JP2015044280A - Robot control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot control device in consideration of no consideration for a safety aspect in the prior art where a wired TP (teach pendant) and a wireless TP are commonly used, in the case the wireless TP is additionally introduced into the existing facility with which the wired TP is connected in order to compensate the defect of the wireless TP needing a charge and depending upon the communication environment, while enjoying the advantage in the wireless TP that the workability and the portability are excellent.SOLUTION: A robot control device RC comprises a switching hub 20 and a main CPU 10. With the switching hub 20, a wireless access point 50 for performing wireless communications with a wireless TP 100B, and a wired TP 100A, are wire connected. The main CPU 10 gives the operation right of a robot R to either the wired TP 100A or the wireless TP 100B. The safety can be enhanced by making either TP exclusively operable.

Description

  The present invention relates to a robot control apparatus that transmits and receives various data using network communication technology for communication with a portable operating device.

  Conventionally, Patent Documents 1 to 4 propose a portable operation device (hereinafter also simply referred to as TP) called a teach pendant and a robot control device that performs wireless communication. In Patent Document 1 and Patent Document 2, a TP has a wireless communication unit and a wired communication unit, and a cable is connected to the wireless TP so that it can also be used as a wired TP.

  In Patent Document 3, a wireless device held by a worker is connected to a wired TP so that the wired TP can be switched to the wireless TP for use.

  In Patent Document 4, a wireless communication unit and a wired communication unit are provided inside the TP, and when the TP is placed on a dedicated stand installed in the robot control device, the connection terminal unit is electrically connected to switch to the wired TP. To be able to.

JP 2008-93743 A JP 2006-341356 A JP 2011-194504 A JP 2006-321014 A

  The wireless TP does not require cable routing, so it has excellent workability and portability, and it is not possible to use a single TP for multiple robot control devices. Has an excellent advantage. On the other hand, the wireless TP has disadvantages that the wired TP does not have, such as being easily affected by the communication environment and not being usable when charging is insufficient. In the prior art described in Patent Documents 1 to 4, this problem is solved by adding a wireless communication unit to the wired TP or separately preparing a wireless device. That is, each TP has a function of two roles, and can be used as a wired TP in some cases and as a wireless TP in other cases.

  By the way, when incorporating the advantages of wireless TP into existing equipment using wired TP, (1) a method of replacing current wired TP with wireless TP, and (2) Patent Documents 1 to 4 And a method of adding a wireless function to the wired TP. However, the method (1) cannot solve the disadvantages such as being unusable if it is easily affected by the wireless environment or insufficient charging. Further, the method (2) requires a lot of mounting parts for wirelessly changing the wired TP, so that the weight of the wired TP is increased and the operator must carry the wireless device. Another problem arises that people are more likely to get tired. Therefore, in order to make good use of each of the wired TP and the wireless TP, it is best to introduce a wireless TP and share the wired TP and the wireless TP instead of providing the wired TP with a wireless function. It is believed that there is.

  When a configuration in which a wired TP and a wireless TP are shared is adopted, there is a problem in terms of safety if both TPs can be operated simultaneously. For example, it is needless to say that it is not preferable in terms of safety to connect both the wired TP and the wireless TP to one robot control device so that the robot can be operated freely from both TPs. For this reason, the robot control device and the TP are always configured to be in one-to-one opposing communication, and the operation of the robot is surely functioned according to the will of the operator having the TP. Therefore, it is necessary to consider not to function from other TPs.

  However, in the above-described prior art, no consideration is given to safety when adopting a form in which a wired TP and a wireless TP are shared.

  An object of the present invention is to provide a robot control device capable of improving safety when a wired TP and a wireless TP are shared.

In order to achieve the above object, the invention of claim 1
In a robot control device that controls a robot in accordance with an operation of a portable operation device (hereinafter referred to as TP),
A wireless communication unit that performs wireless communication with the wireless TP, and a relay unit that is wired to the wired TP, and
The robot control apparatus includes: an operation right granting unit that grants an operation right for permitting operation of the robot to one of the wired TP and the wireless TP.

  The invention according to claim 2 is characterized in that the operation right granting unit gives an operation right to a TP that is first requested to be connected among the wired TP and the wireless TP. It is a robot control device.

  In the invention according to claim 3, the operation right granting unit receives a connection request from the other TP to which the operation right is not given while one of the wired TP and the wireless TP is given the operation right. If there is, check whether the current state of the robot or the robot control device satisfies a predetermined condition, and if it is determined that the predetermined condition is satisfied, 3. The robot control apparatus according to claim 1, wherein an operation right is given.

  According to a fourth aspect of the present invention, in the robot control apparatus according to the third aspect, the operation right granting unit shuts off the servo power supply of the robot when giving the operation right to the other TP. It is.

  According to a fifth aspect of the present invention, the operation right granting unit receives a connection request from the other TP that is not given the operation right while the operation right is given to either the wired TP or the wireless TP. 5. The robot control apparatus according to claim 1, wherein if there is a TP, the other TP is notified that there is a TP to which an operation right has already been given.

  The invention according to claim 6 is characterized in that the operation right granting unit releases the operation right when the non-operation time of the TP to which the operation right is given exceeds a predetermined time. It is a robot control device given in any 1 paragraph.

  The invention of claim 7 accepts an emergency stop signal input by pressing an emergency stop switch provided in the wired TP even while the operation right is given to the wireless TP. The robot control device according to claim 1, wherein

  According to the present invention, when a configuration in which a wired TP and a wireless TP are shared is adopted, safety can be improved by making any one of the TPs exclusively operable.

Configuration diagram of a robot control system to which the robot control device of the present invention is applied (A) is a schematic block diagram of the robot control system of FIG. 1, (b) is a schematic block diagram of a wired TP, (c) is a schematic block diagram of a wireless TP. Block diagram of receiving unit Explanatory drawing of operation of receiving unit when wired TP and wireless TP are connected simultaneously Flow chart of operation right grant processing

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described based on examples with reference to the drawings.

  FIG. 1 is a configuration diagram of a robot control system 1 to which the robot control device RC of the present invention is applied. As shown in the figure, the robot control system 1 includes a robot R that performs operations such as arc welding and spot welding, a wired TP 100A and a wireless TP 100B that are portable operation devices, and a robot control device that controls the operation of the robot R. Roughly composed of RC.

  In the robot R, work tools such as an arc welding torch and a spot welding gun are attached to the tip of the wrist.

  The wired TP 100 </ b> A and the wireless TP 100 </ b> B are equipped with a so-called microcomputer in which an operating system such as Windows (registered trademark) is incorporated, a keyboard 130 for performing a teaching operation to the robot R, and teaching data input by the teaching operation. A display device 140 to be displayed, an emergency stop switch 180 for emergency stop of the robot R, and the like are provided. Although not shown, an enable switch for supplying or cutting off power to the servo motor of the robot R during teaching operation in the teaching mode is attached to the rear surface.

  Teaching operation signals from the wired TP 100A and the wireless TP 100B are transmitted to the robot controller RC by wired or wireless communication, respectively. The teaching operation signal includes a jog feed signal for moving the robot R by manual operation, a teaching signal for inputting teaching data, an emergency stop signal for enabling an emergency stop of the robot R in an emergency, an enable signal, and the like. . By transmitting these teaching operation signals, the robot controller RC performs various processes such as jog feed operation of the robot R, creation of teaching data, and emergency stop.

  2 is a block diagram of the robot control system 1 described above. FIG. 2A is a schematic block diagram of the entire system, FIG. 2B is a schematic block diagram of a wired TP, and FIG. 2C is a wireless TP. The schematic block diagrams are respectively shown.

  As shown in FIG. 2A, the robot controller RC relays communication data from the main CPU (central processing unit) 10 serving as the control center, the wired TP 100A, and the wireless TP 100B, and sends the data to the main CPU 10 and the receiving unit 30. A switching hub 20 serving as a relay unit for transmission and a sequence control unit 40 connected to the receiving unit 30 are provided.

  In addition to various processes (input of teaching data, setting of control parameters, etc.) according to the teaching operation signal from the wired TP 100A or the wireless TP 100B, the main CPU 10 issues a current command for the driving motor provided at each joint of the robot R. The drive motor is driven by calculating and outputting to a servo amplifier (not shown). Further, an operation right for permitting the operation of the robot R is given to one of the wired TP 100A and the wireless TP 100B. That is, the main CPU 10 corresponds to an operation right granting unit that performs control so that only one of the TPs can be exclusively used.

  The switching hub 20 has ports 21 to 24 for LAN connection. The LAN connection includes, for example, a communication connection using Ethernet (registered trademark), but is not limited thereto. The port 21 is detachably connected to the communication line L1 of the wireless access point 50. The port 22 is detachably connected to the wired TP 100A and the communication line L2. The ports 23 and 24 are connected to the main CPU 10 and the receiving unit 30, respectively.

  The wireless access point 50 performs wireless communication with the wireless TP 100B using a known communication protocol. The wireless access point 50 corresponds to a wireless communication unit.

  FIG. 3 is a block diagram of the receiving unit 30. As shown in the figure, the receiving unit 30 includes a pair of CPUs 31, 32, relays RY1, RY3 operated by the CPU 31, relays RY2, RY4 operated by the CPU 32, enable output circuits 33, 34, and an emergency stop output circuit 35, 36. The CPUs 31 and 32 can input an emergency stop signal and an enable signal from the wireless TP 100 </ b> B from the switching hub 20 via the connection terminal unit 37 provided in the receiving unit 30.

  FIG. 4 is an explanatory diagram of the operation of the receiving unit when communication with the wireless TP is established in a state where the wired TP is physically connected. As shown in the figure, the CPUs 31 and 32 can input an enable signal from the wired TP 100 </ b> A via the connection terminals T <b> 21 to T <b> 24 of the connection terminal unit 38 provided in the receiving unit 30.

  The CPUs 31 and 32 individually operate the relays RY1 to RY4 based on the input signals without being affected by the presence or absence of input signals from other CPUs.

  The enable output circuits 33 and 34 are duplex safety circuits. The enable output circuit 33 is a circuit in which relay contacts S1 and S2 including a contacts (normally open contacts) are connected in series, and is connected to connection terminals T1 and T2 of a connection terminal portion 39 provided in the receiving unit 30. Has been. The connection terminals T1 and T2 are electrically connected to the connection terminals T11 and T12 of the sequence control unit 40, respectively.

  The enable output circuit 34 is a circuit in which relay contacts S3 and S4 composed of a contacts (normally open contacts) are connected in series, and is connected to connection terminals T3 and T4 provided in the receiving unit 30. . The connection terminals T3 and T4 are electrically connected to the connection terminals T13 and T14 of the sequence control unit 40, respectively. The relay contacts S1 and S3 are closed when the relay RY1 is activated (excited). Also, relay contacts S2. S4 is closed when the relay RY2 is activated (excited). The emergency stop output circuits 35 and 36 are duplex safety circuits.

  The emergency stop output circuit 35 includes a connection circuit that short-circuits the connection terminal T5 of the connection terminal portion 39 and the connection terminal T25 of the connection terminal portion 38, and a series circuit of relay contacts S5 and S6. Each end of the series circuit of the relay contacts S5 and S6 is connected to the connection terminal T6 of the connection terminal portion 39 and the connection terminal T26 of the connection terminal portion 38, respectively. The connection terminals T5 and T6 are electrically connected to the connection terminals T15 and T16 of the sequence control unit 40, respectively.

  The emergency stop output circuit 36 includes a connection circuit that short-circuits between the connection terminal T7 of the connection terminal portion 39 and the connection terminal T27 of the connection terminal portion 38, and a series circuit of relay contacts S7 and S8. Each end of the series circuit of the relay contacts S7 and S8 is connected to the connection terminal T8 of the connection terminal portion 39 and the connection terminal T28 of the connection terminal portion 38, respectively. The connection terminals T7 and T8 are electrically connected to the connection terminals T17 and T18 of the sequence control unit 40, respectively.

  The relay contacts S5 and S7 are b contacts (normally closed contacts) and are opened when the relay RY3 is activated (excited). Also, the relay contact S6. S8 comprises a b contact (normally closed contact), which opens when the relay RY4 is activated (excited).

  When at least one relay contact is opened from the closed state after all of the relay contacts S1 to S4 of the enable output circuits 33 and 34 are closed, an interruption signal based on the enable signal is output from the enable output circuits 33 and 34 having the relay contacts opened. When input, the sequence control unit 40 operates a circuit breaker (not shown) to cut off power supply to a servo amplifier (not shown). That is, power supply to the servo motor that is the drive source of the robot R is cut off.

  Further, the sequence control unit 40 is configured to switch the relay contact S5 of the emergency stop output circuits 35 and 36 when at least one of the connection terminals T25 and T26 and the connection terminals T27 and T28 is changed from the short-circuit state to the non-short-circuit state. When at least one relay contact of S8 is opened from the closed state, a circuit breaker (not shown) is operated to cut off power supply to a servo amplifier (not shown).

  Hereinafter, the power supply to the servo motor may be expressed as “servo power on” and the power supply cutoff may be expressed as “servo power off”.

  The connection terminals T21 to T24 of the connection terminal part 38 are electrically connected to the connection terminals T31 to T34 of the connection terminal part 42 of the robot control device RC, respectively. Further, the connection terminals T25 to T28 of the connection terminal portion 38 are electrically connected to the connection terminals T35 to T38 of the connection terminal portion 42 of the robot control device RC, respectively.

  Next, the wired TP 100A will be described.

  As shown in FIG. 2B, the wired TP 100A includes a CPU (central processing unit) 110, a ROM 120, a keyboard 130, a display device 140, a wired LAN I / F (interface) 150, and the like. They are connected via a bus 190. The wired LAN I / F 150 can be detachably connected to the port 22 of the switching hub 20 via the communication line L2.

  Via the communication line L2 and the switching hub 20, the wired TP 100A and the main CPU can communicate various data such as key information generated in response to an operation of the keyboard 130 from the wired TP 100A and screen information of the display device 140. is there.

  In addition, the wired TP 100A includes an enable switch 170. As shown in FIG. 4, when the enable switch 170 is turned on, the pair of normally open contacts S11 and S12 provided in the pair of circuits C1 and C2 are closed, and when the enable switch 170 is turned off, the normally open contact S11. , S12 is opened. When the wired TP 100A is used, the circuits C1 and C2 are connected to the connection terminals T31 to T34 in the connection terminal portion 42 of the robot controller RC via the signal line L3 and a plug (not shown).

  When the signal line L3 is connected to the connection terminal portion 42 and the normally open contacts S11 and S12 are opened from the closed state, enable signals are output from the circuits C1 and C2 to the robot controller RC, respectively.

  As shown in FIG. 4, the wired TP 100 </ b> A includes an emergency stop switch 180. When the emergency stop switch 180 is turned off, the pair of normally closed contacts S13 and S14 provided in the pair of circuits C3 and C4 are opened. The circuits C3 and C4 are connected to connection terminals T35 to T38 in the connection terminal portion 42 of the robot control device RC via the signal line L3 and a plug (not shown). When the emergency stop switch 180 is operated and the pair of normally closed contacts S13 and S14 are opened in a state where the circuits C3 and C4 are connected to the robot controller RC as described above, the emergency stops are respectively started from the circuits C3 and C4. A signal is output to the robot controller RC.

  Next, the wireless TP 100B will be described with reference to FIG. Note that in the wireless TP 100B, the same or corresponding configurations as those of the wired TP 100A are denoted by the same reference numerals as those of the wireless TP 100B, and different configurations will be described.

  As shown in FIG. 2C, the wireless TP 100B is different from the wired TP 100A in that a wireless LAN I / F 160 is provided instead of the wired LAN I / F 150.

  As shown in FIG. 2, the wireless TP 100B and the main CPU 10 wirelessly generate key information generated in response to an operation of the keyboard 130 from the wireless TP 100B via the wireless access point 50, the communication line L1, and the switching hub 20. Various data such as screen information of the display device 140 can be communicated.

  Further, although not shown, the wireless TP 100B has a configuration corresponding to the circuits C1 to C4, the normally open contacts S11 and S12, and the normally closed contacts S13 and S14.

  In the wireless TP 100B, unlike the wired TP 100A, when the enable switch 170 is operated to close the pair of normally open contacts S11 and S12, the wireless LAN I / F 160 outputs an enable signal wirelessly. When the emergency stop switch 180 of the wireless TP 100B is operated to open the pair of normally closed contacts S13 and S14, an emergency stop signal is wirelessly output by the wireless LAN I / F 160.

  The operation of the robot controller RC configured as described above will be described.

  FIG. 5 is a flowchart showing the flow of the operation right granting process. Based on this figure, a state in which the main CPU 10 gives an operation right to either the wired TP 100A or the wireless TP 100B will be described. In the following description, for convenience, the wired TP 100A is simply referred to as a wired TP, and the wireless TP 100B is simply referred to as a wireless TP.

(1. When neither wired TP nor wireless TP has established communication (no operation right)
First, a process when there is a connection request from the wired TP in a state where neither the wired TP nor the wireless TP is given an operation right will be described.

  In step St1 in the figure, it is confirmed whether or not there is a connection request. Here, assuming that there is a connection request from the wired TP, the process proceeds to step St2.

  In step St2, the operation right grant state is confirmed. When the operation right is given to one of the TPs, the identification information (for example, information that can identify the individual such as a MAC address) is stored in a RAM (not shown) of the robot controller RC. The main CPU 10 reads the identification information from the RAM in order to confirm the operation right granting state. At this stage, since the operation right is not given to either the wired TP or the wireless TP, the identification information is a NULL value.

  In step St3, it is determined whether or not the operation right is given to either TP based on the identification information read from the RAM. At this stage, since the identification information is a NULL value, it is determined that no operation right is given to either TP, and the process proceeds to step St8.

  In step St8, an operation right is granted to the wired TP that is the connection request source. That is, the identification information of the wired TP to which the operation right is given is stored in a RAM (not shown) of the robot controller RC.

  In step St9, communication establishment processing with the wired TP is performed. After the communication is established, the wired TP is notified that the operation right is given. As a result, a message indicating that the operation right is given is displayed on the wired TP display device 140.

(2. When there is a communication establishment request from another TP when either TP has the operation right)
Next, processing when a communication establishment request is received from another TP when an operation right is given to either TP will be described. Here, the following description will be given on the assumption that there is a connection request from the wireless TP when the operation right is given to the wired TP.

  In step St1 of the figure, the main CPU 10 confirms whether or not there is a connection request. Here, assuming that there is a connection request from the wireless TP, the process proceeds to step St2.

  In step St <b> 2, the main CPU 10 reads the operation right granting state (identification information) from the RAM. Here, the identification information of the wired TP is read out.

  In step St3, it is determined whether or not the operation right is given to either TP based on the identification information read from the RAM. Here, since the operation right is given to the wired TP, the process proceeds to step St4. At this time, the main CPU 10 notifies the wireless TP from which the connection request is output that the operation right has already been granted to the wired TP.

In step St4, the operation right delegation condition is confirmed. That is, in order to determine whether or not the operation right can be transferred from the wired TP to the wireless TP, the main CPU 10 indicates the current state of the robot R or the robot control device RC, an internal variable, a flag, or the like. Confirm by reading. For example, the operation right cannot be delegated in any of the following states. However, the condition is an example and is not limited.
• The teaching mode and the servo power supply of the robot R are on.
• Power is supplied to the servo amplifier in the teaching mode.
The external storage device provided in the TP is being accessed (reading / writing).
-A lock function is set by the operator to prevent the operation right from being transferred to another TP.

  In step St5, it is determined whether or not the operation right can be delegated. Here, it is assumed that the state of the robot R or the robot controller RC does not correspond to any of the above. That is, it is determined that the operation right can be delegated, and the process proceeds to step St6. Note that when the robot R or the robot controller RC falls into any of the above states, the process is terminated.

  In step St6, the operation right of the currently connected wired TP is released and the communication with the wired TP is cut off. Note that releasing the operation right means that the identification information written in the RAM of the robot controller RC is cleared.

  Further, in step St7, the servo power supply of the robot R is turned off. Furthermore, it is preferable that the servo power supply cannot be turned on immediately by cutting off the power supply to the servo amplifier. By doing so, it is possible to prevent the servo power source from being turned on even if the enable switch 170 is erroneously turned on by the TP immediately after the operation right is given.

  In step St8, an operation right is granted to the wireless TP that is the connection request source. That is, the identification information of the wireless TP to which the operation right is given is stored in a RAM (not shown) of the robot controller RC.

  In step St9, communication establishment processing with the wireless TP is performed. After the communication is established, the wireless TP is notified that the operation right is given. As a result, a message indicating that the operation right has been given is displayed on the display device 140 of the wireless TP.

(3. Processing after granting operation rights)
The main CPU 10 of the robot controller RC executes various processes with only the teaching operation signal from the TP to which the operation right is given as an input. That is, while only the teaching operation signal from the TP to which the operation right is given is interpreted, the teaching operation signal from the TP to which the operation right is not given is ignored. In this embodiment, since the wired TP is always connected, as shown in FIGS. 3 and 4, the emergency stop signal from the emergency stop switch 180 of the wired TP is transmitted via the communication line L3. Then, it is transmitted to the sequence control unit 40 via the receiving unit in hardware. That is, only the emergency stop signal from the wired TP is always accepted regardless of the operation right. This means that while the operation right is granted to the wireless TP, operation input from the wired TP is not possible, but only the emergency stop switch 180 functions (the wired TP functions as a single emergency stop switch). To do. This aspect can provide the following utilization method. In other words, if a beginner who is unfamiliar with the operation operates the wireless TP, and a skilled person is standing by with a wired TP that functions as a single emergency stop switch, the beginner jogs the robot R in the wrong direction. Even then, the skilled person can stop the robot R by the wired TP owned by himself.

  In the above-described embodiment, the operation right may be forcibly released when the non-operation time in the TP to which the operation right is granted exceeds a predetermined time (for example, 10 minutes). . By configuring in this way, even if the operator sets the lock function so that the operation right is not handed over with the TP to which the operation right is given, and if the operator leaves the place for a long time, the predetermined non-operation time If it exceeds, the operation right can be taken over.

  As described above, when a configuration in which the wired TP and the wireless TP are shared is adopted, only one of the TPs is given the operation right so that either TP can be operated exclusively. By doing in this way, safety can be improved.

L1 Communication line L2 Communication line L3 Signal line R Robot RC Robot controller TP Portable operation device (Teach pendant)
1 Robot control system 2 Guard fence 10 Main CPU (Robot controller)
31 CPU (receiving unit)
32 CPU (receiving unit)
20 switching hub 30 receiving unit 33 enable output circuit 34 enable output circuit 35 emergency stop output circuit 36 emergency stop output circuit 37 connection terminal section 38 connection terminal section 39 connection terminal section 40 sequence control unit 42 connection terminal section 50 wireless access point 100A wired TP
100B wireless TP
130 Keyboard 140 Display device 150 Wired LAN I / F
160 Wireless LAN I / F
170 Enable switch 180 Emergency stop switch 190 Bus

Claims (7)

In a robot control device that controls a robot in accordance with an operation of a portable operation device (hereinafter referred to as TP),
A wireless communication unit that performs wireless communication with the wireless TP, and a relay unit that is wired to the wired TP, and
A robot control apparatus comprising: an operation right granting unit that grants an operation right for allowing one of the wired TP and the wireless TP to operate the robot.   The robot control apparatus according to claim 1, wherein the operation right granting unit assigns an operation right to a TP that is first requested to connect out of the wired TP or the wireless TP.   When the operation right is given to either one of the wired TP or the wireless TP, the operation right grant unit receives the connection request from the other TP to which the operation right is not given. Confirming whether or not the current state of the robot control device satisfies a predetermined condition, and when determining that the predetermined condition is satisfied, granting an operation right to the other TP The robot control device according to claim 1 or 2, characterized in that   The robot control apparatus according to claim 3, wherein the operation right granting unit shuts off the servo power supply of the robot when giving the operation right to the other TP.   When the operation right is given to one of the wired TP and the wireless TP, the operation right granting unit is already operated when there is a connection request from the other TP that is not given the operation right. The robot control apparatus according to claim 1, wherein the other TP is notified that there is a TP to which the right is given.   The said operation right grant part cancels | releases an operation right, when the non-operation time of TP to which the operation right is granted exceeds predetermined time, The one of Claims 1-5 characterized by the above-mentioned. Robot control device.   The emergency stop signal input by pressing an emergency stop switch provided in the wired TP is accepted even while the operation right is given to the wireless TP. The robot control apparatus according to any one of?

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