JP3018735B2 - Robot control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a control system of the robot in the case of manually operating the robot.

[0002]

2. Description of the Related Art Robots are widely used as production machines in recent years. Usually, the robot automatically operates based on a predetermined program. However, the robot can also be manually operated in case of teaching or recovering from a trouble. For example, as shown in FIG. 6, a clamp robot that clamps a vehicle component after pressing in preparation for spot welding is not limited to an example, and can perform automatic operation and manual operation. The clamp robot 1 shown in the figure is provided with a clamper 2 for a corresponding vehicle type so as to be able to support multiple vehicle types.
These clampers 2 are coaxially arranged in a cylindrical shape, and θ
It is rotatable like a revolver by a servo motor 3 constituting a shaft. A clamper suitable for the vehicle type is projected upward by a cylinder (not shown). Since this clamp robot 1 clamps three places of the vehicle body, three heads 4a, 4b, 4c corresponding to each part are provided. These heads 4a, 4b, 4c are movable in a predetermined direction by three Y axes.

The schematic operation of the clamp robot 1 having such a configuration is as follows. First, when information relating to a vehicle type is input to the clamp robot 1, servo motors 5 for moving the three heads in the Y-axis direction are operated, and the respective heads 4a, 4a, Position 4b and 4c. At the same time, an operation of selecting a clamper corresponding to the vehicle type is performed. That is, the servo motor 3 rotates to stop the clamper corresponding to the vehicle type at a predetermined position, and the selected clamper is pushed out by the above-described cylinder to bring the state shown in the drawing. In this state, when the panel of each part after pressing is supported by its own supporting device and the body whose body shape is formed is conveyed to a predetermined position,
The predetermined position of the body is firmly clamped by the three projecting clampers. In this state, spot welding for temporary fixing is performed. Then, when the information on the next vehicle type is input, the extruded clamper is pulled back by the cylinder, and the above-described operation is repeated again. If there is no trouble in such automatic driving, the above operation is continuously performed while taking the set interlock into consideration. However, a trouble has occurred in the clamp robot 1 due to some cause. In this case, the automatic operation is automatically canceled. In such a case, a manual operation by an operator can be performed for recovery from a trouble. In this manual operation, an operator can freely operate any axis in consideration of ease of trouble recovery.

[0004]

In such a conventional robot controller, all the interlocks are released at the time of manual operation, so that any axis can be operated freely and troubles can be avoided. It can be said that it is very effective in terms of recovery, but on the other hand, there is a case where free movement can be an obstacle. That is, when a trouble occurs while the clamper 2 is being pushed out in the clamp robot 1 and the automatic operation is canceled, the clamp robot 1 is manually operated.
Must be returned to the original position. In this operation, if the rotation of the θ-axis is commanded by mistake while the clamper 2 is protruded as shown in FIG. 6, the θ-axis rotates as it is. Interference with other members causes new troubles. Of course, since a skilled worker usually recovers such a trouble, such a secondary trouble hardly occurs. However, it cannot be denied that the possibility of trouble is inherent. The present invention has been made in view of such conventional problems, and an object of the present invention is to provide a robot control device that operates a robot in consideration of an interlock even in a manual operation.

[0005]

According to the present invention for achieving the above object, the robot operates in accordance with a program in the case of automatic driving, while the robot operates in accordance with a manual operation of the operator in manual driving. In a robot control device for operating the robot, switching means for switching between automatic operation and manual operation of the robot, operation means for manually operating components of the robot, and switching to manual operation by the switching means, When an operation command for a certain component of the robot is output from the operation means,
The interface determines whether the component is operational.
Judging from the lock state, if there is a problem with the operation,
The interlock setting of the component to which the operation command was issued
Of the interlock registered in advance based on the
Control means for executing a series of operations for canceling the cause before or after the operation according to the operation command so that the operation command can be executed is provided.

[0006]

According to the present invention having the above-described configuration, when the operation mode is switched to the manual operation by the switching unit and an operation command for a component of the robot is output from the operation unit, the control unit is configured to operate the robot. Judging from the state of the interlock whether or not the member is operable, if the member is not in the operable state, the cause of the interlock is determined in order to operate the component based on the operation command.
By executing a series of pre-registered operations for canceling the operation before or after the operation according to the operation command, the operation command can be executed, so that the operator may perform an incorrect operation Even in this case, operation in a state where the component interferes with another component is avoided , and manual operation becomes possible.

[0007]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram of a main part showing a portion related to the invention in a robot control apparatus according to the present invention, and FIGS. 2 and 3 are configuration diagrams of one head of a clamp robot to which the present invention is applied. Although the schematic configuration of the clamp robot 1 whose operation is controlled by the robot control device of the present invention is as shown in FIG. 6, a more detailed configuration for one head is as shown in FIG. The detailed configuration of the head portion is as shown in FIG. The cylindrical clamper 2 is rotatable clockwise by a servomotor 3 constituting the θ-axis. The head 4a to which the clamper 2 is attached is moved in three directions of X, Y, and Z by an X axis 6, a Y axis 7, and a Z axis 8. That is, the clamp position by the clamper is adjusted by these shafts. The detailed configuration of the head 4a is as shown in FIG. 3, and when the clamper 2 is rotated by the servomotor 3, the clamper 2 is stored as shown on the left side of FIG.
The inside of the frame 9 is rotated. By this rotation, a clamper for a predetermined vehicle type is selected. The cylinder 12 has the engagement piece 11
And move the cylinder 13 up and down. When the cylinder 12 is operated, a desired clamper 2 is pushed upward as shown in the figure. An engagement piece 1 for setting a clamp piece 14 in a clamped state or an unclamped state in relation to a clamp base 15 in a cylinder 13.
The engagement piece 16 is reciprocated by the cylinder 13. An engaging portion 17 is formed on the clamp piece 14, and the engaging piece 16 engages with the engaging portion 17. Also, the guide piece 1 is
Engagement projections 20 and 21 that engage with 8, 19 are provided. Therefore, when the cylinder 13 is operated, the engaging piece 16 pushes up the engaging portion 17, the engaging protrusions 20 and 21 move according to the shapes of the guide grooves 18 and 19, and the clamp piece 14 State. On the other hand, when the cylinder 13 is deactivated, the clamp piece 14 is clamped as shown in the figure, and the panel is firmly clamped between the clamp piece 14 and the clamp base 15.

FIG. 1 is a block diagram of a control system in which a portion for mainly controlling the operation of the cylinder 13 in the apparatus for controlling the operation of the clamp robot is extracted. The CPU 20 controls the overall operation of the clamp robot. Clamp output valve 21 is cylinder 1
2 is a valve for pushing out a reciprocating shaft. When the valve 21 is turned on, the clamper 2 is pushed out as shown in FIG. The clamp return valve 22 is for retracting the reciprocating shaft of the cylinder 12, and when the valve 22 is turned on, the clamper 2 is retracted to be in the housed state as shown on the left side of FIG. The clamp output limit switch 23 is a switch that detects that the clamper 2 is being pushed out, and the clamp return limit switch 24 is a switch that detects that the clamper 2 is being pulled in. The servo motor 3 is a motor for rotating the clamper. The command of the automatic operation and the manual operation to the CPU 20 is made by a manual / automatic changeover switch 25. In order to instruct the clamper 2 to come out and return at the time of manual operation, the clamp out / return push button 26 is used. In addition, manual operation of the servo motor 3 is performed by turning the servo motor ON and OFF.
This is performed by the switch 27. Clamp release / return push button 26
The operation of the servo motor ON / OFF switch 27 is accepted by the CPU 20 only when the operation is switched to the manual operation by the manual / automatic switch 25.

The robot control apparatus of the present invention having the above-described structure operates as follows according to the flowchart shown in FIG. 4 or FIG. Note that this flowchart is for a manual operation that is processed when the CPU 20 is manually operated by the manual / automatic changeover switch 25. In particular, a flowchart relating to the JOG operation when the servo motor 3 is manually operated. It is. First, the CPU 20 constantly monitors whether the start button of the servomotor 3, that is, the servomotor ON / OFF switch 27 is operated and the JOG operation command is issued (S).
1). When the operation of the switch 27 is confirmed, the CPU 20 performs the previous macro process. The macro process is a process of checking an interlock state via an interface (not shown) connected to the CPU 20. That is, it is determined whether or not the JOG operation does not cause a problem. If there is a problem, the servo motor is turned ON / OFF by interlocking.
The operation of the switch 27 is not accepted. If the cause of this interlock is a state in which the clamper 2 is being pushed out, the clamp return valve 21 is turned off while the clamp return valve 22 is turned on by a clamp return command by the clamp release / return push button 26. Confirm that the clamp output limit switch 23 is off and the clamp return switch 24 is on. Finally, a series of operations for turning off the clamp return valve 22, that is, the source of the interlock
This is a process of performing an operation for canceling the cause and confirming that the clamper 2 is in a retracted state (S2). After performing this check, if there is a JOG operation command, the command is accepted and the servomotor 3
Is operated to rotate the clamper 2 (S
3). By performing such processing, even in the case of manual operation, the servo motor 3 does not rotate with the clamper 2 extended.

The flow chart shown in FIG.
Instead of performing the macro process for checking the interlock status before the JOG operation as in the above, the macro process for checking the interlock status after the operation is performed.
Therefore, in this case, after performing the processing of S11 and S12 in this flowchart in which the same processing as that described above is performed, the post-macro processing of S13 is performed. Above, the macro processing as described above was shown as an example, any of various thinking interlock each member Ru previously registered tare. In other words,
When the interlock is activated from the interlock setting
Is registered in advance in order to eliminate the cause.
ing. Then, it is possible to select which macro processing is to be used and incorporate it into the operation program, or, if it is not necessary to use the macro processing, register the unused processing. This can be performed for both the pre-macro processing and the post-macro processing. Therefore, in a program for manually operating a member,
Register unused macro processing, register only macro processing before, register only macro processing after,
It is possible to select four types, that is, registering the macro processes before and after.

[0011]

As described above, according to the present invention, when the operation is switched to the manual operation and an operation command for a certain component of the robot is output, whether or not the component is in a operable state is determined. From the state of the interlock ,
If interfering with operation, remove the cause of the interlock
And the components are operated based on the operation command, so that the same interlock as in the automatic operation is applied in the manual operation, and the safety in the manual operation can be improved. Interlo with
The cause of the lock is removed and manual operation can be performed.
Thus, the burden on the operation of the worker can be reduced.

[Brief description of the drawings]

FIG. 1 is a main part configuration diagram showing a portion related to the present invention in a robot control device according to the present invention.

FIG. 2 is a configuration diagram of one head of a clamp robot to which the present invention is applied.

3 is a schematic configuration diagram of a head portion of the clamp robot shown in FIG.

FIG. 4 is an operation flowchart of the apparatus shown in FIG. 1;

FIG. 5 is another operation flowchart of the apparatus shown in FIG. 1;

FIG. 6 is a schematic configuration diagram of a conventionally used three-head clamp robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Clamp robot (robot) 20 ... CPU (control means) 25 ... Manual / automatic changeover switch (switching means) 27 ... Servo motor ON / OFF switch (operation means)

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G05B 19/18

Claims (1)

(57) [Claims] In the case of automatic operation, a robot is programmed.
In the case of manual operation.
Robot that operates the robot in response to manual operation
Switching between automatic operation and manual operation of the robot.
Means for manually operating components of the robot
Switching to manual operation by the switching means,
Command to operate a certain component of the robot
State in which the component can operate when pressedIn
Is determined based on the interlock status, and
If there is a fault, the component to which the operation command was issued
Based on the interlock settingPre-registeredThis
To remove the cause of the interlockSeries ofmotion
Before or after the operation according to the operation command.
Control means for executing the operation command.
A control device for a robot, comprising: a step;