 6 (n-1) connection part 7 means of selection 71 Selection switch 72 Selection switch 7 (n-1) selection switch 7A selection switch center 8A operation panel 8B operation panel 8C operation panel 8D operation panel 93 relay 9 (n-1) relay

Claims (4)

[Claims] 1. A robot control method comprising: a robot; a control unit that controls the operation of the robot; a plurality of other robots that cooperate with the robot; and a control unit that controls the operation of the other robot. When the emergency stop signal from the control unit of the robot is relayed and output to the control unit of the other robot, at least one control unit of the robot is selected from the plurality of other robots. A robot control method characterized by: 2. A robot, a controller that controls the operation of the robot, a plurality of other robots that cooperate with the robot, a controller that controls the operation of the other robot, and a controller of the robot. A relay unit for inputting a signal from the controller and outputting a signal to the control unit of the other robot,
The relay unit is provided with a selection unit that outputs an emergency stop signal to the control unit of the robot selected from at least one of the plurality of other robots when the emergency stop signal is input from the control unit of the robot. A robot control system characterized by the above. 3. A robot control method comprising: a robot; a control unit that controls the operation of the robot; a plurality of other robots that cooperate with the robot; and a control unit that controls the operation of the other robot. When outputting the signal to the control unit of the other robot by relaying the emergency stop signal from the control unit of the robot, the operation unit outputs the emergency stop signal from the plurality of other robots. A robot control method characterized by selecting a control unit of the robot. 4. A robot, a control unit that controls the operation of the robot, a plurality of other robots that cooperate with the robot, a control unit that controls the operation of the other robot, and a control unit of the robot. A relay unit that inputs a signal from the robot and outputs a signal to the control unit of the other robot, and a robot control unit that outputs the emergency stop signal when an emergency stop signal is input to the relay unit. The relay unit includes a selection unit that outputs the emergency stop signal to the robot control unit set by the operation unit when the emergency stop signal is input from the robot control unit. A robot control system characterized by being provided.