JP5402750B2 - Robot system - Google Patents

Description

The present invention relates to a robot system.

When teaching an operation program online for a teaching playback type robot, the teaching device is connected to the robot control device, and the operator operates the teaching device while changing the position and orientation of the robot. A general method is to memorize appropriate teaching points.

In recent years, a wireless teaching device has been disclosed in which a teaching device and a robot control device communicate with each other wirelessly and a cable for connecting the two is not required (for example, Patent Document 1).

JP 2006-341356 A

However, in the wireless teaching device, the power supplied from the robot control device in the case of wired communication is not supplied. Therefore, since the battery is built in as a power source and the wireless communication means is also built in the teaching device, the size and weight are increased. For this reason, there is a problem that a burden is imposed on the work, even though there is a merit that the worker can move more freely than wired by wireless.
In addition, when a user uses a wired teaching device, the user replaces the wireless teaching device and uses the wired teaching device.
Accordingly, an object of the present invention is to provide a robot system that does not impose a burden on the operator due to the wireless connection and easily realize the wireless connection.

In order to solve the above problems, the present invention is configured as follows.
The present invention includes a robot, a teaching device used for teaching and operation of the robot, and a robot controller connected to the robot and the teaching device to control the robot, the teaching device including the teaching device Is a separate system that performs wireless communication with the robot control device via a wireless device connected to the teaching device through a cable.
Further, according to the present invention, the teaching device includes a wired connection type teaching device, and the wireless device converts a signal received from the teaching device via the cable and transmits the signal to the robot control device side. And a battery for supplying power to the teaching device.
Also, the present invention is characterized in that the wireless device includes means for presenting the remaining amount of the battery and means for presenting that the remaining amount has become a predetermined amount or less.
In the present invention, the wireless device includes a mechanism that is attached to an operator.
Also, the present invention is characterized in that the wireless device includes a power switch and display means for presenting a wireless communication state.
Further, the present invention is characterized in that the wireless device has the power switch and display means for presenting the wireless communication state arranged on the upper surface side thereof.
Further, the present invention includes a second wireless device connected to the robot control device side, and the second wireless device becomes effective by removing a key inserted into a key switch, and the wireless device The converting apparatus includes a key switch, and the function is enabled by inserting the key into the key switch.

According to the present invention, by using a separation-type wireless teaching device, it is possible to easily realize wireless communication without reducing the workability of the teaching device.

The schematic diagram which shows the structure of the robot system which concerns on 1st Embodiment of this invention. Top view of the wireless device according to the embodiment Internal block diagram of wireless device and teaching device according to same embodiment Diagram showing the robot system's wired / wireless transition procedure, etc. The figure which shows the procedure at the time of teaching and reproduction of the work program

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, about the same structure and element, the overlapping description is abbreviate | omitted suitably by attaching | subjecting the same code | symbol.

<First Embodiment>
First, the configuration of the robot system according to the first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a schematic diagram showing the configuration of the robot system according to the first embodiment of the present invention.

As shown in FIG. 1, a robot system according to this embodiment includes a robot 1, a robot control device 2 connected to the robot 1 to control the robot, a teaching device 3 that is held and used by an operator, and a teaching device. 3 and a teaching device wireless device 4 that performs wireless communication with the robot control device side.
Further, a robot control device wireless device 5 is connected to the robot control device 2 via a connector 23. The connector 23 is a connector used when the teaching device and the robot control device 2 are connected by a cable. The robot control device wireless device 5 is connected to the connector 23 in place of the teaching device, receives wireless communication from the teaching device wireless device 4 and converts it into an electrical signal for the robot control device to convert the robot control device 2. To output. Hereinafter, the teaching device wireless device 4 is simply referred to as a wireless device.

The robot 1 in FIG. 1 is an example of a vertical articulated robot in which a spot welding gun 11 is attached to the hand portion. The robot has built-in actuators for driving the joint axes, and the robot operates by controlling the actuators by the robot controller 2 to perform various operations. In the example of FIG. 1, a servo motor is used as the actuator.
The robot 1 can change the tool attached to a hand part suitably according to uses, such as welding, handling, conveyance, and is not limited to the example shown in the present Example. Furthermore, the form of the robot is not limited to the vertical articulated type, and may be a horizontal articulated type or a closed link type.

The robot control device 2 controls the operation of the servo motor of each joint of the robot 1 and is connected to the robot 1 by a cable 21. The cable 21 incorporates a power line for supplying driving power to the servo motor and communication lines for various sensors attached to the servo motor for feedback control of the servo motor.
Although not shown, the robot control device includes a power supply unit, a control unit, a storage unit, and the like, and stores a taught work program and parameters necessary for controlling the robot.
The robot control device 2 is generally provided with an emergency stop switch 22 for urgently stopping the robot 1. In an emergency, the operator can press the emergency stop switch 22 to cut off the servo motor power supply and control power supply of the robot 1 in operation, and the robot 1 can be immediately stopped.

The teaching device 3 includes a plurality of operation keys 31, a display screen 32 using an LCD or the like, an enabling switch, and an emergency stop switch 33 as with the robot control device 2.
The display screen 32 may be used as a touch panel, and the display screen 32 may have a function equivalent to that of the operation key 31 by touching a software key displayed on the screen.
Although not shown, the teaching device 3 includes a mechanism called a deadman switch. The deadman switch is provided at a position where an operator grips the teaching device during teaching work or the like, and the operation of the teaching device 3 is effective only while the switch is gripped. Even if the operator presses the operation key 31 unintentionally, it is a mechanism for avoiding danger such as sudden movement of the robot by invalidating the operation.

The operator operates the actuator (servo motor) of the robot 1 with the operation key 31 during the teaching operation to bring the robot 1 into an appropriate position and orientation, and then uses the position as a teaching point in the storage unit of the robot controller 2. Memorize and proceed with teaching work programs. The display screen 32 can display information such as the position of each joint of the robot 1, the position of the hand, and the values of various parameters, and the contents of the taught work program.
The teaching device 3 in the present embodiment has the same structure as that of a system connected to the robot control device 2 by a cable. That is, a wireless communication unit with the robot control device 2 and a heavy battery are not incorporated. According to the present embodiment, the wireless communication function can be realized without newly introducing a teaching device incorporating the wireless communication function.

The wireless device 4 includes a wireless communication unit that performs wireless communication with the robot control device 2 and a battery that serves as a power source for the wireless device 4 and the teaching device 3, and is connected to the teaching device by a cable 41. . The cable 41 has the same configuration as that used when the teaching device 3 is connected to the robot control device 2, and includes a communication line with the robot control device 2 and a power line for supplying power to the teaching device 3. Yes. However, the cable length may be shorter than that when the cable is connected to the robot controller 2.
The wireless device 4 includes a connector 42 for connecting the cable 41 to the outer surface thereof, a power switch for turning on the power of the wireless device 4 and the teaching device 3, an LED for displaying the operation status of the wireless device 4, and the like. The switches and LEDs of the wireless device 4 will be described later. Further, the wireless device 4 includes an attachment mechanism 43 for attaching the wireless device 4 to a part of clothes such as an operator's waist belt. The attachment mechanism 43 has a clip shape, for example, and can be opened and closed in the direction of the arrow shown in FIG.

  In the present embodiment, the wireless device 4 is connected to the teaching device 3 by a cable 41, and is taught by holding the main body by the operator's waist and shoulders by sandwiching the operator's waist belt 44 by the attachment mechanism 43. The teaching device can be wirelessly connected without increasing the weight or size of the device. Therefore, the burden on the operator who holds the teaching device does not increase due to the wireless teaching device, and it is not necessary to newly introduce a teaching device having a built-in wireless communication function, so that the cost can be reduced.

Next, the configuration of the wireless device 4 will be further described with reference to FIGS. 2 and 3.
FIG. 2 is a top view of the wireless device 4. Display units such as switches and LEDs are arranged on the upper surface. With this arrangement, it is possible to easily confirm the operation and the state if the operator lowers the line of sight when the operator fixes the wireless device to the waist belt.
The four corners of the casing of the wireless device 4 have rounded shapes so that they are not caught or damaged by the operator's clothes and peripheral equipment. In addition to the attachment mechanism 43, a belt hook 417 is provided, and instead of using the attachment mechanism 43 by connecting both ends of the belt, the wireless device 4 can be hung on the shoulder of the operator.
When the wireless device 4 is used, the cable 41 is first connected to the connector 42. Subsequently, the key 411 is inserted into the key switch 410. The key switch 410 is a switch for making the wireless device 4 usable. When the key 411 is not inserted, the power is not turned on even if the power switch of the wireless device 4 is operated.

Although not shown, the robot controller wireless device 5 is also provided with a key switch into which the key 411 can be inserted. In contrast to the wireless device 4, the control device wireless device 5 can perform wireless communication by removing the key 411 from the key switch.
When establishing wireless communication between the wireless device 4 and the robot control device wireless device 5, the key 411 inserted in the robot control device wireless device 5 is removed and the wireless device 4 side is disconnected. The key switch 410 is inserted. By taking such a procedure, the pair of the wireless device 4 and the wireless device for robot control device 5 is managed, and the teaching device 3 and the robot control device are mistakenly combined in a work line where a plurality of robot control devices exist. 2 wireless communication is not performed.

When the power switch 412 is pressed while the key 410 is inserted in the key switch 411, power is supplied to the wireless device 4 and the teaching device 3 by the built-in battery, and both are activated. When the power is turned on, the power state LED 413 is turned on to indicate to the operator that the power is on. Further, the battery status is displayed to the operator by the battery remaining amount display 416. When the remaining battery level is low and the battery level falls below a predetermined level, the power status LED 413 is flashed or an electronic sound is emitted to notify the operator. Further, a motor may be built in the wireless device 4, and the operator may be notified by vibrating the wireless device 4 by the motor. Further, a warning may be displayed on the display screen 32 of the teaching device 3 via the cable 41, or the robot control device side may be notified via wireless communication.
The battery 424 can be removed from the wireless device 4 and can be easily replaced if a warning that the remaining battery level is low is displayed.
The battery can be charged by removing it from the wireless device 4 and connecting it to a charger, or by connecting an AC adapter (not shown) to the wireless device 4 while attached to the wireless device 4. .
Further, when replacing the battery, even if the exhausted battery is removed from the wireless device 4, the wireless device 4 and the teaching device 3 are supplied with power such as a capacitor so that power is supplied to the wireless device 4 and the teaching device 3 for several minutes. You may make it provide the next electrical storage apparatus. With this configuration, the battery can be replaced while the energized state is maintained, and it is not necessary to shut down or turn on the power of the entire robot system for battery replacement, so that work efficiency is not impaired. . Alternatively, the wireless device 4 may be provided with a plurality of battery attachment portions, and a worn battery may be removed after a new battery is attached to an empty battery attachment portion.

Immediately after activation, the wireless device 4 performs activation sequence processing via wireless communication with the robot control device 2, and when normal activation is performed, the communication normal state table LED 414 is turned on to indicate to the operator that it is in a normal state.
FIG. 3 is an internal block diagram showing a portion related to the exchange of signals between the teaching device 3 and the wireless device 4. The wireless device 4 includes two equivalent CPUs 421 and 422 for transmitting switch states such as the emergency stop switch 33 and the enabling switch 312 on the teaching device 3 to the robot controller 2 via the wireless communication unit 425. Yes. The emergency stop signal of the teaching device 3 is duplicated so as to be surely transmitted to the robot control device 2, and each is transmitted to the CPUs 421 and 422. These CPUs monitor each other through the shared memory 423. Reference numeral 424 denotes a battery, which supplies power to the teaching device 3 and the wireless device 4 by turning on the key switch 410 and the power switch 412 as described above.

  When the power is turned on, the CPU 421 confirms the normal activation of the CPU 422, and further confirms the normal activation of the CPU 310 of the teaching device 3, and then executes the activation sequence process with the robot control device 2 via wireless communication, thereby normally starting each device. Is confirmed, the communication normal state display LED 414 is turned on. When the LED 414 is turned on, the wireless device 4 is normally activated to establish communication with the robot control device 2 and the teaching device 3, and the operator is notified that the robot control device 2 can be operated by the teaching device 3. . Note that the LED 414 is lit only when the CPU 421 and the CPU 422 monitor the state of each other and both output normal signals.

On the other hand, if any device does not start normally for some reason when the power is turned on and wireless communication cannot be established, the communication abnormal state display LED 415 is turned on and presented to the operator. Note that the LED 415 lights up when the CPU 421 and the CPU 422 monitor the state of each other, and one of the LEDs 415 detects the abnormality of the other.
When a green LED is used for the communication normal state display LED 414 and a red LED is used for the communication abnormal state display LED 415, the wireless communication state between the teaching device 3 and the robot control device 2 can be presented to the operator in an easily understandable manner.

4 and 5 show a state in which a normal wired connection type teaching device is used and a state in which wireless communication as shown in FIG. 1 is used and wireless communication is established. It is a figure which shows the procedure of an operation, and a sequence at the time of performing teaching work by or performing execution of a work program after teaching. In FIG. 4, the robot control device 2 is simply expressed as a control device.
4, a portion A surrounded by a dotted line is a state in which the teaching device 3 and the robot control device 2 are wirelessly connected as shown in FIG. 1 from the state where the teaching device 3 and the robot control device 2 are connected by cable. This is an operation procedure on the robot control device side when shifting to step (b).
A portion B surrounded by a dotted line is an operation procedure on the teaching device side, and has already been described in the description of the wireless device 4.
The portion C surrounded by a dotted line indicates that the wireless communication is interrupted due to a wireless failure or battery exhaustion after the wireless communication is established between the teaching device 3 and the robot control device 2, or due to a power failure or the like. The sequence in the case of being performed is shown.
Further, a portion D surrounded by a dotted line shifts from the state where the teaching device 3 and the robot control device 2 are wirelessly connected as shown in FIG. 1 to the state where the teaching device 3 and the robot control device 2 are connected by cable. The procedure is shown.

  In FIG. 5, after the wireless communication is established between the teaching device 3 and the robot control device 2, the teaching device 3 teaches (teaches) a work program to the robot or calls the taught work program to reproduce (playback). ) Shows the procedure for making it happen. At the time of teaching, when the worker releases the deadman switch, the power supply of the servo motor is automatically shut off. If the emergency stop switch on the robot control device 2 or the teaching device 3 is pressed during the reproduction of the work program, the power of the servo motor is similarly cut off.

DESCRIPTION OF SYMBOLS 1 Robot 2 Robot control apparatus 3 Teaching apparatus 4 Wireless apparatus 5 Wireless apparatus 11 for robot control apparatuses Spot welding gun (tool)
21 cable 22 emergency stop switch 23 connector 31 operation key 32 display screen 33 emergency stop switch 41 cable 42 connector 43 attachment mechanism 44 operator's waist belt 310 CPU
311 Emergency stop device 312 Enabling switch 410 Key switch 411 Key 412 Power switch 413 Power status LED
414 Normal communication status display LED
415 Abnormal communication status display LED
416 Battery remaining amount display 417 Belt hook 421 CPU
422 CPU
423 Shared memory 424 Battery 425 Wireless communication unit

Claims (6)

A robot, a teaching device gripped and used by an operator for teaching and operation of the robot, and a robot controller connected to the robot and the teaching device to control the robot,
The teaching device includes:
The said teaching device a separate, have rows wireless communication between the robot control device via the wireless apparatus connected to the teaching device through a cable,
The wireless device includes:
A robot system comprising: a battery for supplying power to the teaching device through the cable; and a mechanism for attaching the wireless device to the worker . The teaching device includes:
The robot system according to claim 1, wherein the robot system is a wired connection teaching device. The wireless device includes:
Robot system according to claim 1 or 2, characterized in that Ru and means for presenting the remaining capacity of the battery, and means for presenting that the remaining amount is equal to or less than a predetermined amount. The wireless device includes:
Robot system according to claim 1, 2 or 3 to a power supply switch, comprising: a display means for presenting a radio communication state. The wireless device includes:
Robot system according to claim 4, characterized in that arranged with the power switch, and a pre-Symbol Display means on its upper surface. A second wireless device connected to the robot controller side;
The second wireless device is :
The function is enabled by removing the key inserted in the key switch.
The wireless device includes:
With the key switch, the robot system according to any one of claims 1-5 wherein said key, characterized in that the function by being inserted into the key switch becomes effective.

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