JP2652008B2 - Robot controller - Google Patents
Robot controllerInfo
- Publication number
- JP2652008B2 JP2652008B2 JP60218224A JP21822485A JP2652008B2 JP 2652008 B2 JP2652008 B2 JP 2652008B2 JP 60218224 A JP60218224 A JP 60218224A JP 21822485 A JP21822485 A JP 21822485A JP 2652008 B2 JP2652008 B2 JP 2652008B2
- Authority
- JP
- Japan
- Prior art keywords
- hand
- horizontal
- movement
- driving means
- vertical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Manipulator (AREA)
- Numerical Control (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は垂直軸の位置制御と水平面における位置制御
を行なうロボツト制御装置に関する。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot control device for performing position control on a vertical axis and position control on a horizontal plane.
本発明はロボツト制御装置において、外部の状況によ
り下降禁止を知らせる回路を設けるとともに、移動途中
に前記回路の信号により下降禁止を判断し、移動途中に
生じる障害を容易に回避するものである。According to the present invention, a robot control device is provided with a circuit for notifying the descending prohibition according to an external situation, and the prohibition of the descending is determined by a signal of the circuit during the movement, thereby easily avoiding a trouble occurring during the movement.
従来の垂直移動軸と水平移動軸を有するロボツトによ
るピツク・アンド・プレイスの動作時間の短縮方法は、
本発明の出願人と同一であり、本発明の出願時には公開
されていない特願59−269413号の如く第２図（ａ）の軌
跡を描くように制御を行っていた。The conventional method of shortening the pick-and-place operation time by a robot having a vertical movement axis and a horizontal movement axis is as follows.
It is the same as the applicant of the present invention, and at the time of filing the present invention, control was performed so as to draw the locus of FIG. 2 (a) as disclosed in Japanese Patent Application No. 59-269413.
即ち、ロボット制御装置からハンドの上昇・水平移動
・下降の一連の動作が１命令で指示されると、先ず垂直
方向駆動手段によりハンドは上昇する。この上昇途中に
水平移動駆動手段に移動開始信号が入力され、ハンドは
上昇しながら水平移動を開始する。更に、水平移動途中
に垂直移動手段に移動開始信号が入力され、ハンドは水
平移動しながら下降を開始する。従って、ハンドは第２
図（ａ）の軌跡を描き、動作時間の短縮が可能となる。
しかし、前述の従来技術では到達点における不具合を検
出し、これを回避させるには第２図（ｂ）の21の地点に
て下降による不具合が生じるか否かを外部入力装置にて
判断させるため、動作を停止せざるをえないという欠点
を有していた。That is, when a series of operations of raising, horizontal moving, and lowering the hand is instructed by one command from the robot controller, the hand is first raised by the vertical driving means. During this ascent, a movement start signal is input to the horizontal movement driving means, and the hand starts to move horizontally while ascending. Further, a movement start signal is input to the vertical movement means during the horizontal movement, and the hand starts descending while moving horizontally. Therefore, the hand is
The locus shown in FIG. 7A is drawn, and the operation time can be reduced.
However, in the above-mentioned prior art, a defect at the arrival point is detected, and in order to avoid this, an external input device determines whether or not a problem occurs due to the descent at the point 21 in FIG. 2 (b). However, there is a disadvantage that the operation must be stopped.
そこで、本発明はこのような問題点を解決するもの
で、その目的は移動停止させることなく到達点において
不具合が生じるか否かを判断する機能を備えたロボツト
制御装置を提供することにある。SUMMARY OF THE INVENTION Accordingly, the present invention is to solve such a problem, and an object of the present invention is to provide a robot control device having a function of determining whether or not a problem occurs at a destination without stopping the movement.
［問題を解決するための手段］ 本発明のロボット制御装置は、ハンドを垂直方向に駆
動する垂直方向駆動手段と、この垂直方向駆動手段とは
独立に前記ハンドを水平方向に駆動する水平方向駆動手
段と、前記垂直方向駆動手段および水平方向駆動手段の
各々の手段に、前記ハンドの上昇・水平移動・下降の一
連の動作を１命令で指示する制御手段と、前記垂直方向
駆動手段による前記ハンドの下降駆動の禁止を指示する
状況検出手段とを有し、前記制御手段は、前記水平方向
駆動手段による前記ハンドの水平移動途中であって且つ
下降を指示する直前に、前記状況検出手段の指示に基づ
き前記ハンドの下降駆動の禁止を判断し、下降駆動が禁
止の場合には水平移動を継続し、下降駆動が禁止でない
場合には水平移動を継続すると共に下降駆動を開始する
ことを特徴としている。[Means for Solving the Problem] A robot control device according to the present invention includes a vertical driving means for driving a hand in a vertical direction, and a horizontal driving means for driving the hand in a horizontal direction independently of the vertical driving means. Means, control means for instructing each of the vertical driving means and the horizontal driving means with a single command to perform a series of operations of raising, horizontal movement and lowering of the hand, and the hand by the vertical driving means. And a state detecting means for instructing prohibition of downward drive of the hand, wherein the control means is configured to issue an instruction of the situation detecting means during the horizontal movement of the hand by the horizontal driving means and immediately before instructing the descent. The downward movement of the hand is determined to be prohibited on the basis of, and if the downward drive is prohibited, the horizontal movement is continued, and if the downward drive is not prohibited, the horizontal movement is continued and the downward drive is performed. It is characterized by starting.
本発明のロボット制御装置は、制御手段によってピッ
ク・アンド・プレイス動作の制御が可能であり、また、
状況検出手段によってピック・アンド・プレイス動作に
おける部品の持ち忘れ、部品の不良把握、あるいは到達
点の位置ずれなどによる障害等を回避することができ
る。そして、ピック・アンド・プレイス動作を制御する
制御手段と、障害等の回避を行う状況検出を別々に設け
ることにより、ピック・アンド・プレイス動作の制御に
おいて状況判断が不要となるので高速な制御が可能とな
る。一方、状況判断を行う側は障害等を検出して水平方
向駆動手段とは独立に設けられた垂直方向駆動手段の下
降を禁止すれば良いので簡単な制御で確実に障害等の回
避を行うことができる。また、障害の回避は、垂直方向
駆動手段による下降の直前に行われ、より確実な障害の
回避が可能となる。The robot control device of the present invention can control the pick-and-place operation by the control means,
By the situation detecting means, it is possible to avoid a failure due to forgetting to hold a component in the pick-and-place operation, grasping a defect of the component, or a displacement of a reaching point. By separately providing control means for controlling the pick-and-place operation and situation detection for avoiding a failure, etc., it is not necessary to determine the situation in the control of the pick-and-place operation, so that high-speed control can be achieved. It becomes possible. On the other hand, it is only necessary for the person who performs the situation determination to detect a failure or the like and prohibit the descent of the vertical driving means provided independently of the horizontal driving means. Can be. Further, the obstacle avoidance is performed immediately before the descent by the vertical driving means, so that the obstacle can be more reliably avoided.
［実施例］ 以下、本発明について実施例に基づいて詳細に説明す
る。EXAMPLES Hereinafter, the present invention will be described in detail based on examples.
第１図は、本発明のロボツト制御装置のブロツク図で
ある。１は移動速度、移動量を示す指令、２は水平移動
軸制御回路、３は垂直移動制御回路４は垂直移動途中に
出力される水平移動軸9,10の移動開始タイミング信号、
５は水平移動途中に出力される垂直移動軸11の下降開始
タイミング信号、６は外部状況検出回路、７は外部状況
検出回路６にて移動途中に部品の持ち忘れ、部品の不良
把持の不良、到達点の位置ずれ等による障害が検出され
た場合に障害による不良品の発生、チヤツクの破損等を
回避するために出力される下降禁止信号、８は水平移動
軸9,10と垂直移動軸11をそれぞれ駆動するサーボ駆動回
路である。FIG. 1 is a block diagram of a robot control device according to the present invention. 1 is a command indicating a movement speed and a movement amount, 2 is a horizontal movement axis control circuit, 3 is a vertical movement control circuit 4 is a movement start timing signal of the horizontal movement axes 9 and 10 outputted during the vertical movement,
5 is a lowering start timing signal of the vertical movement axis 11 output during the horizontal movement, 6 is an external situation detection circuit, 7 is an external situation detection circuit 6, and the user forgets to hold the part during the movement, and has a poor grip of the part. A descent prohibition signal that is output in order to avoid the occurrence of defective products due to the failure or damage to the chuck when a failure due to the displacement of the arrival point is detected. Reference numeral 8 denotes the horizontal movement axes 9 and 10 and the vertical movement axis 11. Is a servo drive circuit for driving each.
第２図（ｃ）は、本発明のロボツト制御装置にて制御
されたハンドの一実施例の移動軌跡を示す図であり、ハ
ンドが水平移動途中に、垂直移動軸11の下降開始タイミ
ング信号５が出力される直前の下降判断タイミング22の
点にて障害の有無を判断し、無ければ下降軌跡23のよう
に下降し、障害により下降を禁止された場合には下降禁
止軌跡24のように移動を制御する。FIG. 2 (c) is a diagram showing the movement trajectory of the hand controlled by the robot control device according to one embodiment of the present invention. At the point of the descent determination timing 22 immediately before is output, the presence or absence of an obstacle is determined, and if there is no obstacle, it descends like the descending locus 23, and if it is prohibited from descending by the obstacle, it moves like the descending prohibition locus 24 Control.
第３図は、本発明によるロボツト制御装置によるハン
ドの制御シーケンスをフローチヤートで示す。ステツプ
１で垂直軸を上昇させ、ステツプ２で上昇終了前に垂直
移動軸制御回路３からの水平移動開始タイミング４によ
り水平移動を開始する。ステツプ３では水平移動軸制御
回路２からの下降判断タイミング５の入力を待ち、ステ
ツプ４では外部状況検出回路６からの下降禁止信号を判
断し、障害がない場合はステツプ５の垂直軸の下降移動
を行ない動作を終了する。障害が発生し、下降を禁止し
た場合にはステツプ６の障害の回避のため24の移動をす
みやかに行なうことができる。FIG. 3 is a flowchart showing a control sequence of a hand by the robot control device according to the present invention. In step 1, the vertical axis is raised, and in step 2, horizontal movement is started at the horizontal movement start timing 4 from the vertical movement axis control circuit 3 before the end of the rise. In step 3, the control waits for the input of the descent determination timing 5 from the horizontal movement axis control circuit 2. In step 4, the descent prohibition signal from the external situation detection circuit 6 is determined. To end the operation. If a trouble occurs and the descending is prohibited, the movement of 24 can be performed promptly to avoid the trouble of step 6.
上記実施例の対象となるロボツトには、水平多関節タ
イプ、直交座標タイプ、円筒座標タイプがあげられる。Robots to be used in the above embodiment include a horizontal articulated type, a rectangular coordinate type, and a cylindrical coordinate type.
以上述べたように、本発明によれば制御手段を用いて
ロボットによる高速なピック・アンド・プレイス動作の
制御が可能であり、この制御手段とは別の状況検出手段
を用いることより、高速なピック・アンド・プレイス動
作の制御を妨げることなく、障害発生時には直ちに下降
を禁止し、障害を安全・確実に回避することが可能とな
る。As described above, according to the present invention, it is possible to control the pick-and-place operation at a high speed by the robot using the control means. Without hindering the control of the pick-and-place operation, it is possible to immediately prohibit the descent when a failure occurs, and to safely and reliably avoid the failure.
第１図は、本発明のロボツト制御装置のブロツク図。 第２図（ａ），（ｂ）は、従来のロボツトのピツク・ア
ンド・プレイスの移動軌跡図を示し、（ｃ）は、本発明
によるピツク・アンド・プレイスの障害の有無による移
動軌跡図を示す。 第３図は第１図のフローチヤート図である。FIG. 1 is a block diagram of a robot control device according to the present invention. 2 (a) and 2 (b) show the movement locus diagrams of the conventional robot pick and place, and FIG. 2 (c) shows the movement locus diagram of the pick and place according to the present invention depending on the presence or absence of an obstacle. Show. FIG. 3 is a flow chart of FIG.
Claims (1)
手段と、 この垂直方向駆動手段とは独立に前記ハンドを水平方向
に駆動する水平方向駆動手段と、 前記垂直方向駆動手段および水平方向駆動手段の各々の
手段に、前記ハンドの上昇・水平移動・下降の一連の動
作を１命令で指示する制御手段と、 前記垂直方向駆動手段による前記ハンドの下降駆動の禁
止を指示する状況検出手段とを有し、 前記制御手段は、前記水平方向駆動手段による前記ハン
ドの水平移動途中であって且つ下降を指示する直前に、
前記状況検出手段の指示に基づき前記ハンドの下降駆動
の禁止を判断し、下降駆動が禁止の場合には水平移動を
継続し、下降駆動が禁止でない場合には水平移動を継続
すると共に下降駆動を開始することを特徴とするロボッ
ト制御装置。A vertical driving means for driving a hand in a vertical direction; a horizontal driving means for driving the hand in a horizontal direction independently of the vertical driving means; a vertical driving means and a horizontal driving means; Control means for instructing each of the means in a series of operations of raising, horizontal movement, and descent of the hand with one command; status detection means for instructing prohibition of the descent of the hand by the vertical driving means; The control means, during the horizontal movement of the hand by the horizontal driving means, and immediately before instructing the descent,
Based on the instruction of the situation detecting means, the prohibition of the downward drive of the hand is determined.If the downward drive is prohibited, the horizontal movement is continued.If the downward drive is not prohibited, the horizontal movement is continued and the downward drive is performed. A robot control device characterized by starting.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60218224A JP2652008B2 (en) | 1985-10-01 | 1985-10-01 | Robot controller |
| US07/166,767 US4815007A (en) | 1984-12-20 | 1988-03-03 | Apparatus for controlling a robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60218224A JP2652008B2 (en) | 1985-10-01 | 1985-10-01 | Robot controller |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23881195A Division JPH08110806A (en) | 1995-09-18 | 1995-09-18 | Robot controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6277611A JPS6277611A (en) | 1987-04-09 |
| JP2652008B2 true JP2652008B2 (en) | 1997-09-10 |
Family
ID=16716555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60218224A Expired - Lifetime JP2652008B2 (en) | 1984-12-20 | 1985-10-01 | Robot controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2652008B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2625836B2 (en) * | 1988-03-18 | 1997-07-02 | セイコーエプソン株式会社 | Robot control device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5912434B2 (en) * | 1976-07-05 | 1984-03-23 | 株式会社日立製作所 | Robot motion control method |
| JPS58177289A (en) * | 1982-04-12 | 1983-10-17 | 株式会社三協精機製作所 | Controller for operation of industrial robot |
-
1985
- 1985-10-01 JP JP60218224A patent/JP2652008B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6277611A (en) | 1987-04-09 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |