JP2017104939A - Control device, robot, and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device capable of detecting where an abnormal condition occurs about a brake system with a simple configuration, and a robot and a robot system.SOLUTION: A control device for controlling a robot having a first brake and a second brake has an abnormal condition detecting section performing abnormality detection of a first brake line having wiring connected to the first brake and the first brake, and a second brake line having wiring connected to the second brake and the second brake. Timing of performing the abnormality detection of the first brake line and timing of performing the abnormality detection of the second brake line are different from each other.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control device, a robot, and a robot system.

  Conventionally, a robot provided with a robot arm is known. The robot arm has a plurality of arms (arm members) connected via joints, and a hand is mounted on the most distal end (most downstream) arm as an end effector, for example. The joint is driven by a motor, and the arm is rotated by driving the joint. Then, for example, the robot grips an object with a hand, moves the object to a predetermined location, and performs a predetermined operation such as assembly.

  Patent Document 1 discloses that a robot detects an abnormality using a total value of currents of a plurality of motors.

JP 2005-161469 A

  In the robot described in Patent Document 1, since abnormality is detected using the total value of the currents of a plurality of motors, it is not known which motor has an abnormality.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

The control device of the present invention is a control device for controlling a robot having a first brake and a second brake,
An abnormality detection unit that detects an abnormality in the wiring connected to the first brake, the first brake line having the first brake, the wiring connected to the second brake, and the second brake line having the second brake. Have
The timing for detecting the abnormality of the first brake line is different from the timing for detecting the abnormality of the second brake line.

  Thereby, it is possible to detect which of the first brake line and the second brake line is abnormal with a simple configuration.

  In the control device according to the aspect of the invention, it is preferable to include a voltage application unit that applies a first voltage to the first brake line and the second brake line.

  With this voltage application unit, the brake can be operated or released for the first brake and the second brake.

  In the control device according to the aspect of the invention, the voltage application unit may apply a second voltage lower than the first voltage after applying the first voltage to the first brake line or simultaneously with the application of the first voltage. It is preferable to apply a second voltage lower than the first voltage after applying the first voltage to the second brake line or simultaneously with the application of the first voltage.

  Thereby, overexcitation control can be performed for the first brake and the second brake.

  In the control device of the present invention, after the first brake is released, the voltage application unit finishes applying the first voltage to the first brake line, and after the second brake is released, It is preferable to end application of the first voltage to the second brake line.

  Thereby, overexcitation control can be performed for the first brake and the second brake.

  In the control device of the present invention, the timing for starting the application of the first voltage to the second brake line is after the timing for starting the application of the first voltage to the first brake line. preferable.

  As a result, it is possible to detect which of the first brake line and the second brake line is abnormal.

  In the control device according to the aspect of the invention, the timing for ending the application of the first voltage to the second brake line may be after the timing for ending the application of the first voltage to the first brake line. preferable.

  As a result, it is possible to detect which of the first brake line and the second brake line is abnormal.

  In the control device according to the aspect of the invention, it is preferable that the voltage application unit includes a first switch provided in the first brake line and a second switch provided in the second brake line.

  Thereby, a voltage can be separately applied to the first brake line and the second brake line. Thus, the first brake and the second brake can be controlled separately, and it can be detected which of the first brake line and the second brake line is abnormal.

In the control device of the present invention, it is preferable that each of the first brake and the second brake is a non-excitation operation type electromagnetic brake.
As a result, the brake can be applied accurately.

  In the control device of the present invention, the voltage application unit turns off the first switch when the abnormality detection unit detects an abnormality of the first brake line, and the abnormality detection unit detects the second brake line. When an abnormality is detected, it is preferable to turn off the second switch.

  As a result, the brake of the brake line where the abnormality is detected is activated, and the robot can be operated safely.

  In the control device according to the aspect of the invention, it is preferable that the voltage application unit applies a pulse voltage to the first brake line and the second brake line before performing the abnormality detection.

  Thereby, the abnormality can be detected without releasing the brake. Thereby, even when there is an abnormality, it is possible to reduce the influence of the abnormality.

In the control device of the present invention, it is preferable that the pulse width of the pulse voltage is variable.
As a result, when the first brake or the second brake has deteriorated over time, the pulse width can be widened, so that the abnormality can be detected accurately.

  In the control device according to the aspect of the invention, it is preferable that the voltage application unit applies a third voltage lower than the first voltage to the first brake line and the second brake line before performing the abnormality detection. .

  Thereby, the abnormality can be detected without releasing the brake. Thereby, even when there is an abnormality, it is possible to reduce the influence of the abnormality.

In the control device of the present invention, it is preferable that the third voltage is a voltage having the same magnitude as the second voltage.
Thereby, a structure can be simplified.

  In the control device of the present invention, it is preferable that a timing at which the third voltage is applied to the first brake line is different from a timing at which the third voltage is applied to the second brake line.

  As a result, it is possible to detect which of the first brake line and the second brake line is abnormal.

  In the control device according to the aspect of the invention, the voltage applying unit applies a fourth voltage higher than the second voltage to the first brake line and the second brake line after starting to apply the second voltage. It is preferable.

  Thereby, the abnormality can be detected in a state where the brake is released. As a result, the abnormality can be detected even during operation of the robot.

In the control device according to the aspect of the invention, it is preferable that the fourth voltage is a voltage having the same magnitude as the first voltage.
Thereby, a structure can be simplified.

In the control device of the present invention, it is preferable that the fourth voltage is a pulse voltage.
Thereby, abnormality detection can be performed accurately.

  In the control device of the present invention, it is preferable that a timing at which the fourth voltage is applied to the first brake line is different from a timing at which the fourth voltage is applied to the second brake line.

  As a result, it is possible to detect which of the first brake line and the second brake line is abnormal.

The robot of the present invention is controlled by the control device of the present invention.
Thereby, it is possible to detect which of the first brake line and the second brake line is abnormal with a simple configuration.

The robot system of the present invention includes a control device of the present invention,
And the robot controlled by the control device.

  Thereby, it is possible to detect which of the first brake line and the second brake line is abnormal with a simple configuration.

1 is a perspective view showing a first embodiment of a robot system of the present invention. It is the schematic of the robot system shown in FIG. It is a side view of the robot system shown in FIG. It is a front view of the robot system shown in FIG. It is a front view of the robot system shown in FIG. It is a figure for demonstrating the operation | movement in the case of the operation | work of the robot system shown in FIG. It is a block diagram of the robot system shown in FIG. It is a block diagram about the brake system of the robot system shown in FIG. In the robot system shown in FIG. 1, it is a figure which shows the table | surface which described the response | compatibility with the abnormality detection method and the kind of abnormality which can be detected with the abnormality detection method. It is a timing chart in abnormality detection of the robot system shown in FIG. It is a timing chart in abnormality detection of the robot system shown in FIG. It is a timing chart in abnormality detection of the robot system shown in FIG. It is a timing chart in abnormality detection of the robot system shown in FIG. It is a timing chart in the abnormality detection of 2nd Embodiment of the robot system of this invention. It is a timing chart in the abnormality detection of 3rd Embodiment of the robot system of this invention. It is a timing chart in the abnormality detection of 4th Embodiment of the robot system of this invention. It is a timing chart in the abnormality detection of 4th Embodiment of the robot system of this invention.

  Hereinafter, a control device, a robot, and a robot system of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.

<First Embodiment>
FIG. 1 is a perspective view showing a first embodiment of the robot system of the present invention. FIG. 2 is a schematic diagram of the robot system shown in FIG. FIG. 3 is a side view of the robot system shown in FIG. FIG. 4 is a front view of the robot system shown in FIG. FIG. 5 is a front view of the robot system shown in FIG. FIG. 6 is a diagram for explaining the operation of the robot system shown in FIG. 1 during work. FIG. 7 is a block diagram of the robot system shown in FIG. FIG. 8 is a block diagram of the brake system of the robot system shown in FIG. FIG. 9 is a table showing a correspondence between the abnormality detection method and the types of abnormality that can be detected by the abnormality detection method in the robot system shown in FIG. 10 to 13 are timing charts in the abnormality detection of the robot system shown in FIG.

  Hereinafter, for convenience of explanation, the upper side in FIGS. 1 to 6 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower”. 1 to 6 is referred to as “base end” or “upstream”, and the opposite side (hand side) is referred to as “tip” or “downstream”. Moreover, the up-down direction in FIGS. 1-6 is a perpendicular direction.

  As shown in FIGS. 1 to 3 and 7, a robot system (industrial robot system) 100 includes a robot (industrial robot) 1 and a control device (robot control device) that controls the operation (drive) of the robot 1. 20. The robot system 100 can be used in a manufacturing process for manufacturing precision equipment such as a wristwatch, for example. In addition, the robot system 100 can perform, for example, operations such as feeding, removing, transporting, and assembling the precision device and the components that constitute the precision device.

  The control device 20 performs abnormality determination in abnormality detection of the storage unit 201 that stores each information and the brake system (a first brake line 710, a second brake line 720, a third brake line 730, and a fourth brake line 740, which will be described later). An abnormality determination unit 202 to perform is provided, and control of the robot 1 (including control of first switches 241 and 251, second switches 242 and 252, third switches 243 and 253, and fourth switches 244 and 254 described later) I do. The control device 20 can be configured by, for example, a personal computer (PC). A program for controlling the robot 1 is stored in the storage unit 201 in advance. The control device 20 may be built in the robot 1 or may be a separate body from the robot 1, but in the present embodiment, the control device 20 is disposed on a base 11 described later of the robot body 10. ing.

  The robot 1 includes a robot body 10, a first drive source 401, a second drive source 402, a third drive source 403, a fourth drive source 404, a fifth drive source 405, and a sixth drive source 406 (six drive sources). And. The robot body 10 includes a base (support unit) 11 and a robot arm (manipulator) 6. The robot arm 6 includes a first arm (first arm member) (arm portion) 12, a second arm (second arm member) (arm portion) 13, a third arm (third arm member) (arm portion) 14, A fourth arm (fourth arm member) (arm part) 15, a fifth arm (fifth arm member) (arm part) 16, and a sixth arm (sixth arm member) (arm part) 17 (six arms); It has. The fifth arm 16 and the sixth arm 17 constitute a wrist, and an end effector such as a hand 91 can be detachably attached to the tip of the sixth arm 17.

  The robot 1 includes a base 11, a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17 from the proximal end to the distal end. It is a vertical articulated (6 axis) robot connected in this order toward the side. Hereinafter, the first arm 12, the second arm 13, the third arm 14, the fourth arm 15, the fifth arm 16, and the sixth arm 17 are also referred to as “arms”. The first drive source 401, the second drive source 402, the third drive source 403, the fourth drive source 404, the fifth drive source 405, and the sixth drive source 406 are also referred to as “drive sources”.

  As shown in FIG. 3, the base 11 is a portion (member to be attached) fixed (supported) to a predetermined portion of the installation space. The fixing method is not particularly limited, and for example, a fixing method using a plurality of bolts can be employed.

  In the present embodiment, the base 11 is fixed to the ceiling surface 531 of the ceiling (ceiling part) 53 of the installation space. The ceiling surface 531 is a plane parallel to the horizontal plane. In addition, although the plate-shaped flange 111 provided in the front-end | tip part of the base 11 is attached to the ceiling surface 531, the attachment location to the ceiling surface 531 of the base 11 is not limited to this.

  Further, in this robot 1, a connecting portion between the base 11 and the robot arm 6, that is, a center line (center) 621 (see FIG. 4) of a bearing portion 62 described later is positioned above the ceiling surface 531 in the vertical direction. doing. The center line 621 of the bearing portion 62 is not limited to this, and may be located, for example, below the ceiling surface 531 in the vertical direction, or at the same position in the vertical direction as the ceiling surface 531. May be.

  Further, since the base 11 is installed on the ceiling surface 531, the robot 1 has a connecting portion between the first arm 12 and the second arm 13, that is, a bearing (not shown) that rotatably supports the second arm 13. The center line (center) of the part is located below the center line 621 of the bearing part 62 in the vertical direction.

  The base 11 may or may not include a joint 171 described later (see FIG. 2).

  The first arm 12, the second arm 13, the third arm 14, the fourth arm 15, the fifth arm 16 and the sixth arm 17 are supported so as to be independently displaceable with respect to the base 11. .

  As shown in FIGS. 1 to 3, the first arm 12 has a bent shape. When described in the state of FIG. 3, the first arm 12 is connected to the base 11 and extends from the base 11 in the axial direction (vertical direction) of a first rotating shaft O <b> 1 to be described later and extends downward in FIG. 3. A first portion 121 that is taken out, a second portion 122 that extends from the lower end of the first portion 121 in FIG. 3 in the axial direction (horizontal direction) of the second rotation axis O2 and to the left in FIG. A third portion 123 provided at an end of the second portion 122 opposite to the first portion 121 and extending in the axial direction (vertical direction) of the first rotation axis O1 in FIG. The third portion 123 has a fourth portion 124 that extends from the end opposite to the second portion 122 in the axial direction (horizontal direction) of the second rotation axis O2 and to the right in FIG. The first portion 121, the second portion 122, the third portion 123, and the fourth portion 124 are integrally formed. In addition, the second portion 122 and the third portion 123 are substantially orthogonal when viewed from a direction orthogonal to both the first rotation axis O1 and the second rotation axis O2 (as viewed from the front of the page in FIG. 3). Crossing).

  The second arm 13 has a longitudinal shape, and is connected to the distal end portion of the first arm 12, that is, the end portion of the fourth portion 124 opposite to the third portion 123.

  The third arm 14 has a longitudinal shape, and is connected to an end portion of the second arm 13, that is, an end portion opposite to an end portion to which the first arm 12 of the second arm 13 is connected.

  The fourth arm 15 is connected to the tip of the third arm 14, that is, the end opposite to the end to which the second arm 13 of the third arm 14 is connected. The fourth arm 15 has a pair of support portions 151 and 152 facing each other. The support portions 151 and 152 are used to connect the fourth arm 15 to the fifth arm 16.

  The fifth arm 16 is located between the support portions 151 and 152 and is connected to the support portions 151 and 152 so as to be connected to the fourth arm 15. In addition, the 4th arm 15 is not restricted to this structure, For example, one support part (cantilever) may be sufficient.

  The sixth arm 17 has a flat plate shape and is connected to the base end portion of the fifth arm 16. In addition, a hand 91 that holds a precision device such as a wristwatch, a component, or the like as an end effector can be attached to and detached from the tip of the sixth arm 17 (the end opposite to the fifth arm 16). It is attached to. The driving of the hand 91 is controlled by the control device 20. In addition, it does not specifically limit as the hand 91, For example, the thing of the structure which has a several finger part (finger) is mentioned. And this robot 1 can perform each operation | work, such as conveying the said precision instrument and components, by controlling operation | movement of arms 12-17 etc., holding a precision instrument, components, etc. with the hand 91. FIG. it can.

  As shown in FIGS. 1 to 3, the base 11 and the first arm 12 are connected via a joint 171. The joint 171 has a mechanism for supporting the first arms 12 connected to each other so as to be rotatable with respect to the base 11. As a result, the first arm 12 is rotatable with respect to the base 11 around the first rotation axis O1 parallel to the vertical direction (around the first rotation axis O1). The first rotation axis O1 coincides with the normal line of the ceiling surface 531 of the ceiling 53 to which the base 11 is attached. The first rotation axis O <b> 1 is a rotation axis that is on the most upstream side of the robot 1. The rotation around the first rotation axis O1 is performed by driving a first drive source 401 having a first motor 401M as a first drive unit (drive unit) and a speed reducer (not shown). The first drive source 401 is driven by a first motor 401M and a cable (not shown), and the drive of the first motor 401M is controlled by the control device 20. The reduction gear may be omitted.

  In the present embodiment, the first arm 12 is not provided with a brake (braking device) that brakes the first arm 12. Thereby, size reduction, weight reduction, and simplification of the structure of the robot 1 can be achieved.

  Moreover, it is preferable that the rotation angle of the 1st arm 12 is set to 90 degrees or less. As a result, as will be described later, even when there is an obstacle around the robot 1, it is possible to easily avoid the obstacle and operate, and to shorten the tact time.

  Hereinafter, the first motor 401M and the second motor 402M, the third motor 403M, the fourth motor 404M, the fifth motor 405M, and the sixth motor 406M, which will be described later, are also referred to as “motors”.

  The first arm 12 and the second arm 13 are connected via a joint (joint) 172. The joint 172 has a mechanism that supports one of the first arm 12 and the second arm 13 connected to each other so as to be rotatable with respect to the other. As a result, the second arm 13 is rotatable with respect to the first arm 12 around the second rotation axis O2 parallel to the horizontal direction (around the second rotation axis O2). The second rotation axis O2 is orthogonal to the first rotation axis O1. The rotation around the second rotation axis O2 is performed by driving a second drive source 402 having a second motor 402M which is a second drive unit (drive unit) and a speed reducer (not shown). The second drive source 402 is driven by a second motor 402M and a cable (not shown), and the drive of the second motor 402M is controlled by the control device 20. The reduction gear may be omitted.

  Further, as a brake (braking device) for braking the second arm 13, a first brake 71 is provided in the vicinity of the shaft portion of the second motor 402M (see FIG. 8). The first brake 71 can prevent the shaft portion of the second motor 402M from rotating and maintain the posture of the second arm 13.

  Hereinafter, the first brake 71 and the second brake 72, the third brake 73, and the fourth brake 74, which will be described later, are also referred to as “brakes”, respectively.

  The second rotation axis O2 may be parallel to an axis orthogonal to the first rotation axis O1, and the second rotation axis O2 is not orthogonal to the first rotation axis O1. However, the axial directions may be different from each other.

  The second arm 13 and the third arm 14 are connected via a joint (joint) 173. The joint 173 has a mechanism that supports one of the second arm 13 and the third arm 14 connected to each other so as to be rotatable with respect to the other. As a result, the third arm 14 is rotatable with respect to the second arm 13 around the third rotation axis O3 parallel to the horizontal direction (around the third rotation axis O3). The third rotation axis O3 is parallel to the second rotation axis O2. The rotation around the third rotation axis O3 is performed by driving a third drive source 403 having a third motor 403M as a third drive unit (drive unit) and a speed reducer (not shown). The third drive source 403 is driven by a third motor 403M and a cable (not shown), and the drive of the third motor 403M is controlled by the control device 20. The reduction gear may be omitted.

  A second brake 72 is provided in the vicinity of the shaft portion of the third motor 403M as a brake (braking device) for braking the third arm 14 (see FIG. 8). The second brake 72 can prevent the shaft portion of the third motor 403M from rotating and maintain the posture of the third arm 14.

  The third arm 14 and the fourth arm 15 are connected via a joint (joint) 174. The joint 174 has a mechanism for supporting one of the third arm 14 and the fourth arm 15 connected to each other so as to be rotatable with respect to the other. As a result, the fourth arm 15 is centered on the fourth rotation axis O4 parallel to the central axis direction of the third arm 14 with respect to the third arm 14 (base 11) (around the fourth rotation axis O4). ) It can be rotated. The fourth rotation axis O4 is orthogonal to the third rotation axis O3. The rotation about the fourth rotation axis O4 is performed by driving a fourth drive source 404 having a fourth motor 404M as a fourth drive unit (drive unit) and a speed reducer (not shown). The fourth drive source 404 is driven by a fourth motor 404M and a cable (not shown), and the drive of the fourth motor 404M is controlled by the control device 20. The reduction gear may be omitted.

  A third brake 73 is provided in the vicinity of the shaft portion of the fourth motor 404M as a brake (braking device) for braking the fourth arm 15 (see FIG. 8). The third brake 73 can prevent the shaft portion of the fourth motor 404M from rotating and maintain the posture of the fourth arm 15.

  The fourth rotation axis O4 may be parallel to the axis orthogonal to the third rotation axis O3, and the fourth rotation axis O4 is not orthogonal to the third rotation axis O3. However, the axial directions may be different from each other.

  The fourth arm 15 and the fifth arm 16 are connected via a joint (joint) 175. The joint 175 has a mechanism for supporting one of the fourth arm 15 and the fifth arm 16 connected to each other so as to be rotatable with respect to the other. Accordingly, the fifth arm 16 can rotate with respect to the fourth arm 15 about the fifth rotation axis O5 orthogonal to the central axis direction of the fourth arm 15 (around the fifth rotation axis O5). It has become. The fifth rotation axis O5 is orthogonal to the fourth rotation axis O4. The rotation around the fifth rotation axis O <b> 5 is performed by driving the fifth drive source 405. The fifth drive source 405 includes a fifth motor 405M that is a fifth drive unit (drive unit), a speed reducer (not shown), and a first pulley (not shown) connected to a shaft portion of the fifth motor 405M. ), A second pulley (not shown) that is disposed apart from the first pulley and is connected to the shaft portion of the speed reducer, and a belt (not shown) that spans between the first pulley and the second pulley. ). The fifth drive source 405 is driven by a fifth motor 405M and a cable (not shown), and the drive of the fifth motor 405M is controlled by the control device 20. The reduction gear may be omitted.

  Further, a fourth brake 74 is provided in the vicinity of the shaft portion of the fifth motor 405M as a brake (braking device) for braking the fifth arm 16 (see FIG. 8). The fourth brake 74 can prevent the shaft portion of the fifth motor 405M from rotating and maintain the posture of the fifth arm 16.

  The fifth rotation axis O5 may be parallel to the axis orthogonal to the fourth rotation axis O4, and the fifth rotation axis O5 is not orthogonal to the fourth rotation axis O4. However, the axial directions may be different from each other.

  The fifth arm 16 and the sixth arm 17 are connected via a joint (joint) 176. The joint 176 has a mechanism that supports one of the fifth arm 16 and the sixth arm 17 connected to each other so as to be rotatable with respect to the other. Thereby, the sixth arm 17 is rotatable with respect to the fifth arm 16 about the sixth rotation axis O6 (around the sixth rotation axis O6). The sixth rotation axis O6 is orthogonal to the fifth rotation axis O5. The rotation about the sixth rotation axis O6 is performed by driving a sixth drive source 406 having a sixth motor 406M as a sixth drive unit (drive unit) and a speed reducer (not shown). The sixth drive source 406 is driven by a sixth motor and a cable (not shown), and the drive of the sixth motor 406M is controlled by the control device 20. The reduction gear may be omitted.

  In the present embodiment, the sixth arm 17 is not provided with a brake (braking device) that brakes the sixth arm 17. Thereby, size reduction, weight reduction, and simplification of the structure of the robot 1 can be achieved.

  The sixth rotation axis O6 may be parallel to an axis orthogonal to the fifth rotation axis O5, and the sixth rotation axis O6 is not orthogonal to the fifth rotation axis O5. However, the axial directions may be different from each other.

  The motors 401M to 406M are not particularly limited, and examples thereof include servo motors such as AC servo motors and DC servo motors.

  The brakes 71 to 74 are not particularly limited, but in the present embodiment, non-excitation operation type (non-excitation type) electromagnetic brakes are used. In the non-excitation operation type electromagnetic brake, the brake operates when de-energized and is released when energized. As a result, the brake can be applied accurately.

  Note that the first arm 12 and the sixth arm 17 are also brakes (braking devices) that brake the first arm 12 and the sixth arm 17, respectively, as in the other arms, for example, the motor 401M and the motor 406M. A brake (not shown) may be provided in the vicinity of the shaft portion.

  Further, the motors 401M to 406M of the drive sources 401 to 406 or the reduction gears respectively include a first encoder that detects the position of the first arm 12 and a first encoder that detects the position of the second arm 13. The second encoder as the second position detector, the third encoder as the third position detector for detecting the position of the third arm 14, the fourth encoder and the fifth arm as the fourth position detector for detecting the position of the fourth arm 15 A fifth encoder is provided as a fifth position detector for detecting the position of 16, and a sixth encoder is provided as a sixth position detector for detecting the position of the sixth arm 17 (none of the encoders is shown). The encoders detect the rotation angles of the motors 401M to 406M of the drive sources 401 to 406 or the rotation shafts of the reduction gears, respectively.

The configuration of the robot 1 has been briefly described above.
Next, the relationship between the first arm 12 to the sixth arm 17 will be described, but will be described from various viewpoints with different expressions. Further, the third arm 14 to the sixth arm 17 are straightly extended, that is, the longest state, in other words, the fourth rotation axis O4 and the sixth rotation axis O6 coincide with each other. Or in a parallel state.

  First, as shown in FIG. 4, the length L1 of the first arm 12 is set longer than the length L2 of the second arm 13.

  Here, the length L1 of the first arm 12 refers to the second rotation axis O2 and the bearing portion 62 that rotatably supports the first arm 12 when viewed from the axial direction of the second rotation axis O2. This is the distance from the center line 621 extending in the left-right direction in FIG.

  The length L2 of the second arm 13 is a distance between the second rotation axis O2 and the third rotation axis O3 when viewed from the axial direction of the second rotation axis O2.

  Further, as shown in FIG. 5, the angle θ formed by the first arm 12 and the second arm 13 can be set to 0 ° when viewed from the axial direction of the second rotation axis O2. Yes. That is, when viewed from the axial direction of the second rotation axis O2, the first arm 12 and the second arm 13 can overlap, that is, the first arm 12 and the second arm 13 overlap (first state). ).

  When the angle θ is 0 °, that is, when the first arm 12 and the second arm 13 overlap each other when viewed from the axial direction of the second rotation axis O2, the second arm 13 is The ceiling surface 531 of the provided ceiling 53 and the second portion 122 of the first arm 12 are configured not to interfere with each other. Similarly, when the base end surface of the base 11 is attached to the ceiling surface 531, the second arm 13 is configured not to interfere with the ceiling surface 531 and the second portion 122 of the first arm 12. .

  Here, the angle θ formed by the first arm 12 and the second arm 13 passes through the second rotation axis O2 and the third rotation axis O3 when viewed from the axial direction of the second rotation axis O2. This is an angle formed by a straight line 61 (center axis of the second arm 13 when viewed from the axial direction of the second rotation axis O2) 61 and the first rotation axis O1.

  Further, by rotating the second arm 13 without rotating the first arm 12, the angle θ becomes 0 ° when viewed from the axial direction of the second rotation axis O2 (the first arm 12 and the first arm 12). After the two arms 13 are overlapped), the tip of the second arm 13 can be moved to a position different by 180 ° around the first rotation axis O1 (see FIG. 6). That is, by rotating the second arm 13 without rotating the first arm 12, the tip of the robot arm 6 (the tip of the sixth arm 17) is moved from the left position shown on the left side of FIG. After passing through the state of 0 °, it is possible to move to the right side position shown on the right side of FIG. 6 which is 180 ° different around the first rotation axis O1 (see FIG. 6). In addition, the 3rd arm 14-the 6th arm 17 are each rotated as needed.

  Further, when the tip of the second arm 13 is moved to a position different by 180 ° around the first rotation axis O1 (when the tip of the robot arm 6 is moved from the left position to the right position), the first rotation is performed. When viewed from the axial direction of the axis O1, the tip of the second arm 13 and the tip of the robot arm 6 move on a straight line.

  The total length (maximum length) L3 of the third arm 14 to the sixth arm 17 is set to be longer than the length L2 of the second arm 13.

  Thereby, when the 2nd arm 13 and the 3rd arm 14 are piled up seeing from the axial direction of the 2nd rotation axis O2, the tip of the 6th arm 17 can be made to project from the 2nd arm 13. Thereby, the hand 91 can be prevented from interfering with the first arm 12 and the second arm 13.

  Here, the total length (maximum length) L3 of the third arm 14 to the sixth arm 17 is the third rotation axis O3 and the sixth length when viewed from the axial direction of the second rotation axis O2. This is the distance from the tip of the arm 17 (see FIG. 4). In this case, as shown in FIG. 4, the third arm 14 to the sixth arm 17 are in a state in which the fourth rotation axis O4 and the sixth rotation axis O6 are coincident with each other or in parallel.

  Further, as shown in FIG. 5, the second arm 13 and the third arm 14 can be overlapped when viewed from the axial direction of the second rotation axis O2.

  That is, the first arm 12, the second arm 13, and the third arm 14 are configured to be able to overlap at the same time when viewed from the axial direction of the second rotation axis O2.

  In the robot 1, by satisfying the relationship as described above, the first arm 12 is not rotated, and the second arm 13 and the third arm 14 are rotated, whereby the axial direction of the second rotation axis O2. The hand 91 (the sixth arm 17 of the sixth arm 17) passes through a state where the angle θ formed by the first arm 12 and the second arm 13 is 0 ° (the state where the first arm 12 and the second arm 13 overlap). The tip) can be moved to a position different by 180 ° around the first rotation axis O1. By using this operation, the robot 1 can be driven efficiently, and the space provided for preventing the robot 1 from interfering can be reduced. Have advantages.

  As illustrated in FIG. 8, the control device 20 includes a power supply unit 22 that generates a first voltage (24 V in the illustrated configuration), and a second voltage lower than the first voltage from the first voltage of the power supply unit 22 ( In the configuration shown in the figure, the power supply unit 23 generates 8 V). Power supply units 22 and 23, a first switch 241, a second switch 242, a third switch 243, a fourth switch 244, a first switch 251, a second switch 252, a third switch 253, a fourth switch 254, a diode, which will be described later The voltage application unit 21 is configured by 261, 262, 263, and 264.

  The first voltage is set to such a magnitude that the brake can be released when the first voltage is applied to the first brake 71 to the fourth brake 74 from a non-energized state.

  In addition, the second voltage can be maintained in the released state by applying the second voltage to the first brake 71 to the fourth brake 74 in a state in which the brake is released, and the second voltage is maintained. When the second voltage is applied to the first brake 71 to the fourth brake 74 from a non-energized state, the brake is set to a size that does not release the brake.

  In the illustrated configuration, the first voltage is 24V and the second voltage is 8V. However, the first voltage and the second voltage are not limited to those voltages, respectively.

  The control device 20 is connected in parallel to the power supply unit 23 and the first switch 241, the second switch 242, the third switch 243, and the fourth switch 244 for the power supply unit 22 connected in parallel to the power supply unit 22. A first switch 251, a second switch 252, a third switch 253, a fourth switch 254, a diode 261 connected to the first switch 251, and a diode 262 connected to the second switch 252. , A diode 263 connected to the third switch 253 and a diode 264 connected to the fourth switch 254.

  The diode 261 is arranged so that its anode is located on the first switch 251 side. The diode 261 prevents a current flowing from the power supply unit 22 to the first brake 71 from flowing into the first switch 251 via the first switch 241. The same applies to the other diodes 262 to 264.

  Further, the positive terminal of the first brake 71 is connected to the first switches 241 and 251, connected to the power supply unit 22 through the first switch 241, and connected to the power supply unit 23 through the first switch 251. It is connected. Further, the positive terminal of the second brake 72 is connected to the second switches 242 and 252, connected to the power supply unit 22 via the second switch 242, and connected to the power supply unit 23 via the second switch 252. It is connected. Further, the positive terminal of the third brake 73 is connected to the third switches 243 and 253, is connected to the power supply unit 22 through the third switch 243, and is connected to the power supply unit 23 through the third switch 253. It is connected. The positive terminal of the fourth brake 74 is connected to the fourth switches 244 and 254, connected to the power supply unit 22 via the fourth switch 244, and connected to the power supply unit 23 via the fourth switch 254. It is connected.

  Further, the negative terminals of the first brake 71 to the fourth brake 74 are each connected to the ground side of the power source and may be grounded (earthed) as in this embodiment, but are not necessarily grounded. It does not have to be.

  Here, the first brake 71 and the plus and minus wires (cables) connected to the first brake 71 constitute a first brake line 710, and the second brake 72 and the second brake 72. The second brake line 720 is configured by the plus side and minus side wiring connected to the third brake 73, and the third brake 73 and the plus side and minus side wiring connected to the third brake 73 constitute the third brake line. The line 730 is configured, and the fourth brake line 740 is configured by the fourth brake 74 and the plus side and minus side wirings connected to the fourth brake 74.

  The plus side wiring connected to the first brake 71 of the first brake line 710 includes the wiring from the first brake 71 to the first switch 241 and the wiring from the first brake 71 to the first switch 251. It is. That is, the first switches 241 and 251 are provided on the first brake line 710. The same applies to the second brake line 720 to the fourth brake line 740.

  When the first switch 241 is on (closed), the first voltage is applied to the first brake line 710 (first brake 71), the first switch 241 is turned off, and the first switch 251 is turned on. When it is on, the second voltage is applied to the first brake line 710.

  When the second switch 242 is on, the first voltage is applied to the second brake line 720 (second brake 72), the second switch 242 is turned off, and the second switch 252 is turned on. If so, the second voltage is applied to the second brake line 720.

  When the third switch 243 is on, the first voltage is applied to the third brake line 730 (third brake 73), the third switch 243 is turned off, and the third switch 253 is turned on. If so, the second voltage is applied to the third brake line 730.

  When the fourth switch 244 is on, the first voltage is applied to the fourth brake line 740 (fourth brake 74), the fourth switch 244 is turned off, and the fourth switch 254 is turned on. If so, the second voltage is applied to the fourth brake line 740.

  More specifically, when the first switch 241 is turned on, application of the first voltage to the first brake line 710 is started, and when the first switch 241 is turned off, application of the first voltage to the first brake line 710 is started. finish. When the first switch 241 is turned off and the first switch 251 is turned on, application of the second voltage to the first brake line 710 is started, and when the first switch 251 is turned off, the first brake line 710 is turned on. Application of two voltages is completed. The same applies to the second brake line 720 to the fourth brake line 740.

  Thus, voltages can be separately applied to the first brake line 710 to the fourth brake line 740. Thereby, the 1st brake 71-the 4th brake 74 can be controlled separately. Further, as will be described later, it is possible to detect which of the first brake line 710, the second brake line 720, the third brake line 730, and the fourth brake line 740 has occurred.

  In addition, the control device 20 includes detection units 31, 32, and 33 that detect at least one of current and voltage.

  In the case of current detection, the detection unit 31 detects a current output from the power supply unit 22, that is, a current flowing between the power supply unit 22 and the contact 271. The detection unit 32 detects a current output from the power supply unit 23, that is, a current flowing between the power supply unit 23 and the contact point 272. The detection unit 33 detects a current flowing from the first brake 71 to the fourth brake 74 toward the ground point 270, that is, a current flowing between the contact point 273 and the contact point 274 (ground point 270).

  The configurations of the detection units 31 to 33 are not particularly limited, and specific examples thereof include, for example, a method of detecting a voltage using a shunt resistor or the like and converting the voltage into a current, a Hall element, or the like. And a method of detecting current without contact.

  In the case of voltage detection, the detection unit 31 detects the voltage at a point between the power supply unit 22 and the ground or grounding point 270. The detection unit 32 detects a voltage at a point between the power supply unit 23 and the ground or grounding point 270. The detection unit 33 does not detect a voltage. Also in this case, the configurations of the detection units 31 and 32 are not particularly limited, and specific examples thereof include, for example, a method of directly detecting a voltage, a method of dividing the voltage, and detecting and obtaining the voltage. .

  In the following description, the detection unit 31 detects a current and a voltage, the detection unit 32 detects a current and a voltage, and the detection unit 33 takes an example of detecting only a current.

  In the robot system 100, control called overexcitation control is performed in the control of the first brake 71 to the fourth brake 74. That is, when energizing the first brake 71 to the fourth brake 74 and releasing the brake, first, the first voltage is applied to the first brake 71 to the fourth brake 74 to release the brake, and then the first brake is applied. The voltage applied to the 71st to 4th brakes 74 is switched to a second voltage lower than the first voltage. Thereby, in the 1st brake 71-the 4th brake 74, a brake can be cancelled | released reliably and the power consumption in the state which cancelled | released the brake can be reduced. Note that the timing of starting the application of the second voltage to the first brake 71 to the fourth brake 74 is not necessarily after the timing of starting the application of the first voltage. For example, the application of the first voltage is performed. The timing to start may coincide with the timing to start application of the second voltage.

  Further, in this robot system 100, the control device 20 detects abnormality in the brake system, that is, the first brake line 710, the second brake line 720, the third brake line 730, and the fourth brake line 740 at different timings. It has an abnormality detection unit 30 that performs detection. The abnormality detection unit 30 includes detection units 31 to 33 and an abnormality determination unit 202. Thus, it is possible to detect which of the first brake line 710, the second brake line 720, the third brake line 730, and the fourth brake line 740 has an abnormality. Hereinafter, the first brake line 710, the second brake line 720, the third brake line 730, and the fourth brake line 740 are also referred to as “brake lines”. Hereinafter, the abnormality detection of the brake line will be described in detail.

  First, the types (causes) of brake line abnormalities are “wiring (cable) disconnection”, “short circuit of the brake positive and negative wires”, and “ground fault of the brake positive side wiring” And “ground fault on the negative side of the brake”.

  As shown in FIG. 9, in the brake line abnormality detection, based on the detection result of the current detection of the detection unit 31, the wiring is disconnected, the brake positive and negative wiring is short-circuited, and the brake positive wiring is detected. A ground fault can be detected.

  Moreover, based on the detection result of the voltage detection of the detection part 31, it is possible to detect a short circuit between the positive and negative wirings of the brake.

  Further, based on the detection result of the current detection of the detection unit 32, it is possible to detect a disconnection of the wiring, a short circuit between the positive side and negative side wirings of the brake, and a ground fault of the positive side wiring of the brakes.

  Further, based on the detection result of the voltage detection of the detection unit 32, it is possible to detect a short circuit between the positive side and negative side wirings of the brake and a ground fault of the positive side wiring of the brakes.

  Moreover, based on the detection result of the current detection of the detection unit 33, the disconnection of the wiring, the short circuit of the brake positive side and the negative side wiring, the ground fault of the brake positive side wiring, the ground fault of the negative side wiring of the brake Can be detected.

  The brake line abnormality detection is performed when the first brake 71 to the fourth brake 74 are released by overexcitation control.

  As shown in FIG. 10, in this brake line abnormality detection, sections (periods) 81, 82, 83, 84, and 85 (five sections) having equal time intervals are all set. The switch 241 is turned on (closed state), and the first switch 251 is turned on in the sections 83, 84, 85 and the period after the section 85.

  The first switch 241 is in the on state when the level of the control signal of the first switch 241 is high, and the first switch 241 is in the off state when the level of the control signal of the first switch 241 is low ( Open state). The same applies to the other switches.

  As a result, the first voltage is applied to the first brake line 710 in the sections 81 and 82, and the second voltage is applied to the first brake line 710 in the period after the sections 83, 84, 85 and the section 85. . As a result, the first brake 71 releases the brake in the section 81, and after the section 83, the state in which the brake is released is maintained by the application of the second voltage. In addition, after the first brake 71 is released, the application of the first voltage to the first brake line 710 ends. The same applies to the other brakes, and this description is omitted for the other brakes.

  Further, in this embodiment, the timing (time) at which the first switch 241 is turned off (opened) matches the timing at which the first switch 251 is turned on (closed). It does not have to be. That is, the timing at which the first switch 251 is turned on may be before the timing at which the first switch 241 is turned off. For example, the timing at which the first switch 241 is turned on coincides with the timing at which the first switch 251 is turned on. It may be. That is, in the abnormality detection, the second voltage is applied to the first brake line 710 after the first voltage is applied or simultaneously with the application of the first voltage. The same applies to the second switch 242 and the second switch 252, the third switch 243 and the third switch 253, and the fourth switch 244 and the fourth switch 254.

  Further, in the sections 82 and 83, the second switch 242 is turned on, and in the period after the sections 84, 85 and the section 85, the second switch 252 is turned on.

  Further, in the sections 83 and 84, the third switch 243 is turned on, and in the period after the sections 85 and 85, the third switch 253 is turned on.

  In the sections 84 and 85, the fourth switch 244 is turned on, and in the period after the section 85, the fourth switch 254 is turned on.

  In addition, the timing for starting the application of the first voltage to the second brake line 720 is later than the timing for starting the application of the first voltage to the first brake line 710, and to the second brake line 720. The timing to end the application of the first voltage is later than the timing to end the application of the first voltage to the first brake line 710. The same applies to the second brake line 720 and the third brake line 730, and the third brake line 730 and the fourth brake line 740.

  In the present embodiment, in the section 82, the first switch 241 and the second switch 242 are on, that is, a part of the period during which the first switch 241 is on and the second switch 242 is on. However, the present invention is not limited to this and may not overlap. The same applies to the second switch 242 and the third switch 243, and the third switch 243 and the fourth switch 244.

  As described above, the detection unit 31 performs current detection and voltage detection while applying the first voltage and the second voltage to the first brake line 710 to the fourth brake line 740, and the detection unit 32 detects the current. In addition, voltage detection is performed, and current detection is performed by the detection unit 33.

  Then, the abnormality determination unit 202 performs abnormality determination to determine whether the abnormality is normal or normal (no abnormality) based on the detection result.

  In this case, when the detection result of the current detection of the detection unit 31, the detection result of the voltage detection, the detection result of the voltage detection of the detection unit 32, and the detection result of the current detection of the detection unit 33 are used, An abnormality determination (abnormality detection) for one brake line 710 is performed, an abnormality determination for the second brake line 720 is performed in a section 82, an abnormality determination for the third brake line 730 is performed in a section 83, and a section 84 Then, the abnormality determination for the fourth brake line 740 is performed.

  When the detection result of the current detection of the detection unit 32 is used, an abnormality determination for the first brake line 710 is performed in the section 83, an abnormality determination for the second brake line 720 is performed in the section 84, and a section 85 is performed. Thus, the abnormality determination for the third brake line 730 is performed, and the abnormality determination for the fourth brake line 740 is performed in the section following the section 85 (reference numerals and the like are not shown).

  This abnormality determination is performed by setting a value between a value in the case of normality and a value in the case of abnormality as a threshold value in advance, storing it in the storage unit 201, and comparing the threshold value with the detected value.

  FIG. 10 shows a detection result when all of the first brake line 710 to the fourth brake line 740 are normal (when there is no abnormality).

  As shown in FIG. 10, when all of the first brake line 710 to the fourth brake line 740 are normal, the current detected by the detection unit 31 sequentially increases in the sections 81, 82, 83, and 84. To do.

  Further, the voltage detected by the detection unit 31 has a constant value in the sections 81, 82, 83, 84, and 85.

  In addition, the current detected by the detection unit 32 sequentially increases in the sections subsequent to the sections 83, 84, 85 and 85.

  Further, the voltage detected by the detection unit 32 has a constant value in the sections 81, 82, 83, 84, and 85.

  Further, the current detected by the detection unit 33 sequentially increases in the sections 81, 82, 83, and 84.

  Next, a case where there is an abnormality in the brake line will be described. Since all of the first brake line 710 to the fourth brake line 740 are the same, in the following, typically, only the second brake line 720 has an abnormality. A case will be described as an example.

  FIG. 11 shows a detection result when there is an abnormality of “wiring breakage” only in the second brake line 720.

  As shown in FIG. 11, the current detected by the detection unit 31 should increase in a section 82 in a normal state, but does not increase.

  In addition, the current detected by the detection unit 32 should increase in the section 84 when it is normal, but does not increase.

  In addition, the current detected by the detection unit 33 should increase in the section 82 when normal, but does not increase.

  In FIG. 12, there is a case where there is an abnormality of “short circuit of the brake positive side and negative side wiring” and a case of “abnormality of the wiring of the positive side of the brake” only in the second brake line 720. Each detection result is shown (both detection results show the same tendency).

As shown in FIG. 12, the current detected by the detection unit 31 significantly increases (overcurrent flows) in the section 82.
Further, the voltage detected by the detection unit 31 decreases in the section 82.

In addition, the current detected by the detection unit 32 significantly increases in the section 84.
Further, the voltage detected by the detection unit 32 decreases in the section 82.
Further, the current detected by the detection unit 33 decreases in the section 82.

  FIG. 13 shows a detection result in the case where there is an abnormality of “ground fault on the negative side of the brake” only in the second brake line 720.

  As shown in FIG. 13, the current detected by the detection unit 33 should increase in a section 82 when normal, but does not increase.

  When an abnormality in the first brake line 710 is detected, the first switches 241 and 251 are turned off. When an abnormality in the second brake line 720 is detected, the second switches 242 and 252 are turned off. If an abnormality in the brake line 730 is detected, the third switches 243 and 253 are turned off. If an abnormality in the fourth brake line 740 is detected, the fourth switches 244 and 254 are turned off.

  Thereby, the brake of the brake line in which the abnormality is detected is activated, and the robot 1 can be operated safely. For example, when an abnormality in only the second brake line 720 is detected, only the second brake 72 is operated, and the first arm 12 and the third arm 14 to the sixth arm 17 can perform work safely. .

As described above, according to the robot system 100, the brake system, that is, the first brake line 710, the second brake line 720, the third brake line 730, and the fourth brake line 740 can be configured with a simple configuration. It is possible to detect where an abnormality has occurred. It is also possible to detect what kind of abnormality has occurred.
Thereby, maintainability and safety are improved.

  Further, as described above, in the robot system 100, the first arm 12 is not rotated, but the second arm 13, the third arm 14 and the like are rotated, so that the robot system 100 is viewed from the axial direction of the second rotation axis O2. After the state where the angle θ formed by the first arm 12 and the second arm 13 is 0 ° (the state where the first arm 12 and the second arm 13 overlap), the tip of the robot arm 6 is first rotated. It can be moved to a position different by 180 ° around the axis O1.

  Thereby, the space for preventing the robot 1 from interfering can be reduced.

  That is, first, the ceiling 53 can be lowered, whereby the position of the center of gravity of the robot 1 is lowered, and the influence of vibration of the robot 1 can be reduced. That is, the vibration generated by the reaction force due to the operation of the robot 1 can be suppressed.

  In addition, the operating area in the width direction of the robot 1 (the direction of the production line) can be reduced, so that a large number of robots 1 can be arranged per unit length along the production line. It can be shortened.

  Further, when the tip of the robot arm 6 is moved, the movement of the robot 1 can be reduced. For example, the first arm 12 is not rotated, or the rotation angle of the first arm 12 can be reduced, whereby the tact time can be shortened and the working efficiency can be improved.

  Further, the operation of moving the tip of the robot arm 6 to a position different by 180 ° around the first rotation axis O1 (hereinafter also referred to as “shortcut motion”) is performed by simply moving the first arm 12 to the first position like a conventional robot. If the robot 1 is to be rotated around one rotation axis O1 and executed, the robot 1 may interfere with a wall (not shown) or a peripheral device (not shown) in the vicinity of the robot 1 in order to avoid the interference. It is necessary to teach the robot 1 the retreat point. For example, if the robot 1 interferes with the wall when only the first arm 12 is rotated about the first rotation axis O1, the other arm is also rotated so that the retraction point is set so as not to interfere with the wall. Need to teach. Similarly, when the robot 1 also interferes with the peripheral device, it is necessary to further teach the robot 1 the retract point so as not to interfere with the peripheral device. As described above, in the conventional robot, it is necessary to teach a large number of retreat points. Particularly, when the space around the robot 1 is small, a large number of retreat points are required, and teaching requires a lot of trouble. And takes a long time.

  On the other hand, in the robot system 100, when the shortcut motion is executed, since there are very few regions or portions that may interfere with each other, the number of retreat points to be taught can be reduced, and the time and effort required for teaching can be reduced. Time can be reduced. That is, in the robot system 100, the number of retraction points to be taught is, for example, about 1/3 that of a conventional robot, and teaching is greatly facilitated.

  In addition, the region (part) 101 surrounded by the two-dot chain line on the right side in FIG. 3 of the third arm 14 and the fourth arm 15 does not interfere with or interfere with the robot 1 itself and other members. It is a difficult area (part). For this reason, when a predetermined member is mounted in the region 101, the member is unlikely to interfere with the robot 1 and peripheral devices. Therefore, in the robot system 100, it is possible to mount a predetermined member in the area 101. In particular, when the predetermined member is mounted in the region on the right side in FIG. 3 of the third arm 14 in the region 101, a peripheral device (not shown) arranged on a work table (not shown) This is more effective because the probability of interference is even lower.

  Examples of what can be mounted in the region 101 include a control device that controls driving of a sensor such as a hand and a hand-eye camera, and an electromagnetic valve of a suction mechanism.

  As a specific example, for example, when an adsorption mechanism is provided in the hand, if an electromagnetic valve or the like is installed in the region 101, the electromagnetic valve does not get in the way when the robot 1 is driven. Thus, the area 101 is highly convenient.

  In the present embodiment, the control device 20 includes the three detection units 31, 32, and 33, but is not limited thereto, and includes at least one of the detection units 31, 32, and 33. Just do it.

  In the present embodiment, the brakes of the second arm 13 (second drive source 402) and the third arm 14 (third drive source 403) are the first brake 71 and the second brake 72, but the present invention is not limited thereto. The brakes of any two arms (drive sources) among the first arm 12 (first drive source 401) to the sixth arm 17 (sixth drive source 406) may be used as the first brake and the second brake.

  In the present embodiment, when an abnormality in the brake line is detected, only the brake provided in the brake line in which the abnormality is detected is operated. You may comprise so that all the brakes 71-4th brake 74 may be actuated.

Second Embodiment
FIG. 14 is a timing chart in abnormality detection of the second embodiment of the robot system of the present invention.

  FIG. 14 shows only the first brake line 710, and also shows the detection result when the first brake line 710 is normal.

  Hereinafter, although the second embodiment will be described, the description will focus on the differences from the first embodiment described above, and the description of the same matters will be omitted.

  As shown in FIG. 14, in the robot system 100 according to the second embodiment, the first brake line 710 to the fourth brake line 710 to the fourth brake line 740 are respectively detected before the brake line abnormality is detected. A pulse voltage is applied to the brake line 740. In this embodiment, this pulse voltage is applied by turning on the first switches 241 to 244 for a predetermined period, but may be applied by other methods.

  Also, the timing for applying the pulse voltage to the first brake line 710 is different from the timing for applying the pulse voltage (not shown) to the second brake line 720. The same applies to the second brake line 720 and the third brake line 730, and the third brake line 730 and the fourth brake line 740.

  The pulse width of the pulse voltage is variable. Thereby, when the 1st brake 71-the 4th brake 74 deteriorate over time, the pulse width can each be expanded, and, thereby, abnormality detection can be performed exactly.

  In this abnormality detection, the brake line abnormality detection based on the detection result of the detection unit 31 and the brake line abnormality detection based on the detection result of the detection unit 33 can be performed.

  According to the second embodiment as described above, the same effect as that of the first embodiment described above can be exhibited.

  In the robot system 100, the first brake line 710 to the fourth brake line 740 can be detected without releasing the first brake 71 to the fourth brake 74. That is, by adjusting the pulse width of the pulse voltage, it is possible to perform only abnormality detection without releasing the brake. As a result, even when there is an abnormality in the brake line, the influence due to the abnormality can be reduced.

<Third Embodiment>
FIG. 15 is a timing chart in the abnormality detection of the third embodiment of the robot system of the present invention.

  FIG. 15 shows only the first brake line 710, and also shows the detection result when the first brake line 710 is normal.

  In the following, the third embodiment will be described. The description will focus on the differences from the first embodiment described above, and the description of the same matters will be omitted.

  As shown in FIG. 15, in the robot system 100 according to the third embodiment, the first brake line 710 to the fourth brake line 710 are detected before the brake line abnormality is detected in the first brake line 710 to the fourth brake line 740, respectively. A voltage having the same magnitude as the second voltage is applied to the brake line 740 as a third voltage lower than the first voltage.

  In addition, the timing at which the second voltage is applied to the first brake line 710 is different from the timing at which the second voltage (not shown) is applied to the second brake line 720 before the abnormality detection of the brake line is performed. . The same applies to the second brake line 720 and the third brake line 730, and the third brake line 730 and the fourth brake line 740.

  In this abnormality detection, brake line abnormality detection based on the detection result of the detection unit 31, brake line abnormality detection based on the detection result of the detection unit 32, and brake line abnormality detection based on the detection result of the detection unit 33 are performed. It can be carried out.

  According to the third embodiment as described above, the same effects as those of the first embodiment described above can be exhibited.

  Further, in the robot system 100, the first brake line 710 to the fourth brake line 740 can be detected for abnormality without releasing the first brake 71 to the fourth brake 74 (only abnormality detection can be performed). Possible). As a result, even when there is an abnormality in the brake line, the influence due to the abnormality can be reduced.

<Fourth embodiment>
FIGS. 16 and 17 are timing charts in abnormality detection of the fourth embodiment of the robot system of the present invention, respectively.

  FIG. 16 shows a detection result when all of the first brake line 710 to the fourth brake line 740 are normal.

  Further, in FIG. 17, only the second brake line 720 has an abnormality of “short circuit of the brake positive side and negative side wiring” and an abnormality of “the ground fault of the brake positive side wiring”. Each detection result is shown (both detection results show the same tendency).

  Hereinafter, although the fourth embodiment will be described, the description will focus on the differences from the first embodiment described above, and the description of the same matters will be omitted.

  As shown in FIG. 16, in the robot system 100 according to the fourth embodiment, the application of the second voltage is started and the application of the first voltage is finished in the first brake line 710 to the fourth brake line 740, respectively. After that, a pulse voltage having the same magnitude as the first voltage is applied to the first brake line 710 to the fourth brake line 740 as the fourth voltage higher than the second voltage. In this embodiment, this pulse voltage is applied by turning on the first switches 241 to 244 for a predetermined period, but may be applied by other methods.

  Application of the pulse voltage to the first brake line 710 to the fourth brake line 740 is performed in a time-sharing manner.

  That is, in the section 81, the first switch 241 is turned on, and a pulse voltage having the same width as that of the section 81 is applied to the first brake line 710.

  In the section 82, the second switch 242 is turned on, and a pulse voltage having the same width as that of the section 82 is applied to the second brake line 720.

  In the section 83, the third switch 243 is turned on, and a pulse voltage having the same width as that of the section 83 is applied to the third brake line 730.

  In the section 84, the fourth switch 244 is turned on, and a pulse voltage having the same width as that of the section 84 is applied to the fourth brake line 740.

  As described above, the timing at which the pulse voltage is applied to the first brake line 710 is different from the timing at which the pulse voltage is applied to the second brake line 720. The same applies to the second brake line 720 and the third brake line 730, and the third brake line 730 and the fourth brake line 740.

  As shown in FIG. 16, when all of the first brake line 710 to the fourth brake line 740 are normal, the current detected by the detection unit 33 is a constant value in the sections 81, 82, 83, and 84. It becomes.

  Next, a case where there is an abnormality in the brake line will be described. Since all of the first brake line 710 to the fourth brake line 740 are the same, in the following, typically, only the second brake line 720 has an abnormality. A case will be described as an example.

  As shown in FIG. 17, only in the second brake line 720, there is an abnormality of “short circuit of the positive side and negative side of the brake” and an abnormality of “ground fault of the positive side of the brake”. In each case, the current detected by the detection unit 33 decreases in the section 82. The degree of the decrease in the current is increased by applying a pulse voltage to the first brake line 710 to the fourth brake line 740, so that the abnormality of the brake line can be detected easily and accurately.

  According to the fourth embodiment as described above, the same effects as those of the first embodiment described above can be exhibited.

  In the robot system 100, the first brake line 710 to the fourth brake line 740 can be detected with the first brake 71 to the fourth brake 74 released. Thus, the abnormality detection can be performed even during the operation of the robot 1.

  As mentioned above, although the control apparatus, robot, and robot system of this invention were demonstrated based on embodiment of illustration, this invention is not limited to this, The structure of each part is arbitrary structures which have the same function Can be substituted. Moreover, other arbitrary components may be added.

  Further, the present invention may be a combination of any two or more configurations (features) of the above embodiments.

  Moreover, in the said embodiment, although the number of brakes is four, in this invention, it is not limited to this, For example, the number of brakes may be two, three, or five or more.

  In the above embodiment, a non-excitation operation type electromagnetic brake is used as the brake. However, the present invention is not limited to this, and the brake is, for example, an excitation operation type electromagnetic brake or other than an electromagnetic brake. A brake may be used.

  In the embodiment, the number of rotation axes of the robot arm is six. However, the present invention is not limited to this, and the number of rotation axes of the robot arm is, for example, two or three. There may be four, five, seven or more. That is, in the above embodiment, the number of arms (links) is six. However, the present invention is not limited to this, and the number of arms is, for example, two, three, four, five, Or seven or more may be sufficient. For example, in the robot of the embodiment, by adding an arm between the second arm and the third arm, a robot having seven arms can be realized.

  Moreover, in the said embodiment, although the number of robot arms is one, in this invention, it is not limited to this, The number of robot arms may be two or more, for example. That is, the robot (robot body) may be a multi-arm robot such as a double-arm robot, for example.

  Moreover, in the said embodiment, although the hand was mentioned as an example as an end effector, in this invention, it is not limited to this, For example, a drill, a welding machine, a laser irradiation machine etc. are mentioned as an end effector. .

  In the embodiment, the fixed part of the base of the robot is the ceiling. However, the present invention is not limited to this. For example, the floor, the wall, the work table, the ground, etc. in the installation space may be mentioned. It is done. The robot may be installed in the cell. In this case, the fixing location of the base is not particularly limited, and examples thereof include a cell ceiling, a wall, a work table, and a floor.

  Moreover, in the said embodiment, although the surface where a robot (base) is fixed is a plane (surface) parallel to a horizontal surface, in this invention, it is not limited to this, For example, with respect to a horizontal surface or a vertical surface It may be an inclined plane (surface) or a plane (surface) parallel to the vertical plane. That is, the first rotation axis may be inclined with respect to the vertical direction or the horizontal direction, or may be parallel to the horizontal direction.

  In the embodiment, the first arm and the second arm can overlap with each other when viewed from the axial direction of the second rotation shaft. However, the present invention is not limited to this, and the second rotation When viewed from the axial direction of the shaft, it may be impossible for the first arm and the second arm to overlap.

  In the present invention, the robot may be another type of robot. Specific examples include a legged walking (running) robot having a leg and a scalar robot.

  DESCRIPTION OF SYMBOLS 1 ... Robot, 10 ... Robot main body, 100 ... Robot system, 11 ... Base, 111 ... Flange, 12, 13, 14, 15, 16, 17 ... Arm, 121 ... 1st part, 122 ... 2nd part, 123 ... 3rd part, 124 ... 4th part, 151, 152 ... Supporting part, 171, 172, 173, 174, 175, 176 ... Joint, 401, 402, 403, 404, 405, 406 ... Drive source, 401M, 402M , 403M, 404M, 405M, 406M ... motor, 20 ... control device, 201 ... storage unit, 202 ... abnormality determination unit, 21 ... voltage application unit, 22, 23 ... power supply unit, 241-244 ... switch, 251-254 ... Switch, 261-264 ... Diode, 270 ... Grounding point, 271-274 ... Contact, 30 ... Abnormality detection unit, 31-33 ... Detection unit, 53 ... Ceiling 531 ... Ceiling surface, 6 ... Robot arm, 61 ... Straight line, 62 ... Bearing, 621 ... Center line, 71-74 ... Brake, 710-740 ... Brake line, 81-85 ... Section, 91 ... Hand, 101 ... Area , O 1, O 2, O 3, O 4, O 5, O 6... Rotation axis, θ ... angle, L 1, L 2, L 3 ... length

Claims (20)

A control device for controlling a robot having a first brake and a second brake,
An abnormality detection unit that detects an abnormality in the wiring connected to the first brake, the first brake line having the first brake, the wiring connected to the second brake, and the second brake line having the second brake. Have
The control device according to claim 1, wherein a timing for detecting an abnormality in the first brake line is different from a timing for detecting an abnormality in the second brake line.   The control device according to claim 1, further comprising a voltage application unit that applies a first voltage to the first brake line and the second brake line.   The voltage application unit applies a second voltage lower than the first voltage after applying the first voltage to the first brake line or simultaneously with the application of the first voltage. The control device according to claim 2, wherein a second voltage lower than the first voltage is applied to the brake line after the first voltage is applied or simultaneously with the application of the first voltage.   The voltage application unit finishes applying the first voltage to the first brake line after the first brake is released, and then releases the second brake to the second brake line. The control device according to claim 3, wherein the application of the first voltage is terminated.   5. The timing of starting application of the first voltage to the second brake line is after the timing of starting application of the first voltage to the first brake line. 6. The control device according to item.   6. The timing at which the application of the first voltage to the second brake line is finished is later than the timing at which the application of the first voltage to the first brake line is finished. 6. The control device according to item.   The control device according to any one of claims 2 to 6, wherein the voltage application unit includes a first switch provided in the first brake line and a second switch provided in the second brake line.   The control device according to claim 7, wherein each of the first brake and the second brake is a non-excitation operation type electromagnetic brake.   The voltage application unit turns off the first switch when an abnormality of the first brake line is detected by the abnormality detection unit, and when an abnormality of the second brake line is detected by the abnormality detection unit, The control device according to claim 8, wherein the second switch is turned off.   The control device according to any one of claims 2 to 9, wherein the voltage application unit applies a pulse voltage to the first brake line and the second brake line before performing the abnormality detection.   The control device according to claim 10, wherein a pulse width of the pulse voltage is variable.   The voltage application unit applies a third voltage lower than the first voltage to the first brake line and the second brake line before performing the abnormality detection. The control device described in 1.   The control device according to claim 12, wherein the third voltage is a voltage having the same magnitude as the second voltage.   The control device according to claim 12 or 13, wherein a timing at which the third voltage is applied to the first brake line is different from a timing at which the third voltage is applied to the second brake line.   The voltage application unit applies a fourth voltage higher than the second voltage to the first brake line and the second brake line after starting to apply the second voltage. The control device according to claim 1.   The control device according to claim 15, wherein the fourth voltage is a voltage having the same magnitude as the first voltage.   The control device according to claim 15 or 16, wherein the fourth voltage is a pulse voltage.   18. The control device according to claim 15, wherein a timing at which the fourth voltage is applied to the first brake line is different from a timing at which the fourth voltage is applied to the second brake line.   The robot controlled by the control apparatus of any one of Claims 1 thru | or 18. A control device according to any one of claims 1 to 18,
And a robot controlled by the control device.

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