JPH0335993A - Robot system - Google Patents
Robot systemInfo
- Publication number
- JPH0335993A JPH0335993A JP17053989A JP17053989A JPH0335993A JP H0335993 A JPH0335993 A JP H0335993A JP 17053989 A JP17053989 A JP 17053989A JP 17053989 A JP17053989 A JP 17053989A JP H0335993 A JPH0335993 A JP H0335993A
- Authority
- JP
- Japan
- Prior art keywords
- pattern
- current value
- computor
- analog
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 abstract description 10
- 230000002159 abnormal effect Effects 0.000 abstract description 4
- 230000005856 abnormality Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、種々の自動搬送装置等自動的に作動するロ
ボットシステムに関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to robot systems that automatically operate, such as various automatic conveyance devices.
例えば自動試料分析装置では、多数の試料を分析する場
合、試料バイアルをランクに並べ、Ｘ、Ｙ、Ｚ方向に移
動可能なロボットハンドで順次−つづつピックアンプし
て試料導入部へ移動させ、自動試料注入装置で試料を注
入し採取済みの試料バイアルはストンクヤードへ搬送さ
せるというシステムになっている。これら一連のシーケ
ンスはプログラムソフトにより中央演算処理装置（ＣＰ
Ｕ〉で動作させるようになっている。For example, in an automatic sample analyzer, when analyzing a large number of samples, sample vials are arranged in ranks, and a robot hand that can move in the X, Y, and Z directions sequentially picks up and moves them to the sample introduction section. The system uses an automatic sample injection device to inject the sample, and the collected sample vial is transported to the stonk yard. These sequences are executed by the central processing unit (CP) using program software.
It is designed to operate with U>.
上記するようなロボットシステムでは各１Ｉｆｉ部分が
正常に作動しているかどうか監視するシステムはなく、
問題（故障等）が生して初めて個別に各１威部を検査し
て対応していた。しかしこのように個別に対応していた
のではシステムが変わる毎に検査や動作確認方法を考え
設計する手間が必要であり、コストもかかる。この発明
はかかる課題を解決するためになされたものであり、そ
の目的とするところはロボットシステムが正常に動作し
ているかどうかを標準化することにより故障箇所を素早
く見つけ出すシステムを提供することにある。In the above-mentioned robot system, there is no system to monitor whether each 1 Ifi part is operating normally.
Only after a problem (breakdown, etc.) occurred was each part individually inspected and dealt with. However, if this was done individually, it would be necessary to consider and design inspection and operation confirmation methods each time the system changes, which would also increase costs. This invention has been made to solve such problems, and its purpose is to provide a system that quickly locates failure points by standardizing whether a robot system is operating normally.
即ち、この発明は上記する課題を解決するために、ロボ
ットシステムが、構成機器の全ての駆動源を一つの電源
から取り出すように連結すると共に該−つの配線の途中
に電流値検出回路を設け、更に該電流値検出回路をアナ
ログ・デジタル変換回路を介して正常運転の電流変化の
パターンを記憶させるようにしたコンピュータに接続し
運転状態を監視させることを特徴とする。That is, in order to solve the above-mentioned problems, the present invention provides a robot system in which all the drive sources of the component devices are connected so as to be extracted from one power source, and a current value detection circuit is provided in the middle of the two wirings, Furthermore, the current value detection circuit is connected via an analog-to-digital conversion circuit to a computer that stores patterns of current changes during normal operation to monitor the operating state.
正常運転時の各機器の電流値を検出し、この時のアナロ
グで表される電流値のパターンをアナログ・デジタル変
換回路によってデジタルに変換し、コンピュータに記憶
させる。次に通常の運転を行い、コンピュータに記憶さ
せているパターンとこの運転時のパターンを該コンピュ
ータに比較させる。オペレータとの対話プログラムを用
意し、記憶させたパターンと現在のパターンとを常に比
較すれば、若しパターンが変化しシステムのどこかに異
常が生じた場合それはどの周辺機器かどの動作の時か等
を直ちに監視することが出来る。The current value of each device during normal operation is detected, and the current value pattern expressed in analog at this time is converted into digital by an analog-to-digital conversion circuit and stored in a computer. Next, normal operation is performed, and the computer is made to compare the pattern stored in the computer with the pattern during this operation. By preparing an interaction program with the operator and constantly comparing the memorized pattern with the current pattern, if the pattern changes and an abnormality occurs somewhere in the system, it will be possible to determine which peripheral device it is in and when it is operating. etc. can be immediately monitored.
以下、この発明の具体的実施例について説明する。ロボ
ットシステムｌでは第１図に示すようにメインとなる槽
底部分、例えばロボットハンド１１を意図するように作
動させるため搬送装置１２や種々の周辺機器１３．１４
、・・・・・・−・−１７等が配置されシステムを構成
している。これらのシステム機器は殆ど電気を動力源と
しているのでこれら種々の機器の電源２を１ケ所にまと
めこの間に電流検出回路３を接続する。Hereinafter, specific examples of the present invention will be described. In the robot system l, as shown in FIG. 1, in order to operate the main tank bottom part, for example, the robot hand 11, as intended, a transfer device 12 and various peripheral devices 13, 14 are used.
, . . . -17, etc. are arranged to constitute the system. Since most of these system devices use electricity as a power source, the power sources 2 of these various devices are combined into one place, and the current detection circuit 3 is connected between them.
通常、ロボットシステムでは全て一定の電流が流れてい
るのではなく、各機器の動作シーケンスに従い流れる電
流は変化する。例えばロボットハンド１１が動作してい
る場合その分の電流が増加し、停止するとこのロボット
ハンド分の電流は減少する。更に搬送装置１２が動作し
ている場合と周辺機器１３が動作している場合とでもな
がれる電流は異なるし、また同時に複数の周辺機器が動
作している場合も異なる電流が流れている。このように
流れる電流は搬送装置や周辺機器の動きに合わせて変化
するのが普通である。Normally, in a robot system, a constant current does not flow throughout the robot system, but the current that flows changes according to the operating sequence of each device. For example, when the robot hand 11 is operating, the current corresponding to the robot hand increases, and when the robot hand 11 stops, the current corresponding to the robot hand decreases. Furthermore, different currents flow when the transport device 12 is operating and when the peripheral equipment 13 is operating, and different currents flow when a plurality of peripheral equipment is operating at the same time. The current that flows in this way usually changes in accordance with the movement of the transport device or peripheral equipment.
ロボットシステムでは動作順序はほぼ決まっている。従
ってロボットハンド１１、搬送装置１２、周辺機器１３
．１４、−・・・１７等の動作に従いその時の動作する
機器の電流値を検出すると第２図に示すように、パター
ン化することが出来る。そこで先ず正常運転時の各機器
の電流値を検出し、この時のアナログで表される電Ｆｆ
Ｌ値のパターンをＡ／Ｄ変換回路４によってデジタルに
変換し、パーソナルコンピュータ５に記憶させる。In a robot system, the order of operations is almost fixed. Therefore, the robot hand 11, the transfer device 12, the peripheral equipment 13
．． 14, . Therefore, first, the current value of each device during normal operation is detected, and the current value expressed in analog form at this time is Ff.
The L value pattern is converted into digital data by the A/D conversion circuit 4 and stored in the personal computer 5.
次に通常の運転を行い、パーソナルコンピュータ５に記
憶させているパターンとこの運転時のパターンを該コン
ピュータ５に比較させる。この際の比較する基準は、電
流値、動作時間であるが記憶させる値にはいずれもある
程度幅を持たせる必要がありこれらをパーソナルコンピ
ュータ５で比較出来るようオペレータとの対話プログラ
ムを用意する。而して記憶させたパターンと動作中のパ
ターンとを常に比較すれば、若しパターンが変化しシス
テムのどこかに異常が生じた場合それはどの周辺機器か
、或いはどの動作の時か等を直ちに察知することが出来
る。また、このようなシステムにおいて異常事態が生じ
た時自動的にシステムを停止させる機能を加えることも
勿論可能である。Next, normal driving is performed, and the computer 5 is made to compare the pattern stored in the personal computer 5 with the pattern during this driving. The standards to be compared at this time are the current value and the operating time, but it is necessary to have a certain range in the values to be stored, and an interaction program with the operator is prepared so that these can be compared on the personal computer 5. By constantly comparing the memorized pattern and the pattern in operation, if the pattern changes and an abnormality occurs somewhere in the system, you can immediately identify which peripheral device it is, or which operation it is in. It can be detected. Furthermore, it is of course possible to add a function to automatically stop the system when an abnormal situation occurs in such a system.
この発明にかかるロボットシステムは以上詳述したよう
な構成としたので、従来自動ロボットシステムで面倒で
あった故障や異常事態の発生箇所をただちに知ることが
出来る。しかも動作パタンを追跡する形を取っているの
で複雑な多数の周辺機器でシステムが構成されていても
どの搬送機器或いは周辺機器かを知ることが出来る。Since the robot system according to the present invention has the configuration as described in detail above, it is possible to immediately know the location where a failure or abnormal situation occurs, which was troublesome in conventional automatic robot systems. Moreover, since the system tracks the operation pattern, even if the system is configured with a large number of complex peripheral devices, it is possible to know which transport device or peripheral device is involved.
第１図はこの発明にかかるロボットシステムの構成例図
、第２図はロボットシステムで流れる電流値のパターン
と時間との関係を示す図である。
ｌ−・・ロボットシステム ２・−電源３・・−電流検
出回路 ４−Ａ ／ Ｄ変換回路５−コンピュータFIG. 1 is a diagram showing an example of the configuration of a robot system according to the present invention, and FIG. 2 is a diagram showing the relationship between the pattern of the current value flowing in the robot system and time. l--Robot system 2--Power supply 3--Current detection circuit 4-A/D conversion circuit 5-Computer
Claims (1)
すように接続すると共に該一つの配線の途中に電流値検
出回路を設け、更に該電流値検出回路をアナログ・デジ
タル変換回路を介して正常運転の電流変化のパターンを
記憶させるようにしたコンピュータに接続し運転状態を
監視させることを特徴とするロボットシステム。(1) All the drive sources of the component devices are connected so as to be extracted from one power supply, and a current value detection circuit is provided in the middle of the one wiring, and the current value detection circuit is connected via an analog-to-digital conversion circuit. A robot system that is connected to a computer that stores patterns of current changes during normal operation to monitor operating conditions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17053989A JPH0335993A (en) | 1989-06-30 | 1989-06-30 | Robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17053989A JPH0335993A (en) | 1989-06-30 | 1989-06-30 | Robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0335993A true JPH0335993A (en) | 1991-02-15 |
Family
ID=15906783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17053989A Pending JPH0335993A (en) | 1989-06-30 | 1989-06-30 | Robot system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0335993A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06190343A (en) * | 1992-10-02 | 1994-07-12 | Robert M Williams | Material separating device |
| JP2006294425A (en) * | 2005-04-12 | 2006-10-26 | Panasonic Ev Energy Co Ltd | Power supply device |
| JP2013066987A (en) * | 2011-09-26 | 2013-04-18 | Nikon Corp | Abnormal condition determining apparatus, driving device, and robot apparatus |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6250906A (en) * | 1985-08-30 | 1987-03-05 | Toshiba Corp | Control device for industrial robot |
-
1989
- 1989-06-30 JP JP17053989A patent/JPH0335993A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6250906A (en) * | 1985-08-30 | 1987-03-05 | Toshiba Corp | Control device for industrial robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06190343A (en) * | 1992-10-02 | 1994-07-12 | Robert M Williams | Material separating device |
| JP2006294425A (en) * | 2005-04-12 | 2006-10-26 | Panasonic Ev Energy Co Ltd | Power supply device |
| JP2013066987A (en) * | 2011-09-26 | 2013-04-18 | Nikon Corp | Abnormal condition determining apparatus, driving device, and robot apparatus |
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