JP2995133B2 - Robot system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot system in which a plurality of robot controllers are connected by one communication line.

[0002]

2. Description of the Related Art Generally, in a production factory or the like, a plurality of robots are installed on a line. When a plurality of robots are installed as described above, it may be necessary to perform communication between the robot controllers of each robot.

FIG. 5 shows an example of a connection in a case where communication is performed between robot controllers of a plurality of robots. This example
An asynchronous communication line such as RS232C is used as the communication line, and is a connection method used when a large amount of data regarding the posture of the robot needs to be transmitted. In this conventional example, the robots 111, 112, 113
Are provided, and the robots 111 and 112 are connected via the communication line 114, and the robots 112 and 113 are connected via the communication line 1.
15, the robots 111 and 113 are connected to the communication line 11.
6 are connected to each other. Each of the robots 111, 112, 113 has a monitor / operation device (hereinafter, referred to as a “pendant”) 117, 11 respectively.
8, 119 are connected.

[0004] In such a robot system, the robot 111 communicates with the robot 11 via a communication line 114.
2 and the robot 113 via the communication line 116. Also, the robot 112 and the robot 11
3 communicates via the communication line 115. Also, each of the robots 111, 112, 113 has a pendant 117, 1
18, 119 are monitored and operated.

FIG. 6 shows another example of a connection when communication is performed between the robot controllers of a plurality of robots. This example uses a bit input / output device as a communication line, and is the most general example. In this conventional example, robots 121, 122 and 123 are provided, and the robots 121 and 122 are connected to the parallel bit lines 124a and 124a.
b, the robots 122, 123 are connected to the robots 121, 123 via the parallel bit lines 125a, 125b.
Are connected via communication lines 126a and 126b, respectively. Also, each of the robots 121, 122, 123
Are connected to pendants 127, 128, and 129, respectively.

[0006] In such a robot system, the robot 121 is parallel bit lines 124a, a robot 122 through 124b, parallel bit lines 126a, 1
The communication with each of the robots 123 is performed via 26b. The robot 122 and the robot 123 communicate with each other via communication lines 125a and 125b. Also, each of the robots 121, 122, 123 has a pendant 127, 1
28 and 129 are monitored and operated.

[0007]

However, according to the robot system shown in FIG. 5, although it is effective when transmitting a large amount of data relating to the posture of the robot, the number of communication ports is equal to the number of connected robots. It is necessary and has disadvantages such as lack of real-time performance.

On the other hand, according to the robot system shown in FIG. 6, although a large amount of data is transmitted, a large number of wirings and input / output devices are required, and the number of parts is increased. However, there are disadvantages in that the number of manufacturing steps increases, and a large area occupied by components is required.

Further, according to each robot system, there is a drawback that a pendant is required for each robot control device, and that a large installation space for the pendant is required.

An object of the present invention is to provide a robot system which enables communication between a plurality of robots or between one pendant and a plurality of robots using one line and a communication port.

[0011]

[0012]

In order to achieve the above object, a robot system according to the first aspect of the present invention provides a robot system for monitoring or operating a robot controller.
A robot system having an operating device and a plurality of robot controllers connected via one communication line, wherein each of the robot controllers is assigned a unique number, and Communication means for transmitting various information of the robot, variables or instructions according to the robot program to other robots via a communication line using communication data with a unique number and a destination unique number, and data received by the communication means When the decoded instruction is an operation command, the operation processing is executed only when the sender 's unique number is a predetermined one, and when the decoded instruction is not an operation instruction. And a connection destination determination signal forming unit that can output a connection destination determination signal according to the unique number. The operation device has a unique unique number that can be set, and can collectively monitor the status of each robot when connected to the communication line, and when connected to one of the robot control devices. A connection destination determination unit that determines a connection destination robot control device based on a connection destination determination signal, and a connection destination determination unit that is specified by the connection destination determination unit .
A communication means for giving an operation instruction to the processing means of the robot control device by attaching a unique number of a connection destination .

The connection destination determination signal forming means of the robot controller according to the second aspect is configured to output a connection destination determination signal consisting of a predetermined frequency signal based on the unique number.

Further, the connection destination determination means of the monitor / operation device according to the third aspect is configured to be able to determine the connection destination robot control device from the frequency signal of the connection destination determination signal.

Further, the monitor / operating device according to claim 4 is a first means for storing a temporary unique number, a second means for reading a unique number of a connection destination, a first means and a second means. Third means for determining its own unique number based on the means.

[0016]

[0017]

In the robot system according to the first aspect, a unique unique number is assigned to each of the plurality of robot controllers, and communication can be performed using communication data to which a sender unique number and a destination unique number are added. It is. As a result, various information of a certain robot and variables according to the robot program can be transmitted to other robots via the communication line. Further, the plurality of robot controllers decode the type of the command based on the data received by the communication means, and when the decoded command is an operation command, only when the unique number of the other party is a predetermined one. Operation processing can be executed, or other processing can be executed when the decoded instruction is not an operation command. Further, the plurality of robot controllers can output a connection destination determination signal corresponding to the unique number. Therefore, when the monitor / operating device is connected to one of the robot control devices, the monitor / operating device can determine the connection destination robot control device based on the connection destination determination signal, and enter the unique number of the specified connection destination. And an instruction for operation can be given to the robot controller.
Therefore, the robot of the connection destination specified by the connection destination determination unit
If the device is not a remote control device,
No. In addition, the monitor / operating device can set a unique unique number, and can collectively monitor the state of each robot when connected to the communication line.

According to the configuration of the second aspect , the connection destination determination signal can output a predetermined frequency signal corresponding to the unique number.

According to the configuration of the third aspect , the robot controller to be connected can be determined from the frequency signal.

According to the configuration of the fourth aspect , the own unique number can be determined from the temporary unique number and the unique number of the connection destination.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The construction of the present invention will be described below in detail with reference to the embodiments shown in the drawings.

FIG. 1 shows an example of a robot system according to the present invention. This robot system is roughly divided into robot control devices 1a, 1b, 1c for a plurality of robots,
One pendant 3 and a communication line 5 are provided.

The robot controllers 1a, 1b, 1c are unique in the system (hereinafter referred to as "ID").
Are assigned, for example, ID = 1 to the robot controller 1a, ID = 2 to the robot controller 1b, and I, for example, to the robot controller 1c.
It is assumed that D = 3 has been assigned. These robot controllers 1a, 1b, 1c are provided with communication ports 11a, 11
b, 11c are connected to the communication line 5. These robot control devices 1a, 1b, 1c are also provided with connection ports 12a, 12b, 12c. One of these connection ports 12a, 12b, 12c has a connector 31
The pendant 3 can be connected via a cable 32. A connector 31 is detachable from the connection ports 12a, 12b, 12c. The pendant 3 has a unique number (ID = 4) in the system so that the robot controllers 1a, 1b, 1c can be monitored and operated.

FIG. 2 shows an example of the configuration of one robot control device. Here, the robot controllers 1a, 1b, 1
Since c has the same configuration, the robot controller 1a will be described as the robot controller 1 as a representative.

In FIG. 2, the robot control device 1 includes an ID storage means 13 for storing an ID assigned only in the system, and communication data provided with a source ID and a destination ID via a communication line 5. Communication means 14 for communicating various information of the robot and variables according to a program;
A decoding means 15 for decoding the type of the command based on the data received by the communication means 14, and whether or not the ID of the sender is a predetermined number when the command decoded by the decoding means 15 is an operation command; ID check means 16 for judging whether the ID check means 16 is correct, operation processing means 17 for executing operation processing based on the command when the result of the check is correct, Monitoring means 1 for performing other processing when it is not an operation command
8 and a connection destination determination signal forming unit 19 that can output a connection determination signal having a frequency corresponding to the ID from the ID storage unit 13.

FIG. 3 shows an example of the configuration of the pendant. The pendant 3 includes an ID storage unit 33 for storing a temporary ID, and each of the robot controllers 1a, 1b, 1
c, the connection destination determination means 34 for determining the ID of the connection destination robot control device based on the connection destination determination signal, and the connection destination robot from the connection destination determination means 34.
ID of the remote control device and a pendant from the ID storage means 33
ID setting means 35 for forming its own ID using a temporary ID unique to the connection destination, and a connection destination robot from the connection destination determination means 34.
ID of the control unit and the pendant from the ID setting means 35
A communication means 36 for giving an operation command or other command to the processing means of the robot control device, and giving a command to the communication means 36 or transmitting a monitor signal from the communication means 36 And an input / output means 37 for receiving.

The operation of the embodiment constructed as described above is shown in FIGS.
This will be described based on FIG. 3 and with reference to the flowchart shown in FIG.

[Communication between Robot Control Devices 1a, 1b, 1c] The robot control devices 1a, 1b, 1c communicate with each other the posture of the robot, the execution status of the program, and the status of intrusion into the interference area, the destination ID, the source The ID is attached and transmitted via the communication line 5. Each of the robot controllers 1a, 1b, and 1c similarly assigns a destination ID and a source ID to variables according to the robot program, and
Is communicating via.

[When the robot controller 1 is monitored] The pendant 3 is used to control the robot controller 1a, for example.
If you want to monitor your posture, use pendant 3
Is connected to the communication line 5. At this time, the unique ID (ID = 4) of the pendant 3 in the system is stored in the ID storage unit 33 as a temporary ID .
Then, this temporary ID (ID = 4) is first used as a pendant.
3 is set in the ID setting means 35 as the current ID .

By operating the input / output means 37 of the pendant 3, a posture data request command is output to the robot controller 1a. Then, the communication means 36 of the pendant 3 transmits the destination ID (here, ID = 1),
The source ID from the ID setting means 35 (here, if I
The posture data request command with D = 4) is given to the communication means 14 of the robot controller 1a via the communication line 5 (step 100). The communication unit 14 of the robot control device 1a gives the received request command to the decoding unit 15. The decoding means 15 decodes the received command (step 1).
01). Since the command decoded by the decoding means 15 is not an operation command (Step 101; N), the command is given to the monitoring means 18 (Step 10).
2) End the receiving process.

Next, the monitoring means 18 extracts the posture data of the predetermined part and gives it to the communication means 14. The communication means 14 determines the destination ID based on the data received recently.
(ID = 4) is determined, and the destination ID and the source ID are determined.
(ID = 1) to the communication data
To send out. The data sent via the communication line 5 is given to the pendant 3. The pendant 3 can monitor the attitude data by giving the data received by the communication means 36 to the input / output means 37.

The pendant 3 changes the destination ID at a predetermined interval, so that each robot controller 1
The posture data of a, 1b, and 1c and other data can be monitored collectively.

[When the Robot Controller 1c is Operated] Assume that the connection port 12 of the robot controller 1c is
It is assumed that a pendant 3 is connected to c via the cable 32 and the connector 31 and the pendant 3 operates the robot controller 1c. In each of the robot controllers 1a, 1b, and 1c, a connection destination determination signal having a frequency corresponding to the ID is output from the connection destination determination signal forming unit 19.

In such a pendant 3, the connection destination determining means 34 receives the connection destination determination signal from the connection destination determination signal forming means 19 of the robot controller 1c, and based on this, the connection destination ID (ID = ID 3) is specified. The ID specified by the connection destination determining unit 34 is given to the ID setting unit 35. The ID setting unit 35 stores, for example, “ID of the pendant 3 = connection destination ID + ID storage” based on a temporary ID (ID = 4) which is a unique ID in the system of the pendant 3 from the ID storage unit 33. The ID of the pendant 3 (ID = 7) is set by calculating “ID of the means 33”.

The input / output means 37 of the pendant 3
To output a robot operation command. Then, the communication unit 36 includes the destination ID (here, ID = 3) determined by the connection destination determination unit 34 and the ID
Attaching the sender ID (ID = 7) from the setting unit 35,
This is given to the robot controller 1c via the cable 32 and the connector 31. The communication means 14 of the robot control device 1c performs a receiving operation, and gives the received data to the decoding means 15 (step 100). The decoding means 15 decodes the command (step 101), and if the command is an operation command (step 101;
Y), and give the received data to the unique number check means 16. The unique number check means 16 sends the original ID (ID
= 7) is a predetermined ID (ID = 7) (step 103; Y), the operation instruction is given to the operation processing means 17. Thereby, the operation processing means 17 executes the operation command (Step 104).

On the other hand, unlike the present embodiment, if each of the robot controllers 1a, 1b, 1c specifies an apparatus only by ID, even if the pendant 3 is connected to the robot controller 1b. When an operation command is output from the pendant 3 as a destination ID (ID = 3) and a source ID (ID = 7), the operation command is transmitted from the robot controller 1b to the robot controller 1c via the communication line 5, and is transmitted to the robot controller 1c. Can be operated.

On the other hand, in this embodiment, as described above, the robot controllers 1a, 1b, and 1c output the connection destination determination signal having the frequency corresponding to each ID, and the pendant 3 outputs the connection destination determination signal. The ID is determined based on the signal, and the ID is determined.
Is the destination ID, and based on the connection destination determination signal,
Since the ID of the pendant 3 is automatically set including the specified destination ID, the robot controllers 1a, 1b, and 1c other than the connection destination cannot be operated.

For example, when the pendant 3 is connected to the robot control device 1b, the connection destination determination means 34 of the pendant 3 receives the connection destination determination signal from the connection destination determination signal forming means 19 of the robot control device 1b. Then, the connection destination ID (ID = 2) is specified based on this. The ID specified by the connection destination determining unit 34 is given to the ID setting unit 35. The ID setting unit 35 calculates, for example, “ID of the pendant 3 = ID of the connection destination + ID of the ID storage unit 33” based on the temporary ID (ID = 4) from the ID storage unit 33, and obtains the ID of the pendant 3. (ID = 6) is set.

The input / output means 3 of the pendant 3
7 is operated to output a robot operation command. In addition, the destination ID temporarily determined by the connection destination determination unit 34 (ID =
An ID (ID = 3) different from 2) is set, and this ID
(ID = 3) and the sender ID from the ID setting means 35
(ID = 6) is given to the robot controller 1b via the cable 32 and the connector 31. The robot controller 1b gives the data to the robot controller 1c via the communication line 5. Then, the robot control device 1c performs a receiving operation and gives the received data to the decoding means 15 (step 100). The decoding means 15 decodes the command (step 101), and if the command is an operation command (step 101;
Y), and give the received data to the unique number check means 16. The unique number check means 16 sends the original ID (ID
= 6) is not the predetermined one (ID = 7) (step 103; N), and the operation command is canceled (step 1).
05).

As described above, in this embodiment, the robot controllers 1a, 1b, and 1c are connected via the communication line 5, and output connection destination determination signals having frequencies corresponding to the IDs. , Each robot control device 1a, 1b, 1c
Indicates that the operation command is not executed when the ID of the destination (source) is not the predetermined ID. The pendant 3 specifies that the ID of the connection destination is used as the destination, and that the pendant 3 is determined from the specified ID. Has the following advantages by automatically setting the ID of (1) There is no need to select a connection method depending on the amount of data. (2) The trouble of performing a plurality of wirings is eliminated. (3) Wiring, input / output devices, communication ports, etc. can be reduced, and the number of parts may be reduced. (4) Wiring and software can be started before the configuration of the entire system is determined (before the communication contents and the number of input / output devices are determined). (5) With one pendant, all robots can be monitored. (6) The ID of the pendant can be automatically recognized and set. (7) Pendant function can be automatically set. (8) An interlock function for limiting the robot control device that can be operated by the pendant is added to ensure safety.

[0041]

As described above, in the robot system according to the first aspect of the present invention, each of the robot controllers is assigned a unique unique number, and the communication data having the sender unique number and the destination unique number is transmitted. Since various types of information of a predetermined robot can be transmitted to other robots via a communication line, there is no need to select a connection method based on the amount of data, and there is no need to perform a plurality of wirings.
The number of input / output devices, communication ports, and the like can be reduced, the number of components can be reduced, and wiring and software can be started before the configuration of the entire system is determined.

Further, all the robots can be monitored with one pendant, and the ID of the pendant can be automatically recognized and set. In addition, an interlock function for limiting a robot control device that can be operated by the pendant has been added, so that safety can be improved. Can be secured.

The connection destination judging signal forming means of the robot control apparatus of the second aspect, since the output destination determination signal of a predetermined frequency signal according to the unique number, it is possible to reduce the wiring.

The connection destination determining means of the monitor / operation device according to the third aspect can determine the connection destination robot control device from the frequency signal of the connection destination determination signal, so that the ID can be easily recognized.

The monitor / operating device according to the fourth aspect stores the temporary ID, reads the ID of the connection destination, and reads the temporary ID.
Since the own ID can be determined from D and the connection destination ID, the ID of the pendant can be automatically recognized and set.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a robot system according to the present invention.

FIG. 2 is a block diagram illustrating a configuration example of a robot control device of the embodiment.

FIG. 3 is a block diagram showing a configuration example of a pendant of the embodiment.

FIG. 4 is a flowchart for explaining a receiving operation of the robot control device of the embodiment.

FIG. 5 is a block diagram showing a conventional robot system.

FIG. 6 is a block diagram showing another conventional robot system.

[Explanation of symbols]

 1a, 1b, 1c Robot controller 3 Pendant 5 Communication line 11a, 11b, 11c Communication port 12a, 12b, 12c Connection port 13 Unique number storage means 14 Communication means 15 Decoding means 16 Unique number checking means 17 Operation processing means 18 Monitoring means 19 connection destination determination signal forming means 31 connector 32 cable 33 ID storage means 34 connection destination determination means 35 ID setting means 36 communication means 37 input / output means

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G05B 19/414

Claims (4)

(57) [Claims] 1. A robot system having a monitor / operation device for monitoring or operating a robot control device and a plurality of robot control devices connected via one communication line, wherein each of the robot control devices is A unique number is assigned to each, and various kinds of information of the robot, variables or instructions by the program of the robot are transmitted to other data through a communication line using communication data with the sender's unique number and the destination's unique number. Communication means for transmitting to the robot, and decodes the type of the command based on the data received by the communication means, and when the decoded command is an operation command, only when the sender 's unique number is a predetermined one. Processing means for executing operation processing and performing other processing when the decoded instruction is not an operation instruction; A connection destination determination signal forming means capable of outputting a fixed signal, wherein the monitor / operating device is capable of setting a unique number, and when connected to the communication line, the state of each robot is changed. In addition to being able to be monitored collectively, when connected to one of the robot control devices, the connection destination determination unit that determines the connection destination robot control device based on the connection destination determination signal and the connection destination determination unit specify the connection destination robot control device. And a communication means for giving an operation instruction to the processing means of the robot control device by attaching a unique number of the connection destination . 2. The robot according to claim 1, wherein the connection destination determination signal forming means of the robot control device outputs a connection destination determination signal of a predetermined frequency signal corresponding to a unique number. system. 3. The robot system according to claim 1, wherein the connection destination determination means of the monitor / operation device is configured to be able to determine a connection destination robot control device from a frequency signal of the connection destination determination signal. . 4. The monitor / operating device includes a first unit for storing a temporary unique number, a second unit for reading a unique number of a connection destination, and a first unit and a second unit. 3. The robot system according to claim 1, further comprising: third means for determining its own unique number.