JP2006136978A - Robot control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot control system provided with a power source control function to a teaching means for supporting a trouble restoring work of a robot or a robot control device, displaying a procedure for investigating the trouble and a procedure for replacing a substrate or equipment on a display device of the teaching means, and quickly and safely recovering from the trouble. <P>SOLUTION: This system is provided with: a power source part 5 for supplying control power supply 22 for controlling the robot; and control power supply 23 for the teaching means 3. The power source part 5 is provided with: a first power source device 12 for supplying the control power supply 22 for controlling the robot; a second power source device 13 for supplying the control power supply 23 for the teaching means 3; and a power source switching control circuit 11 for switching a supply power source to the first power source device 12 and the second power source device 13. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a robot control system having a power control function of a teaching pendant that displays a trouble recovery procedure of a robot or a robot control device.

  The teaching pendant of the robot is equipped with a teaching operation panel, display device, etc., and teaches while watching the movement of the robot arm by operating the operation panel, or operating the operation panel to Parameters are set, the robot or robot controller status is displayed, and an alarm is displayed when an abnormality occurs.

  If an abnormality occurs in the robot or the robot controller, the robot system cannot operate. In a production line where multiple robot systems share work, if an abnormality or failure occurs in one robot system, all robot systems must be stopped, and production during that time stops. When an abnormality or failure occurs, it is necessary to immediately investigate the cause of the abnormality or failure, identify the location of the abnormality or failure, and take action. The identification of the location of the abnormality or failure, the investigation of the cause, and the recovery after identifying the location of the abnormality or failure were performed using a maintenance manual issued by the manufacturer of the robot system. In addition, in order to identify the location of an abnormality or failure and to replace equipment such as control boards and relays more quickly, a proposal has been made for a robot system that displays the contents of a maintenance manual or the like on a display device of a teaching pendant. (For example, refer to Patent Document 1).

The contents of Patent Document 1 are alarm processing data storage means for storing information such as alarm causes and recovery procedures, alarm display data generation means for generating alarm display data for notifying an operator of occurrence of an alarm, and investigation of alarm type Investigation item data generation means for generating item data, alarm factor investigation means for investigating the internal state of the robot controller, investigation data input means for the operator to input investigation data, alarm cause determination means for determining the final alarm cause, A robot teaching pendant comprising recovery procedure data generating means for generating recovery procedure data for an alarm cause allows an operator to easily find out the cause of the alarm and perform recovery work at an early stage.
Japanese Patent Laid-Open No. 9-76182 (page 3-4, FIG. 1)

  However, although there is no description about the power supply of a teaching pendant in patent document 1, it is assumed that it is connected and supplied with a robot control apparatus and a communication line. In order to recover the alarm, for example, when a device such as a control board or a relay in the robot control device is replaced, the power supply of the robot control device is shut off. For this reason, power is not supplied to the teaching pendant, and the restoration work cannot be continued while viewing the teaching pendant display. If the power supply is energized and the recovery operation is performed while viewing the teaching pendant display, replacement of devices such as control boards and relays will be performed while the power is supplied. There is a risk of damage to the machine or an electric shock to the worker.

  The present invention has been made in view of the above problems, and has a power supply control function to a teaching pendant that supports trouble recovery work of a robot or a robot control device. An object of the present invention is to provide a robot control system capable of displaying a board and a device replacement procedure and quickly and safely recovering from a trouble. It is another object of the present invention to provide a robot control system that can perform power-on and power-off operations without worrying about the power-on state, thereby preventing careless errors.

In order to solve the above problem, the present invention is configured as follows.
The invention according to claim 1 is a robot control system comprising a robot and teaching means for displaying on the display device the teaching and operation of the robot, the cause investigation and the recovery procedure at the time of occurrence of an abnormality, and a control power supply for controlling the robot. A power supply unit that supplies a control power supply for the teaching means is provided.
Further, in the invention according to claim 2, the power supply section includes a first power supply device that supplies a control power supply for the robot control, a second power supply device that supplies a control power supply for the teaching means, The power supply switching control circuit which switches the power supply to the said 1st power supply device and the said 2nd power supply device is provided, It is characterized by the above-mentioned.
According to a third aspect of the present invention, the power supply switching control circuit does not power on the second power supply device when the first power supply device is powered on. Is.
According to a fourth aspect of the present invention, when the power supply switching control circuit performs power-on to the first power supply device in a state where the second power supply device is turned on, the second power supply control circuit The power supply to the first power supply device is turned on after the power supply to the power supply device is shut off.

According to the first and second aspects of the present invention, in addition to supplying the control power to the teaching pendant in the control power supply of the robot control device, the control power can be supplied only to the teaching pendant. The robot or the robot control device can be restored while viewing the display, and equipment damage at that time and electric shock accidents to the operator can be prevented.
According to the third and fourth aspects of the present invention, since the robot control device is provided with the power supply device for the robot control device and the power supply device for the teaching pendant, the operator can turn on the power. It is only necessary to perform power-on and shut-off operations without worrying about the problem, which can prevent careless mistakes.

  Examples of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a robot control system for carrying out the present invention.
In FIG. 1, 1 is a commercial power source, 2 is a robot, 3 is a teaching pendant as an example of teaching means, 4 is a robot control device, 5 is a power supply unit, 6 is a drive unit, and 7 is a control unit.
Hereinafter, the configuration of a robot control system for carrying out the present invention will be described with reference to FIG.
The robot control system includes a robot 2, a teaching pendant 3 having a display device that displays teaching and operation of the robot 2, a cause investigation procedure and a recovery procedure when an abnormality occurs, and the robot 2 and the teaching pendant 3 connected to each other. 1 and a robot controller 4 that receives the supply of 1. The robot control device 4 includes a control unit 7 that performs overall control of the robot system, a drive unit 6 that drives each axis of the robot 2 by passing a drive current through a drive shaft (motor) (not shown) of the robot 2, and a control unit 7. The teaching pendant 3 includes a control power source and the driving unit 6 supplies the control power source and the driving power source. Teaching, operation of the robot 2, investigation of the cause when an abnormality occurs, and display for a recovery procedure are performed via a communication path connected to the teaching pendant 3 under the instruction of the control unit 7. The robot control device 4 includes an input / output unit, a drive power-on control unit that controls turning on / off of the drive power, and the like. However, since it is not a main component of the present application, illustration and description are omitted. .

FIG. 2 is a connection diagram illustrating the power supply unit and the connection destination of the present invention.
In FIG. 2, 11 is a power supply switching control circuit, 12 is a control power supply device, 13 is a TP (teach pendant) power supply device, 14 is a control device power switch, 15 is a TP power on switch, 16 is a TP power off switch, 17, 18 and 19 are relays, 20 and 21 are diodes, 22 is an RC (robot controller) control power supply, 23 is a TP control power supply, 24 is an electromagnetic contactor, 25 is a drive power supply, 31 is a first circuit line, and 32 is a second power supply. It is a circuit line. The same reference numerals as those in FIG. 1 indicate the same components as those in FIG.
Hereinafter, the power supply unit 5 and its connection destination will be described with reference to FIG.
The power source unit 5 is supplied with power from the commercial power source 1 and receives an RC control power source 22 as a control power source for the drive unit 6 and the control unit 7, and a TP control power source 23 as a control power source for the teaching pendant 3. , And a drive power supply 25 is output to the drive unit 6 based on a control signal output from the control unit 7. The power supply unit 5 includes a control power supply device 12 that supplies an RC control power supply 22 and a TP control power supply 23, and a TP power supply device 13 that supplies a TP control power supply 23. The control circuit 11 controls power supply from the commercial power source 1. Note that the RC control power supply 22 output from the control power supply device 12 is also output to the TP control power supply 23 via the diode 20. The power supply output from the TP power supply device 13 is output to the TP control power supply 23 via the diode 21.

  The power supply switching control circuit 11 is operated by the operator to cut off the control device power switch 14 for turning on and off the RC control power supply 22 and the TP power on switch 15 for turning on the TP control power supply 23 of the teaching pendant 3. A TP power-off switch 16 is provided on the operation surface of the robot control device 4. The TP power on switch 15 and the TP power off switch 16 are momentary types. Note that a circuit configuration in which a contact on the circuit operates by a switch operation of the robot control device 4 may be employed.

  In the power supply switching control circuit 11, the power is drawn from the commercial power supply 1 to the power supply unit 5, and the normally open contact of the control device power switch 14 and the relay 17 normally closed contact driven by the output of the TP power supply device 13 are connected in series. After the first circuit line 31 connected to the control power supply device 12, the normally open contact of the TP power supply switch 15 and the normally open contact of the relay 19 driven by the output of the TP power supply device 13 are connected in parallel, the TP power supply is turned off. The normally closed contact of the switch 16 and the normally closed contact of the relay 18 driven from the middle of the first circuit line 31 are connected in series and are constituted by a second circuit line 32 connected to the TP power supply device 13.

FIG. 3 is a state transition diagram of power supply switching to the control power supply device and the TP power supply device by the power supply switching control circuit of the present invention. In FIG. 3, the same reference numerals as those in FIG. 2 denote the same components as those in FIG.
Hereinafter, the control power supply state (state) from the control power supply device 12 and the TP power supply device 13 to the teaching pendant 3, the control unit 7, and the drive unit 6 will be described with reference to FIG. Note that the supply of the drive power supply 25 is not the main configuration of the present invention and will not be described.

  State T1: Supply of the commercial power supply 1 to the power supply unit 5 of the robot control device 4 is started. This is done by turning on the disconnector on the power source side.

State T2: Since the control device power switch 14 of the first circuit line 31 is in the open state, the TP power on switch 15 of the second circuit line 32 is open, and the contact of the relay 19 is open in the power supply unit 5, the control power supply device 12 The commercial power supply 1 is not supplied to the TP power supply device 13 and the RC control power supply 22 and the TP control power supply 23 are not output. In the state T2, even if the TP power-off switch 16 is turned on / off, the second circuit line 32 remains open and does not change from the state T2.
When the control device power switch 14 is closed, the state shifts to the state T3. When the TP power on switch 15 is turned on / off, the state transitions to state T4.

  State T3: This state is shifted to when the control device power switch 14 is closed from the state T2. In the transition process, first, when the control device power switch 14 is operated to close the contact, the normally closed contact of the relay 17 is closed, so the commercial power source 1 is connected to the control power device 12 via the first open line 31. The control power supply device 12 outputs an RC control power supply 22 and supplies control power to the drive unit 6 and the control unit 7. Further, since it is connected to the TP control power supply 23 via the diode 20, the control power supply to the teaching pendant 3 is also supplied. The relay 18 connected from the middle of the first circuit line 31 is turned on, its normally closed contact is opened, the second open circuit line is cut off, and the commercial power supply 1 is not connected to the TP power supply device 13. Therefore, even if the TP power on switch 15 and the TP power off switch 16 are operated, there is no change from this state. When the control device power switch 14 is operated to open the contact, the first circuit line 31 is cut off, so that the state T2 is entered.

  State T4: It is a state that transitions from the state T2 when the TP power on switch 15 is operated to close the contact. However, since the switch is a momentary type, when the operation is released, the contact is opened. In the transition process, first, since no power is output from the TP power supply device 13 in the state T2, the relay 18 is off and its normally closed contact is closed, and the relay 19 is also off and its normally open contact is opened. Yes. Further, the normally closed contact of the TP power off switch 16 is closed. When the TP power on switch 15 is operated to close the contact, the TP power on switch 15, the TP power off switch 16 and the second circuit line 32 of the relay 18 are closed to supply the commercial power 1 to the TP power unit 13. Then, the output becomes the TP control power source 23 through the diode 21 and supplies power to the teaching pendant 3. The diode 20 prevents reverse current flow, so that no power is supplied to the RC control power source 22. On the other hand, since the relay 19 connected to the output of the TP control power supply 23 is turned on and the normally open contact is closed, the second circuit line 32 is self-held, and the state T4 is maintained even if the contact of the TP power supply switch 15 is opened. maintain. When the normally closed contact is opened by operating the TP power supply switch 16 from this state T4, the second circuit line 32 is cut off, so that the supply to the commercial power supply 1 is cut off to the TP control power supply 23 and the state T2 is entered. To do. Further, when the control device power switch 14 is operated from this state T4 to close the contact, the flow goes to the state T5.

  State T5: This state is shifted to when the control device power switch 14 is operated from state T4 to close the contact. In the transition process, first, in the state T4, since the relay 17 connected to the output of the TP power supply device 13 is ON, the normally closed contact is opened. When the control device power switch 14 is operated from this state to close the normally open contact, the relay 18 connected from the middle of the first circuit line 31 is turned on, and the normally closed contact is opened. 32 is cut off, the voltage output from the TP power supply device 13 is stopped, and the connected relays 17 and 19 are turned off. Since the normally open contact is opened when the relay 19 is turned off, the self-holding of the second circuit line 32 is released. That is, this state T5 is a state in which neither the control power supply device 12 nor the TP power supply device 13 is supplied with the commercial power supply 1. When the relay 17 is turned off, the normally closed contact is closed, so that the commercial power supply 1 is supplied to the control power supply device 12 via the first circuit line 31. Therefore, the state continues to the state T3.

  As described above, the power supply switching control circuit 11 is configured to operate only the TP control power supply 23 that is a control power supply to the teaching pendant 3 by operating the TP power supply switch 15 and the TP power supply switch 16 when the contact of the control device power switch 14 is in the open state. The control device power switch 14 is operated to turn on / off the TP control power source 23 that is the control power source for the teaching pendant 3 and the RC control power source 22 that is the control power source for the robot control device 4. Further, when power is supplied to the robot control device 4 from a state where only the control power supply of the teaching pendant 3 is supplied, the TP control power supply 23 is temporarily turned off.

FIG. 4 is a schematic configuration diagram of a teaching pendant for carrying out the present invention.
In FIG. 4, 41 is a DC / DC converter, 42 is a CPU, 43 is an operation switch, 44 is a display, 45 is a communication interface, and 46 is a reset element. The same reference numerals as those in FIG. 2 denote the same components as those in FIG.
Hereinafter, the configuration of the teaching pendant for carrying out the present invention will be described with reference to FIG.
When the teaching pendant 3 is supplied with the TP control power source 23, the teaching pendant 3 converts it into a voltage required inside the teaching pendant 3 by the DC / DC converter 41. This is, for example, conversion of 24 VDC of the TP control power supply 23 to 5 VDC, which is a supply voltage of the CPU 42. Based on execution of a control program (not shown), the CPU 42 inputs the operation switch 43, displays on the display 44, and communicates with the control unit 7 of the robot control device 4 via the communication interface 45. Further, a CPU 42 and a reset element 46 are connected to the output of the DC / DC converter 41, and a reset signal is generated until the voltage required for the operation of the CPU 42 is reached, and this is supplied to the CPU 42. In other words, a reset signal is output until the voltage rises upon receipt of power supply. When the voltage reaches a voltage suitable for the CPU 42, the reset signal is not output, and the CPU 42 executes processing defined by the control program.

FIG. 5 is a flowchart showing the start processing of the control program of the teaching pendant of the present invention.
Hereinafter, the start processing of the control program of the teaching pendant 3 of the present invention will be described with reference to FIG.
When the supply of power to the teaching pendant 3 is started and the reset signal is released after the voltage rises, the execution of this control program is started. First, communication with the control unit 7 is established for a predetermined time via the communication interface 45. Try for a while (step ST1). When the RC control power supply 22 is supplied, the control power is also supplied to the control unit 7, so that communication is established and the robot control device 4 and the robot 2, which is a normal process, are taught, and the robot 2 is instructed. Necessary parameter settings and confirmation of the status of the robot 2 or the robot control device 4 are displayed on the display device, or an alarm is displayed when an abnormality occurs (step ST2). On the other hand, if the communication is not established in step ST1, the power is supplied from the TP power supply device 13, and the teaching pendant 3 displays the contents of the maintenance manual or the like on the display device with the teaching pendant 3. Processing is performed (step ST3).

  According to the configuration of the teaching pendant 3 of FIGS. 4 and 5, the process of step ST2 of FIG. 5 is performed in the state T3 of FIG. 3, and the process of step ST3 of FIG. 5 is performed in the state T4 of FIG. Further, in the transition from the state T4 in FIG. 3 to the state T3 via the state T5, the TP control power source 23 is once cut off from the step ST3 in FIG. 5, so that the output from the DC / DC converter 41 temporarily drops. Therefore, a reset signal is output from the reset element 46, and the CPU 42 restarts from step ST1 in FIG. 5 and performs the process of step ST2.

  Even if the control power supply 12, the TP power supply 13 or the DC / DC converter 41 is cut off from the input power supply, the output voltage is not immediately cut off in accordance with the state of charge to the internal capacitor etc. It may be output for hours. In this case, a circuit in which a resistor and a capacitor are connected in series to the operation coil of the relay 17 is connected in parallel, so that a time delay at the time of OFF is performed or replaced with an OFF delay relay, so that the state T5 in FIG. This can be avoided by extending the maintenance time.

  As described above, the robot control system according to the present embodiment supplies power to the power supply device 13 that supplies power to the teaching pendant 3, the control power supply device 12 for the robot control device, and the TP power supply device 13 for the teaching pendant. Since the power supply switching control circuit 11 for switching is provided and power is supplied to the teaching pendant 3 even when the power supply of the robot control device is shut off, the trouble recovery of the robot 2 or the robot control device 4 is restored to the display device of the teaching pendant 3. Trouble investigation procedures that support work and board and equipment replacement procedures can be displayed on the display device of the teaching pendant 3 even when the control power of the robot control device 4 is cut off, so that the trouble can be recovered quickly and safely. . In addition, the control power can be turned on and off without worrying about the state of the power.

  The present invention is normally wired connection, but can be used for a machine control system using a personal computer that is equipped with a CPU and is capable of setting a system alone.

It is a schematic block diagram of the robot control system which implements this invention. It is the connection diagram which illustrated the power supply part of this invention, and its connection place. It is a state transition diagram of the power supply switching to the control power supply device and TP power supply device by the power supply switching control circuit of the present invention. It is a schematic block diagram of the teaching pendant which implements this invention. It is a flowchart which shows the start process of the control program of the teaching pendant of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Commercial power supply 2 Robot 3 Teaching pendant 4 Robot control apparatus 5 Power supply part 6 Drive part 7 Control part 11 Power supply switching control circuit 12 Control power supply apparatus 13 TP power supply apparatus 14 Control apparatus power supply switch 15 TP power supply on switch 16 TP power supply off switch 17 , 18, 19 Relay 20, 21 Diode 22 RC control power supply 23 TP control power supply 31 First circuit line 32 Second circuit line 41 DC / DC converter 42 CPU
43 Operation switch 44 Display unit 45 Communication interface 46 Reset element

Claims (4)

In a robot control system comprising a robot (2) and teaching means (3) for displaying on the display device (44) the teaching and operation of the robot, investigation of the cause when an abnormality occurs, and a recovery procedure.
A robot control system comprising a power supply unit (5) for supplying a control power supply (22) for robot control and a control power supply (23) for teaching means. The power supply unit (5) includes a first power supply device (12) that supplies a control power supply (22) for controlling the robot,
A second power supply device (13) for supplying a control power supply (23) for the teaching means;
The robot control system according to claim 1, further comprising: a power supply switching control circuit (11) for switching power supply to the first power supply device (12) and the second power supply device (13).   The power supply switching control circuit (11) is characterized in that the power supply to the second power supply device (13) is not turned on when the first power supply device (12) is turned on. The robot control system according to 2.   The power supply switching control circuit (11) is configured to turn on the first power supply device (12) while the second power supply device (13) is turned on. 3. The robot control system according to claim 2, wherein the power supply to the first power supply device (12) is turned on after the power supply to (13) is cut off.

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