JPH05111891A - Robot controller - Google Patents

Abstract

PURPOSE:To inhibit termination of operation of a robot due to abnormal increase in the temperature of a robot driving part, and to carry out operation restoration without human hand at the time of operation termination. CONSTITUTION:When a detected temperature of a driving part is within allowable limit (S-19) before finishing movement of a robot, driving velocity is set to normal level (S-20), and is outputted to an amplifier through a servo INF. When it is judged that the detected temperature is going to exceed the allowable limit by the step 19, the driving velocity is selected so that the temperature of the driving part will not increase further, and the driving velocity is thus selected and reduced, and is output to the servo I/F (S-24).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot controller for controlling the operation of a robot by detecting an abnormal heat rise in a driving portion of the robot which is working.

[0002]

2. Description of the Related Art FIG. 5 shows, for example, JP-A-1-295778.
It is explanatory drawing which shows the outline of the whole structure of an example of the conventional robot system shown by the publication. In FIG. 5, reference numeral 1 denotes a robot control unit, and the control unit 1 has a CPU 2 and an RO in which a program for controlling the robot is stored.
An M3, a RAM 4 for storing data, an interface (hereinafter abbreviated as I / F) 5 between a peripheral device and the control unit 1, and a servo I / F 6 for outputting a control signal to the robot. ing.

As peripheral devices, there are a teaching box 7 for operating the robot, a CRT 8 for displaying data and the like, a keyboard 9 for inputting data and the like, which are connected to the interface 5 respectively. .. Further, the servo I / F 6 has an amplifier 10 for amplifying the control signal output from the control unit 1.
The robot main body 11 is connected through the robot main body 11, and the robot main body 11 is provided with an arm 11a which is an operating unit.
Further, the robot body 11 is connected to a temperature detection device 12 that detects heat of the drive unit of the arm 11a and transmits it to the control unit 1 through the servo I / F 6.

In the robot controller having the above-described basic structure, the temperature detecting device 12 detects the heat of the driving portion of the arm 11a, and the control for stopping the robot is as follows.
This can be performed based on the flowchart shown in FIG. The specific control based on the above flow chart is as follows. First, the program is loaded (S-13), and then the next step S1.
In step 4, if it is a move command, if it is not a move command, processing other than the move command is performed (S-15). If it is a move command, it is judged whether or not the move operation is completed (S-18), and it is completed. If so, it is judged whether the program is finished (S-16),
If not completed, the next command is processed again.

If it is the end, it is judged whether it is the continuous operation mode or not, and if it is not the continuous operation, it is ended (S-17). If it is the continuous operation, the next program is loaded and executed. Step S-1
If the movement is not completed in step 8, the heat of the drive unit is judged in step S-19, and if it does not exceed the permissible range, the normal speed value setting (S-20) is performed to the servo I / F output and the servo I / F of the speed command value is output. The output to F is executed (S-21), and if it exceeds the allowable range, the robot is stopped (S-22), an error is output, and the work is finished (S-23).

[0006]

In the conventional robot system configured as described above, an error is displayed on the CRT when the heat generated by the drive unit due to the operation of the robot speed is detected, and the work is performed during the operation. There is a problem that work efficiency decreases because work cannot be continued until it stops and the heat of the drive unit cools down.In addition, human intervention is required for error recovery, so work using a robot is fully unmanned. There was a problem that it could not be utilized.

The present invention has been made to solve the above-mentioned problems, and does not stop the work of the robot on the way by detecting the heat rise of the driving portion of the robot and requires the intervention of a person to restore the operation. It is an object of the present invention to provide a robot controller that does not.

[0008]

A robot controller according to the first aspect of the present invention includes a temperature detecting device for detecting the temperature of a driving portion of a robot operated by a loaded program, and whether the detected temperature exceeds an allowable range Echizen. And a speed changing means for changing the operating speed of the robot so as to reduce the temperature of the drive unit when the transcendental judgment is made.

The robot control apparatus according to the second aspect of the present invention includes a temperature detection apparatus for detecting the temperature of the drive section of the robot continuously operated by program loading, and a determination means for determining whether the detected temperature exceeds the allowable range. At the time of the transcendental determination, operation stop means for stopping the program load and stopping the continuous operation is provided.

The robot control apparatus according to the third aspect of the present invention includes a temperature detection apparatus for detecting the temperature of the drive unit of the robot operated by the loaded program, and a determination means for determining whether the detected temperature exceeds the allowable range. The acceleration changing means for changing the operation acceleration of the robot so as to reduce the temperature of the drive unit when the transcendental determination is made is provided.

The robot control device according to the fourth aspect of the present invention includes a temperature detection device for detecting the temperature of the driving portion of the robot operated by the loaded program, and a determination means for determining whether the detected temperature exceeds the allowable range. In addition, when the transcendental determination is made, a driving standby means for suspending the driving operation of the robot for a predetermined time and waiting for the operation is provided.

[0012]

According to the first aspect of the present invention, when the temperature detecting device detects that the temperature rise of the robot drive unit is within the permissible range, the speed changing means reduces the operation speed of the robot, The temperature rise of the drive unit is suppressed and the operation is continued.

According to the second aspect of the invention, the determination means determines that the temperature rise of the drive unit of the robot which is continuously operated by repeatedly loading the program exceeds the allowable range from the temperature detected by the temperature detection device. If so, the operation stopping means temporarily stops the program load for executing the next robot operation, and the operation of the robot is temporarily stopped to suppress the temperature rise of the robot drive unit.

Further, according to the third aspect of the present invention, if the determination means determines that the temperature rise of the robot drive unit has exceeded the permissible range from the temperature detected by the temperature detection device,
The acceleration change means reduces the acceleration of robot motion,
Suppresses sudden temperature rise in the drive unit.

According to the fourth aspect of the invention, if the determination means determines from the temperature detected by the temperature detection device that the temperature rise of the robot drive portion has exceeded the allowable range, the drive standby temperature is determined by the operation standby means. The operation of the robot is made to stand by until is reduced to a predetermined value.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the first invention will be described below with reference to the drawings. FIG. 1 is a flow chart for detecting the heat of the arm (driving unit) of the robot and controlling the speed of the arm in this embodiment. The robot controller of this embodiment basically has the same configuration as that of the conventional robot controller shown in FIG. 5, and corresponds to FIG. 5 used for explaining the conventional robot controller. is there. Next, the operation of this embodiment will be described with reference to the above flow chart. In the flowchart shown in FIG. 1, the detailed description of the same steps as those in the flowchart shown in FIG. 6 will be omitted, and the description will focus on the characteristic part of the present embodiment.

In step S-19, the heat of the drive unit is judged from the temperature detected by the temperature detecting device, and if it does not exceed the allowable range, the result of the normal speed value setting process (S-20) is output to the servo I / F output. (S-21) If the allowable range is exceeded, the speed value is changed in the speed setting process of S-24, the speed value is output to the servo I / F, and the speed of the drive unit is changed. We made it possible to continue driving without stopping and without human intervention. that's all,
Although the description has been given based on the embodiments of the present invention, the present invention is not limited to the above embodiments. For example, by determining the degree of heat in the speed setting process and changing the speed value, the types of speed values can be increased, and appropriate control according to heat can be performed.

Next, an embodiment of the second invention will be described with reference to the flowchart of FIG. Similar to the first invention,
The characteristic part of the present embodiment will be mainly described. Step S-1
If it is a movement command in 8, it is judged whether or not the movement operation is completed. If it is completed, it is judged whether the program is completed (S-16). If not completed, the next command is processed again. If it is the end, it is judged whether it is the continuous operation mode, and if it is not the continuous operation, it is ended (S-17).
If it is a continuous operation, it will be judged by the input from the temperature detection device.
The degree of heat of the drive unit is judged (S-19). If it is outside the allowable range, the next program is not loaded and the cycle is stopped to suppress the temperature rise of the drive unit. If it is within the allowable range, the program is reprogrammed. I loaded it and did the next work so that I could operate the robot without stopping the work.

Next, regarding an embodiment of the third invention, FIG.
It will be described according to the flowchart of Similarly, the characteristic part of the present embodiment will be mainly described. In this embodiment, the level of heat is judged by the input judgment from the conventional temperature detecting device described in the flowchart of FIG. 6 (S-19).
If it is within the permissible range, the normal acceleration value is output to the servo I / F (S-25). If it is outside the permissible range, the acceleration value is changed by the acceleration value selection processing of S-26, for example, the servo I is decreased by the servo I / F.
By outputting to / F and changing the acceleration of the drive unit,
We made it possible to continue operation without stopping the work of the robot and without the need for human intervention. Although the above description is based on the embodiments of the present invention, the present invention is not limited to those shown in the embodiments. For example, by determining the degree of heat in the acceleration value selection process and changing the acceleration value, the types of acceleration values can be increased and appropriate control according to heat can be performed.

Next, regarding an embodiment of the fourth invention, FIG.
It will be described according to the flowchart of Similarly, the characteristic part of this embodiment will be mainly described. In the flowchart of FIG. 4, the input determination step S-19 from the conventional temperature detecting device described in the flowchart of FIG. 6 is determined after the program termination determination (S-16) to determine the degree of heat level. If it is higher, the robot is stopped without executing the next command (S-27), and waits for a certain time (S-28) again.
Input judgment from the temperature detection device is performed. In addition, if it is within the allowable range, the next command work is performed so that the heat of the drive unit of the robot waits until it falls within the allowable range so that the robot can be automatically operated again.

[0021]

According to the first aspect of the invention, in the robot controller having means for detecting the heat of the drive part of the robot, the heat of the drive part is changed by automatically changing the speed according to the degree of heat of the drive part. Since the rise can be suppressed, the temperature of the drive unit rises and the operation of the robot can be continued without interruption due to an operation error.

According to the second aspect of the invention, in the robot controller having means for detecting the heat of the driving part of the robot, the cycle of the operation is automatically stopped depending on the degree of heat of the driving part. Since the work is automatically continued when the heat is lowered to within the allowable range, continuous operation can be performed without interrupting the work due to a robot operation error due to heat rise.

According to the third aspect of the invention, in the industrial robot controller having means for detecting the heat of the drive part of the robot, the acceleration of the drive part is rapidly changed by automatically changing the acceleration according to the degree of heat of the drive part. Since it is possible to suppress such a rise in heat, the heat of the drive unit suddenly rises, and the operation can be continued without interrupting the work of the robot due to an operation error.

According to the fourth aspect of the invention, in the robot controller having means for detecting the heat of the drive portion of the robot, the operation of the robot is automatically suspended depending on the degree of heat of the drive portion to reduce the heat of the drive portion. Since it can be lowered, the robot can be operated without interrupting work due to a motion error. In addition, since the heat of the drive unit is constantly monitored, the heat of the drive unit falls within the allowable range, and when the machine is ready for operation, the work is automatically restarted, so that operation is restored without the need for human intervention. You can

[Brief description of drawings]

FIG. 1 is a flowchart of temperature detection control of a drive unit that is Embodiment 1 of the present invention.

FIG. 2 is a flowchart of temperature detection control of a drive unit that is Embodiment 2 of the present invention.

FIG. 3 is a flowchart of temperature detection control of a drive unit that is Embodiment 3 of the present invention.

FIG. 4 is a flow chart for temperature detection control of a drive unit that is Embodiment 4 of the present invention.

FIG. 5 is a schematic explanatory diagram showing a basic configuration of the present embodiment and a conventional industrial robot control device.

FIG. 6 is a flowchart of a conventional industrial robot controller for temperature detection control of a drive unit.

[Explanation of symbols]

 1 Robot Control Unit 11 Robot 11a Robot Arm 12 Temperature Detection Device S-24 Speed Selection Process S-26 Acceleration Value Selection Process S-27 Robot Stop Process S-28 Robot Operation Standby Process

Claims (4)

[Claims] 1. A temperature detection device for detecting the temperature of a drive unit of a robot which operates according to a loaded program,
Robot control characterized by comprising a judging means for judging whether the detected temperature exceeds the permissible range, and a speed changing means for changing the operation speed of the robot so as to lower the temperature of the driving part when the judgment of the transcendence is made. apparatus. 2. A temperature detecting device for detecting a temperature of a driving part of a robot which is continuously operated by a program load, a judging means for judging whether or not the detected temperature exceeds the permissible range, and the program load is stopped at the time of the transcendental judgment. A robot controller comprising: an operation stopping means for stopping continuous operation. 3. A temperature detecting device for detecting the temperature of a drive unit of a robot which operates according to a loaded program,
Robot control comprising: a determination unit that determines whether the detected temperature exceeds the permissible range and an acceleration changing unit that changes the operation acceleration of the robot so as to reduce the temperature of the drive unit when the determination is made. apparatus. 4. A temperature detecting device for detecting the temperature of a drive unit of a robot which operates according to a loaded program,
A robot control device comprising: a determination unit that determines whether the detected temperature exceeds the permissible range and a driving standby unit that suspends the driving operation of the robot for a predetermined time and waits for the driving when the determination is made.