JP3253452B2 - Industrial robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot capable of controlling various types of robot bodies using the same control device.

[0002]

2. Description of the Related Art Conventionally, as an example of various types of working robots, a robot is known from Japanese Patent Publication No. Hei 4-20203. This is such that different robot models are attached to the same control device, and each can be controlled by this control device.

For this reason, this control device includes a storage unit for storing a created operation program representing the operation contents of the robot body, and a trajectory for determining an operation path and performing an interpolation operation based on an operation command from the storage unit. A generator, a coordinate converter for calculating the coordinates calculated by the trajectory generator by a calculation method according to the type of the robot, and a servo controller for operating the robot body in accordance with the output of the coordinate converter. The coordinate conversion unit includes a plurality of coordinate conversion calculation units storing calculation methods corresponding to respective types of the robot body, and data units corresponding to the respective coordinate conversion calculation units capable of inputting data relating to the robot body in each format. And a selection display unit corresponding to each coordinate transformation calculation unit.

When a robot body of a desired format is used, a coordinate conversion operation section and a data section for the robot body are selected from the coordinate conversion section based on the selection display section. An operation program corresponding to the movement of the main body is created, stored in the storage unit, and an operation command is generated to operate the robot main body. Here, the selected coordinate conversion operation unit performs coordinate conversion processing on the data in accordance with the operation method there, thereby obtaining data for desired operation of the robot body, and the servo control unit is operated by the data.

[0005] The selection of the coordinate conversion operation unit is performed by the user discriminating the type of the robot body and operating a digital switch provided in the control device or a teaching box separately provided in accordance with the discrimination result. It is possible.

[0006]

However, in the above-mentioned prior art, the control device must store the above-mentioned control data for the number of models of the robot main body to be controlled, so that a huge amount of capacity is required. A control data storage means is required,
If the price rises and the capacity of the control data storage means is limited, the number of models that can be set is limited. In addition, the user must identify the model of the robot body and operate the model selection means such as a digital switch and a teaching box to input data. Therefore, the model cannot be automatically selected. There is a possibility that a data input error occurs, and in such a case, there is a danger that the robot will run away.

An object of the present invention is to enable automatic selection of a model for driving and controlling a plurality of types of robot bodies by the same control device, thereby reducing the cost and sharing of the control device. To provide an industrial robot.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a robot body with an arc of the robot body.
Arm length and mode - Taenko - da resolution, drive shaft support - Bogei emissions of
De - mechanism de a data - mechanism data is set de - provided data setting means, the control device includes an external data reading means for reading mechanism data from mechanism data setting means connected to the robot body, connected Storage means for storing a control program common to the control of the robot body of each model to be performed,
The model of the connected robot body is determined from the mechanism data read by the external data reading means, and the mechanism data is set in the common control program according to the determination result.
Complete the control program for the robot body and complete
And a control unit for controlling and operating the robot body connected by the control program.

[0009]

When the robot body is connected to the robot body, the control device reads the mechanism data from the mechanism data setting means of the robot body by the external data reading means, and determines the model of the robot body by the control section. If this model matches the current controller status,
The control unit sets the read mechanism data in a control program, and controls and operates the robot body using the control program.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing one embodiment of an industrial robot according to the present invention, wherein 1 is a control device, 2 is a robot main body, 3 is a CPU (central processing unit), 4 is a memory, 5 is a motor drive circuit, 6 is a pulse counter circuit, 7 is external data reading means, 8 is a display, 9 is a driving motor, 10 is a motor pulse encoder, and 11 is mechanism data setting means.

In FIG. 1, a control device 1 comprises a CPU 3, a memory 4, a motor drive circuit 5, a pulse counter circuit 6,
It is provided with external data reading means 7, a display 8, and the like, and is configured to be connectable to various types of robot main bodies 2. The robot body 2 includes a mechanism motor setting unit 11 in addition to a drive motor 9 for driving a drive shaft (not shown) and a motor pulse encoder 10 that generates a pulse according to the rotation of the drive motor 9. Have.
When the robot body 2 is connected to the control device 1, the motor drive circuit 5 and the drive motor 9 are connected to the pulse counter circuit 6 and the motor pulse encoder 10.
And the mechanism data setting means 11 are connected respectively.

The memory 4 stores a part of a control program for performing servo control of the robot body 2 which is common to the robot bodies of each model (hereinafter, a common part of the control program). Also, teaching data such as a work position taught by the user and an operation sequence program is stored. When the robot body 2 is connected to the controller 1, the CPU 3, the motor drive circuit 5, the motor pulse encoder 10, and the pulse counter circuit 6 form a servo system of the drive motor 9. The CPU 3 has a memory 4
When the motor drive circuit 5 operates according to the program
, The driving motor 9 is driven to bring the robot main body 2 into a desired state, the pulse signal from the motor pulse encoder 10 is counted by the pulse counter circuit 6, and the count value is counted. By taking in, the commanded state of the robot main body 2 is compared with the actual state, and if there is a difference, a current command is further sent to the motor drive circuit 5 so as to eliminate this difference. Thus, the servo is applied to the drive motor 9.

The mechanism data setting means 11 stores data (mechanism data) such as the arm length, motor encoder resolution data, and drive shaft servo gain of the robot body 2 on which it is mounted. Have been. The control device 1 includes a robot body 2
Is connected, first, the external data reading means 7
The mechanism data of the robot body 2 is read from the mechanism data setting means 11 of the robot body 2 and temporarily stored in the memory 4.

Next, when teaching data such as a work position and an operation sequence program is already registered in the memory 4, the CPU 3 reads the teaching data and the read arm length data. By comparing the model data of the robot body 2 with the registered teaching data, that is, determining the model of the robot body 2 by comparing the data with the resolution data of the motor encoder. I do.

When the teaching data and the model of the robot body 2 match, the read arm length data, motor encoder resolution data, and drive axis servo gain data are stored in the memory 4. The arm length data, the motor encoder resolution data and the drive axis servo gain data which are provided in the common part of the control program in the above are transferred to the data setting section as described above. Long data, motor encoder resolution data
Data and drive axis servo gain data are set to complete the control program.

If the teaching data and the model of the robot main body 2 do not match, the CPU 3 drives the display 8 to notify the user of this, and the registered teaching data is displayed. Clear and input new teaching data, or
Alternatively, a request is made to reconnect the robot main body 2 corresponding to the teaching data. When the teaching data and the model of the robot main body 2 are matched with each other, the CPU 3 stores the read arm length data, motor encoder resolution data, and drive axis servo gain data in the memory. The control program is completed by setting the data in each data setting section of the common part of the control program of No. 4.

As described above, a control program for the robot body 2 to be connected and controlled can be obtained. Based on this, the CPU 3 starts servo control of the robot main body 2 and drives and controls the robot main body 2 according to teaching data such as a work position and an operation sequence program.

Here, the CPU 3 once reads the arm length data, the motor encoder resolution data, and the drive shaft servo gain data read from the robot main body 2 into the memory 4. Thus, the model of the robot body 2 is determined as described above, and if there is already registered teaching data, it is determined whether the teaching data matches the model of the robot body 2. However, these read arm length data, motor encoder resolution data,
The drive axis servo gain data is directly set in the data setting section of the common part of the control program in the memory 4, and thereafter, the registered teaching data matches the model of the robot body 2. It may be determined whether or not it is performed.

The above series of operations by the CPU 3 is described in FIG.
Will be described again.

First, arm length data, motor encoder resolution data, and drive shaft servo gain data are read into the memory 4 from the mechanism data setting means 11 of the robot body 2 (step 4). 100 to step 102), the type of the robot body 2 is determined as described above (step 10).
3).

Here, as a safety function, if the teaching data relating to the work position has already been registered in the memory 4, the CPU 3 provides the teaching data, the arm length data, and the motor encoder. Then, it is determined whether the model of the robot body 2 matches the teaching data (step 104).

For example, taking an orthogonal robot as an example,
A work position of 800 mm in the X direction and 700 mm in the Y direction from the origin position of the robot main body 2 has already been registered as teaching data in the memory 4 of the control device 1. And a Y-axis 300 mm orthogonal robot is connected, this orthogonal robot is 800 mm in the X direction, which is the working position of the registered teaching data.
It cannot operate up to 700 mm in the Y direction. To prevent this from happening, step 104
The following operation is performed.

That is, when it is determined in step 104 that the teaching data already registered and the model of the robot main body 2 are not matched, the movable range of the teaching data and the robot main body 2 is mismatched. This is notified to the user by the display 8 of the control device 1. As a result, if the user wants to reconnect to the robot body 2 corresponding to the registered teaching data (step 10).
5) After waiting for the connection of the new robot body 2 (step 107), the processing from step 100 is started again on the new robot body 2, and the user enters the teaching data already registered. If it is not necessary to reconnect to the matching robot main body 2 (step 105), the registered teaching data is cleared, and a new teaching data is input (step 106). The determination in step 104 is performed on the new teaching data.

If the teaching data matches the model of the robot body 2 or if the teaching data matches the model of the robot body 2 as described above, the mechanism data setting means 11 The arm length data, motor encoder resolution data, and drive axis servo gain data read from the memory 4 are respectively set in the data setting section in the common part of the control program in the memory 4 (step). 108). As a result, the currently connected robot body 2 to be controlled is
Is completed and the robot body 2
Button control is started (step 109).

As described above, even if various types of robot main bodies 10 are connected to the same control device 1, it is possible to automatically determine the type and control.

Next, using a two-axis orthogonal robot composed of two orthogonal linear motion units as an example, a specific structure of the mechanism data setting means 11 in FIG. 1 and an example of a method of connecting the mechanism data setting means 11 to the control device 1 will be described. 3 will be described. However, 11a, 11b
Are the first stage, the second stage, and the first stage of the mechanism data setting means 11, respectively.
Reference numerals 2 and 13 denote transmission composite cables, and portions corresponding to those in FIG.

In FIG. 1, the mechanism data setting means 11 comprises a first stage 11a and a second stage 11b, and the first stage mechanism data setting means 11a has, for example, one straight line moving in the X direction. The mechanism data for the moving unit is set in the second-stage mechanism data setting unit 11b, for example, for the other linear unit moving in the Y direction. The first-stage mechanism data setting unit 11a and the second-stage mechanism data setting unit 11b are connected by a transmission composite cable 13, and the first-stage mechanism data setting unit 11a and the control device 1 are connected by a transmission composite cable 12 Connected by These transmission composite cables 12,
Reference numeral 13 denotes an input / output address bus, an input / output data bus, a transmission line for a motor encoder pulse signal, and the like.

As shown in the figure, when the mechanism data setting means 11 is connected to the control device 1, first, the mechanism data in the X direction set in the first-stage mechanism data setting means 11a is transmitted through the transmission composite cable 12. The mechanism data in the Y direction set in the mechanism data setting means 11b of the second stage is read by the controller 1 via the
The data is read into the control device 1 via the control units 3 and 12.

FIG. 4 is a block diagram showing one specific example of the mechanism data setting means 11a and 11b at the first and second stages in FIG.
b and 13b are data buses, 14A and 14B are address operation circuits, 15A and 15B are data bus switching decision circuits,
6A, 16B, 17A and 17B are data bus switching circuits,
Reference numerals 18A, 18B, 19A, 19B, 20A, and 20B denote data storage means, and 21, 22a and 22b denote data buses, and portions corresponding to the above-mentioned drawings are denoted by the same reference numerals.

In the figure, the first-stage mechanism data setting means 11a and the second-stage mechanism data setting means 11b have the same configuration. First, the first-stage mechanism data setting means 11a will be described. Stage mechanism data setting means 1
As for 1b, only the parts unique thereto will be described. In the mechanism data setting means 11a and 11b, those having the same numerals in the attached reference numerals are the same circuits and means.

In the first stage mechanism data setting means 11a, via the address bus 12a of the transmission composite cable 12,
An address signal is supplied from the external data reading means 7 of the control device 1, and mechanism data is supplied to the external data reading means 7 via the data bus 12 b of the transmission composite cable 12. Here, the address signal has a 7-bit parallel configuration, the least significant bit is A0, and the most significant bit is A6.
(A0, A1, A2, A3, A4, A5, A6).

On the other hand, the drive axis servo gain data SD, which is one of the mechanism data, is stored in the data storage means 18A composed of a ROM or the like. Parallel 5 of (D0, D1, D2, D3, D4) with the most significant bit as D4
Bit data. As the address signal of the data storage means 18A, the upper 4 bits (A3, A4, A4) of the address signal input via the address bus 12a are used.
5, A6) are used. The drive axis servo gain data SD is supplied to the data bus switching circuit 17A.

The data storage means 19A and 20A are, for example, dip switches and the like.
Motor encoder resolution data MD is set in 9A, and arm length data LD is set in data storage means 20A. Here, motor encoder resolution data MD is stored in data storage means 19A as 2-bit parallel data representing the most significant digit, and arm length data LD is also stored in data storage means 20A as 3-bit parallel data representing the most significant digit. Have been. The motor encoder resolution data MD and the arm length data LD are combined with the former as lower bits and the latter as upper bits to form data of a 5-bit parallel configuration.
A. Here, the data (D0 is the least significant bit, and D4 is the most significant bit (D
0, D1, D2, D3, D4), the data (D0, D1) is the motor encoder resolution data M
D, and data (D2, D3, D4) is arm length data LD. For example, if the number of pulses at the motor encoder resolution is 1000 and the arm length is 300 mm, the motor encoder resolution data MD is (1, 0) and the arm length data LD is (1, 1, 0).

When the A2 bit of the input address signal is 0, the data bus switching circuit 17A selects the drive axis servo gain data SD from the data storage means 18A,
When the A2 bit is 1, the data storage means 19A, 20A
And outputs the combined data of the arm length data LD and the motor encoder resolution data MD to the data bus 21.

The data bus switching circuit 16A is controlled by the output of the data bus switching determining circuit 15A, and the data bus 21 and the data bus of the transmission composite cable 13 connected to the second stage mechanism data setting means 11b. 13b is selected. Data bus switching decision circuit 1
5A is composed of, for example, a NOR gate. Here, when the output of the data bus switching decision circuit 15A is 1, that is, A0,
A1 bits are both 0 (that is, (A0, A1) = (0,
In the case of 0)), the data bus switching circuit 16A selects the data bus 21 side, otherwise, the data bus switching circuit 16A selects the data bus 13b side.

Looking at the address values (A0, A1, A2) of the input address signals, the CPU 3 uses the external data reading means 7 to determine when the address value is 0.
When the drive axis servo gain data SD of the data storage means 18A can be read via the data bus switching circuit 17A, the data bus 21, the data bus switching circuit 16A, and the data bus 12b. ,
The arm length data LD and the motor encoder resolution data MD of the data storage means 19A and 20A can be read via the data bus switching circuit 17A, the data bus 21, the data bus switching circuit 16A and the data bus 12b.

As described above, the CPU 3 first fixes the address value (A0, A1, A2) to the value 0 and changes the address value (A3, A4, A5, A6) from the value 0 to 1, 2, 2,
By changing to 3,...
A sequential address of A is accessed to read the drive axis servo gain data SD of the first stage mechanism data setting means 11a. Next, the CPU 3 determines the address value (A0, A1,
A2) is fixed at a value of 4 (that is, the A2 bit is 1), and the arm length data LD and the motor encoder resolution data MD of the first stage mechanism data setting means 11a are read.

As described above, first, the CPU 3
The drive axis servo gain data SD, arm length data LD, and motor encoder resolution data MD of the mechanism data setting means 11a at the stage can be read, and thereafter, the address value (A0, A1) is changed to the value 2 (that is, the value 2). , A1 bits are fixed to 1). As a result, the output of the data bus switching decision circuit 15A becomes 0, and the data bus switching circuit 16A
Selects the data bus 13b, and the drive shaft servo gain data S of the second stage mechanism data setting means 11b.
D, arm length data LD, and motor encoder resolution data MD can be read.

In order to read the mechanism data of the second-stage mechanism data setting means 11b in the same manner as the first-stage mechanism data setting means 11a, the first-stage mechanism data setting means 11a.
, The input address signals (A0, A1, A
2, A3, A4, A5, A6) are the address operation circuit 1
4A, the value of the lower two bits (A0, A
1 is subtracted from 1). The 7-bit address signal thus processed is transmitted to the second stage mechanism data setting unit 1 via the address bus 13a of the transmission composite cable 13.
1b.

As described above, when the data switching circuit 16A selects the data bus 13b, the address value (A0,
A1) is other than 0, and the address value (A0, A
When 1) is 1, the address value (A0, A1) on the address bus 13a obtained by subtracting 1 from this is 1-1 = 0. Accordingly, in the second stage mechanism data setting means 11b, the output of the data bus switching decision switching circuit 15B becomes 1, and the data bus switching circuit 16B outputs the data bus switching circuit 1B.
7B is selected as the data bus 22a. Therefore, the address (A2, A3, A
As (4, A5, A6) changes to 0, 1, the drive shaft servo gain data SD of the data storage means 18B and the motor encoder resolution of the data storage means 19B, similarly to the first stage mechanism data setting means 11a. The data MD and the arm length data LD of the data storage means 20B are taken out to the data bus 13b via the data switching circuit 17B, the data bus 22a, and the data switching circuit 16B. Further, these mechanism data are read into the CPU 3 via the data switching circuit 16A in the mechanism data setting means 11a of the first stage and further via the data bus 12b.

In the above operation, the arm length is 300 m
When the number of motor encoder pulses is 1000 at m, the pulse CPU 3 sets the combined data of the motor encoder resolution data and the arm length data as (1, 0, 1, 1, 0), that is, -The encoder encoder resolution data is read as value 1 and the arm length data is read as value 3. These are calculated and the arm length is set to 300 mm and the number of motor encoder pulses is set to 1
000 pulses are calculated, and based on this, it is determined whether or not the above teaching data matches the model of the robot body 2.

As described above, the mechanism data of the first-stage mechanism data setting means 11a and the second-stage mechanism data setting means 11b are sequentially read into the CPU 3. When the address value on the data bus 13a is (A0, A1), the value becomes 1, and therefore, the address value on the data bus 12a becomes (A
(0, A1) becomes the value 2, the data bus switching circuit 16B of the second stage mechanism data setting means 11b sets the data bus 22
Select b. However, the data bus 22b has only 5-bit data with a value of 0, so that the CPU 3 reads only the data with a value of 0. When only the data having the value 0 is read in this way, the CPU 3 determines that all the mechanism data has been read, ends the reading operation of the mechanism data, and proceeds to the operation of determining the matching with the previous teaching data.

The CPU 3 always monitors the above address values (A0, A1) on the data bus 12a, and when this value becomes 2, the operation shifts from reading the mechanism data to the matching judging operation. Is also good.

As described above, the arm length, the number of motor encoder pulses, the number of drive axes, and the like of the robot body 2 connected to the control device 1 can be automatically determined.

Each mechanism data setting means 11a, 11b
Have the same configuration and use the same circuit, and the respective circuits constituting the respective mechanism data setting means 11a and 11b can be integrally formed on a printed circuit board. The same printed circuit board can be used for the means 11a and 11b, and the productivity and the like can be improved.

Although the embodiment of the present invention has been described above, the present invention is not limited to only the embodiment. For example, the data storage means 19A and 19B shown in FIG.
A and 20B store the arm length data in only the most significant digit, respectively, in order to reduce the number of bits so that these data storage means can be downsized. If there is no need to limit the number, a value with the same arm length (for example, 300 for 300 mm) and a value with the same number of motor encoder pulses (for example, 1000 for 1000 pulses) are set. It may be.

The above numerical values are merely examples.

Further, in the above embodiment, the description has been given by taking the two-axis orthogonal robot as an example. However, the present invention is not limited to this, and it is also applicable to other types of robots such as articulated robots. Not even. In this case, when the robot body 2 has n movable units to be controlled, n mechanism data setting means as shown in FIG. 4 may be provided in cascade.

[0049]

As described above, according to the present invention,
The drive control of a multi-model robot can be automatically performed without any change by the same control device. As a result, when a plurality of types of robot systems are constructed, it is possible to obtain effects such as common use of the control device, simplification of model switching, and prevention of incorrect setting of the robot model.

Also, a plurality of control data are stored in the control device.
Since the control program for each model is stored without providing a storage unit for the data, the capacity of the control program storage unit can be reduced, and effects such as reduction in the price of the control device can be obtained.

[Brief description of the drawings]

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

FIG. 2 is a flowchart showing the operation of the embodiment shown in FIG.

FIG. 3 is a structural diagram showing one configuration example when the robot body is a two-axis orthogonal robot in the embodiment shown in FIG. 1;

4 is a mechanism data setting means and external data in FIG. 1;
FIG. 3 is a circuit diagram showing a specific example of a data reading unit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Control device 2 Robot main body 3 CPU 4 Memory 5 Motor drive circuit 6 Pulse counter circuit 7 External data reading means 8 Display 9 Driving motor 10 Motor pulse encoder 11, 11a, 11b Mechanism data Data setting means 12, 13 Transmission composite cable 12a, 13a Address bus 12b, 13b Data bus 14A, 14B Address operation circuit 15A, 15B Data bus switching decision circuit 16A, 16B, 17A, 17B Data bus switching circuit 18A, 18B , 19A, 19B, 20A, 20B Data storage means 21, 22a, 22b Data bus

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hironao Kamagai 800 Tomita, Odaira, Ohira-machi, Shimotsuga-gun, Tochigi Prefecture, Ltd. Living Equipment Division, Hitachi, Ltd. Japanese Unexamined Patent Publication No. Hei 5-3244051 (JP, A) Japanese Unexamined Patent Publication No. Sho 59-229614 (JP, A) Japanese Unexamined Patent Publication No. 5-46231 (JP, A) Japanese Unexamined Patent Publication No. 5-123988 (JP, A) (58) Int.Cl. ⁷ , DB name) B25J 3/00-3/04 B25J 9/10-9/22 B25J 13/00-13/08 B25J 19/02-19/06 G05B 19/18-19/46

Claims (4)

(57) [Claims] 1. An industrial robot in which various types of robot bodies can be selectively connected to a control device, and the connected robot bodies are controlled by the control device. The arm length of the robot body, motor encoder resolution,
Drive shaft Sa - Bogei down de - mechanism de a data - mechanism data is set de - have data setting means, the control apparatus, the mechanism data of the connected the robot body to - data set External data reading means for reading mechanism data set in the means, storage means for storing a common control program for controlling each robot body connected to the control device, and reading by the external data reading means The mechanism data
The judges the model of the robot body, which is connected to the control device on the basis of the said mechanism data according to the determination result
Set to the common control program and
An industrial robot, comprising: a control unit that completes a control program, and controls and operates the robot main body connected to the control device by the completed control program. 2. The control device according to claim 1, wherein the control device has a display unit, and the control unit compares the previously set teaching data with the mechanism data read by the external data reading unit. when the robot body that is connected to the control device determines whether or not matching to the teaching data, and matching, the co this mechanism data
The completed control obtained by setting in a common control program
An industrial robot which controls the robot main body connected to the control device to operate by a control program , and when the matching is not performed, the display means is driven to display that the matching is not performed. . 3. The mechanism data setting means according to claim 1, wherein said mechanism data setting means is provided for each drive shaft of said robot body and is cascade-connected to each other. Means for storing mechanism data for the drive shaft, and converting the mechanism data from the data storage means and the mechanism data from the data storage means of the next stage mechanism data setting means in accordance with the value of an input address signal Data bus switching means for selectively supplying the mechanism data setting means of the immediately preceding stage to the mechanism data setting means, and an address which is to be subjected to arithmetic processing on the input address signal to be used as an input address signal of the mechanism data setting means of the next stage. An industrial robot, comprising: arithmetic means, wherein an input address signal of the first stage mechanism data setting means is supplied from the control device. 4. The industrial robot according to claim 3, wherein the data bus switching means and the address calculation means in each of the mechanism data setting means are electric circuits having the same configuration as each other.