JPH05111890A - Robot device - Google Patents

Abstract

PURPOSE:To reduce probability of generating disconnection or transmission error, and to reduce installation space of a data signal line group as well as the cost by reducing the number of data signal lines for connecting a robot main body to a controller, which form the data signal line group. CONSTITUTION:A selector part 5 for selecting a signal from a rotary encoder 3 and a sensor part 4, which was stored in a controller 2 in a conventional robot device, a selector control part 6 for controlling the selector part 5, and a serial data receiving part 7 for receiving a serial data for controlling the selector control part 6, are stored in a robot main body 1, while a serial data transmission part 13 for transmitting the serial data for controlling the selector control part 6 of the robot main body 1 is provided on the controller 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot device in which the number of data signal lines of a data signal line bundle connecting a robot body and a control device is reduced.

[0002]

2. Description of the Related Art FIG. 2 is a block diagram of a circuit for transmitting serial data signals from a rotary encoder and a sensor unit in a conventional robot apparatus. In FIG. 2, 1 is a robot body, 2 is a control device, 3 is a rotary encoder, 4 is a sensor unit, 5 is a selector unit, and 6
Is a selector control unit, 7 is a serial data receiving unit, 8b is a line receiver driver, 9b is a data signal line bundle, 10 is a CPU unit, 11 is a ROM, and 12 is a RAM.
Is.

[0003] A conventional structure composed of such parts
The circuit for transmitting the serial data signal from the rotary encoder 3 and the sensor unit 4 has the rotary encoder 3 and the sensor unit 4 built in the robot body 1, and the serial data signal from the rotary encoder 3 and the sensor unit 4 is included. Is the line receiver driver 8b
Is transmitted to the control device 2 side via the data signal line bundle 9b. On the other hand, the control device 2 has a line receiver driver 8b for receiving serial data signals from the rotary encoder 3 and the sensor unit 4, and a selector unit 5 for selecting individual signals from the robot body 1. , A selector control unit 6 for controlling the selector unit 5, and a serial data receiving unit 7 for converting serial data signals from the rotary encoder 3 and the sensor unit 4 from serial data to parallel data.
And the CPU unit 10 that reads the signals from the rotary encoder 3 and the sensor unit 4 converted into parallel data and controls the control axes of the robot body for each axis. The ROM 11 stores a robot control program, and the RAM 12 stores data such as teaching data and sensing data that need to be temporarily stored.

In such a configuration, as is apparent from FIG. 2, a data signal line bundle 9b for transmitting serial data signals from the rotary encoder 3 and the sensor section 4 is formed.
Consists of a number of pairs of signal lines corresponding to the individual rotary encoders 3 and sensor units 4.

[0005]

SUMMARY OF THE INVENTION In the above conventional configuration,
Since the number of signals forming the data signal line bundle is large, there is a high probability of occurrence of disconnection or transmission error. Further, in recent years, a robot apparatus is often used by being installed in a large manufacturing facility, and the distance between the robot body and the control apparatus is several tens of meters.
In many cases, they are installed separately from each other, and if the data signal line bundle is large, the installation space becomes large, which is one of the obstacles to cost reduction.

The present invention is intended to solve the above problems, and reduces the number of data signal lines forming the data signal line bundle to reduce the probability of occurrence of disconnection or transmission error, and to reduce the data signal line bundle. The purpose is to reduce the installation space and to contribute to cost reduction.

[0007]

To achieve the above object, a robot apparatus according to the present invention comprises a robot body, a control device, and a data signal wire bundle connected to the robot body and the control device. A rotary encoder provided for each control axis, a sensor unit for sensing operation of the robot body, and a line receiver for transmitting signals from the rotary encoder and sensor unit from the robot body side to the control unit side. A selector unit for selecting signals from the driver, the rotary encoder and the sensor unit, a selector control unit for controlling the selector unit, and serial data for controlling the selector control unit from the control device side. The controller is equipped with a serial data receiving unit for receiving Line receiver driver for receiving signals from encoder and sensor, serial data receiver that converts signals from rotary encoder and sensor from serial data to parallel data, converted encoder signal and sensor signal And a serial data transmission unit for transmitting serial data for controlling the selector control unit of the robot body.

[0008]

According to the above configuration, the selector unit, the selector control unit for controlling the selector unit, and the serial data for controlling the selector control unit, which are conventionally housed in the control device side, are received. By accommodating the serial data receiving unit in the robot body, the serial data sent to the control device at the same time is only one serial data selected by the selector unit. Therefore, the data signal line for transmitting the serial data from the robot body Since there is only one pair, and the robot body receives another pair of serial data data signal lines for controlling the selector control unit, a total of four data signal lines make up the data signal line bundle. it can.

[0009]

1 is a block diagram of an embodiment of a circuit for transmitting serial data signals from a rotary encoder and a sensor unit in a robot apparatus according to the present invention.
In FIG. 1, the same parts as those in FIG. 2 are designated by the same reference numerals, detailed description thereof will be omitted, and different parts will be described.

In FIG. 1, reference numeral 8a denotes a line receiver / driver having a configuration different from that of the conventional line receiver / driver 8b.
The driver 9a is a data signal line bundle having a different number of data signal lines from the conventional data signal line bundle 9b, 13
Is a serial data transmission unit for transmitting serial data necessary for controlling the selector control unit 6 of the robot body 1.

In the circuit for transmitting serial data signals from the rotary encoder 3 and the sensor unit 4 in the robot apparatus of the present invention shown in FIG. 1, the robot main body 1 is provided with a rotary encoder 3 provided for each control axis thereof. And a sensor unit 4 for performing a sensing operation of the robot body 1 and signals from the rotary encoder 3 and the sensor unit 4 from the robot body 1 side to the control device 2.
Line receiver driver 8a for transmitting to the side,
In order to control the selector unit 5 for selecting signals from the rotary encoder 3 and the sensor unit 4, the selector control unit 6 for controlling the selector unit 5, and the selector control unit 6 from the control device 2 side. Serial data receiving unit 7 for receiving serial data of the rotary encoder 3 and the sensor unit 4 for receiving a signal from the rotary encoder 3 and the sensor unit 4 by the control device 2.
A serial data receiving unit 7 for converting the signal from the serial data into parallel data, a CPU unit 10 for controlling the control axis of the robot body 1 for each axis by reading the converted encoder signal and sensor signal, and the robot body 1
And a serial data transmission unit 13 for transmitting serial data for controlling the selector control unit 6 of
The robot body 1 and the control device 2 are connected by a data signal wire bundle 9a.

In the robot apparatus of the present invention, the circuit for transmitting the serial data signal from the rotary encoder 3 and the sensor unit 4 is housed in the control apparatus 2 in the conventional robot apparatus. In order to control the selector unit 5 for selecting signals from the rotary encoder 3 and the sensor unit 4, the selector control unit 6 for controlling the selector unit 5, and the selector control unit 6 from the control device 2 side. And a serial data receiving unit 7 for receiving the serial data of the serial data for controlling the selector control unit 6 of the robot body 1 are newly added to the control device 2. Be prepared.

According to this structure, since the serial data sent to the control device 2 at the same time is only one serial data selected by the selector unit 5, only one pair of data signal lines for transmitting the serial data from the robot body 1 is used. Next to
Since another pair of serial data data signal lines for receiving serial data for controlling the selector control unit 6 is required by the robot body 1, a total of four data signal lines can constitute the data signal line bundle 9a.

[0014]

As is apparent from the above description, in the robot apparatus of the present invention, the number of data signal lines forming the data signal line bundle connecting the robot body and the control unit can be remarkably reduced. The probability of signal line disconnection or transmission error occurring can be greatly reduced, and because the number of data signal lines is reduced, the data signal line bundle can be made thinner, so the installation space for the data signal line bundle can be made smaller. It is possible to save space and further reduce costs.

[Brief description of drawings]

FIG. 1 is a view showing a rotary device in a robot apparatus according to the present invention.
Block diagram showing an embodiment of a circuit for transmitting serial data signals from an encoder and a sensor unit

FIG. 2 is a block diagram of a circuit that transmits serial data from a rotary encoder and a sensor unit in a conventional robot device.

[Explanation of symbols]

 1 Robot Main Body 2 Control Device 3 Rotary Encoder 4 Sensor Section 5 Selector Section 6 Selector Control Section 7 Serial Data Receiving Section 8a Line Receiver Driver 9a Data Signal Line Bundle 10 CPU Section 13 Serial Data Transmitting Section

Claims (1)

[Claims] 1. A rotary encoder, which comprises a robot body, a control device, and a data signal wire bundle connecting the robot body and the control device, the robot body being provided with a rotary encoder for each control axis thereof, and a sensing operation of the robot body. Sensor unit to enable the signal, a rotary encoder and a line receiver driver for transmitting signals from the sensor unit to the control unit from the robot body, and a selector for selecting signals from the rotary encoder and sensor unit. Unit, a selector control unit for controlling the selector unit, and a serial data receiving unit for receiving serial data for controlling the selector control unit from the control device side, and the control device includes a rotary encoder and a sensor. Line receiver for receiving signals from the A driver, a rotary encoder and a serial data receiving unit that converts signals from the sensor unit from serial data to parallel data, and a CPU that reads the converted encoder signals and sensor signals and controls the control axes of the robot body for each axis. And a serial data transmission unit that transmits serial data for controlling the selector control unit of the robot body.