JPH05303417A - Control device for industrial robot - Google Patents

Abstract

PURPOSE:To make it possible to automatically start operation from a position generating an alarm after the generation of the alarm under the same condition as that held before the generation of the alarm. CONSTITUTION:When an alarm monitoring part 6 generates an alarm at the time of detecting abnormality in the operating state of a tool, an alarm generating position storing part 9 stores the position generating the alarm. A robot operation control part 7 stops the operation of a robot by the alarm, and when the robot is operated by a manual device to release the alarm after the generation of the alarm, moves the robot from the position moved by the manual device after releasing the alarm to the stored position and operates the robot between taught points under the same condition as that held before the generation of the alarm.

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 canceling an alarm and continuing the operation immediately after the alarm is generated when an alarm occurs in the operation of a tool while the robot is operating.

[0002]

2. Description of the Related Art For example, in an industrial robot that performs arc welding work, when a wire break alarm occurs during welding, the work is stopped, replaced with a new wire, replaced with a new work, and the welding work is started from the beginning. To do. Alternatively, the wire is replaced with a new wire, the work is left as it is, the arc is cut off, the robot is operated from the beginning, and the work is performed by generating the arc from the time when the alarm is generated.

[0003]

In the former case, the work becomes defective, or wasteful time is required even if the defective work is not manually welded. The latter is a means to prevent defective work, but if the welding work is very long, the place where the alarm is generated may be the first place, but if it is the latter half, the robot can reach the place where the alarm is generated. Is annoying because I have to wait for it to work. Therefore, it is an object of the present invention to provide a robot control device capable of automatically starting operation from a place where an alarm occurs after the alarm has occurred and under the same conditions as before the alarm occurred.

[0004]

Therefore, a control device for an industrial robot according to the present invention is a manual device capable of manually operating the robot and a teaching device for operating the manual device to a teaching point and storing the position. Equipped with
In an industrial robot control device that performs trajectory calculation control, an alarm monitoring unit that monitors the operation state of a tool attached to the industrial robot and issues an alarm if there is an abnormality, and an alarm that stores the position where the alarm occurs When the robot is operated by the manual device for stopping the robot operation by the alarm and the alarm after the alarm is generated and the robot is operated by the manual device, the stored position from the position moved by the manual device after the alarm is released. And a robot operation control unit that operates between teaching points under the same conditions as before the alarm is generated.

[0005]

By this means, after the alarm is generated, the operation can be automatically started from the place where the alarm is generated under the same condition as that before the alarm is generated.

[0006]

EXAMPLE An example of a welding robot will be described below as an example of the present invention. FIG. 1 is a block diagram showing an example of a system for carrying out the present method. 1 is a manual operation command unit, 2 is a position teaching unit, 3 is an operation start command unit, 4 is a welder, 5 is position memory. Reference numeral 6 is an alarm monitoring unit, 7 is a robot operation control unit, 8 is a robot body, and 9 is an alarm generation position storage unit. The alarm here is an abnormality or failure on the tool side (here, the welding machine side) such as wire breakage during welding, and an abnormality or failure on the robot body or robot controller.
Please note that it is not a malfunction. Alarm monitoring unit 6
Monitors the welder for abnormalities and failures as described above,
If a failure occurs, the robot operation control unit 7 is notified. Upon receiving the notification, the robot operation control unit 7 stops the robot operation and stores the stop position in the alarm generation position storage unit 9. The robot operation control unit 7 stops the robot operation by the alarm, and when the robot is operated by the manual device to release the alarm after the alarm is generated, the robot operation control unit 7 stores the stored information from the position moved by the manual device after the alarm is released. Move to the position and operate between teaching points under the same conditions as before the alarm occurred.

The operation will be described below in detail.
FIG. 2 shows teaching points (P0 to P) for explaining the present embodiment.
The position 5), the position where the alarm is generated (PA), and the position operated by manual operation (PB). FIG. 3 is a flowchart for explaining the present embodiment, and will be described in accordance with this.
For P0 to P5, the position teaching unit 2 is used in advance for the position storage unit 5.
The position stored in. First, in 10, i = 1. i is called a step number, P0P1 is called 1 step, P1-P2 is called 2 step, and Pi-1Pi is called i step. Reference numeral 11 is a determination process for moving to the manual operation process 12 if there is a command from the manual operation command unit 1 in FIG. 1, and to operation request determination 13 if there is no command from the manual operation command unit 1. 12 is a manual operation process that is performed as a result of the determination in 11 and can arbitrarily operate the robot according to the command. At 13, the presence / absence of a request from the operation start request unit is determined, and if there is a request, the process returns to 14, and if there is no request, the process returns to 11.
In step 14, it is determined whether the operation start request is issued after the alarm is issued.
To 1 if there is no request to start operation after an alarm has occurred 1 to 1
At 5, the arc generation is instructed to the welding machine 4. In 16,
It is judged whether or not an alarm is generated, and if the alarm is generated, the process proceeds to 17, and if the alarm is not generated, the process proceeds to 19. At 17, the arc off command is given to the welding machine shown in FIG. At 18, the current position of the robot, that is, the position stopped by the alarm is stored in the position storage unit of FIG. In 19, the trajectory control of i step is performed,
Further, information on whether Pi has been reached is also created. 20
Then, the information as to whether or not the Pi created in 19 is reached is determined, and if the information is reached, the processing returns to 21, and if not, the processing returns to 16. 21 performs i = i + 1 and advances the step. 22 determines whether or not there is an i step as a result of advancing the step, and if not, ends the process.
If there are steps, the process returns to 16. 23 is a process for operating from the current position of the robot to the position stored in the process of 18. Then, here, information on whether or not the stored position is reached is also created. At 24, the information, which is created at 23, indicating whether or not the stored position has been reached is judged.
Return to.

Although the description of the flow chart of FIG. 3 is finished above, FIG. 2 will be described in chronological order according to this flow chart as follows. First, an operation request comes from the operation request unit of FIG. This operation request is processed at 13 and proceeds to 14. At 14, since it is not the operation request after the alarm is generated, the process proceeds to 15 and the arc generation request is transmitted to the welding machine, an arc is generated, and the process proceeds to 16. In No. 16, since no alarm is generated, the process proceeds to 19 and the trajectory control of Step 1 for P1 operation is performed and P
Repeat steps 16, 19 and 20 until 1 is reached. When P1 is reached, it is judged at 20 and the process proceeds to 21, and the step is made into two steps. The second step is confirmed at 22 and the process proceeds to 16 again to repeat 16, 19, and 20. A wire break alarm occurs during this process. Alarm is judged by 16 1
Go to 7 and turn off the arc. Since the processing of 19 is not performed, the robot inevitably stops. By storing the current position (PA) of the robot in the position data storage unit of FIG. 1 at 18, the position where the robot stopped due to an alarm is stored. Then, the process proceeds to 11 and 11 and 13 are repeated until the manual operation request or the operation start request comes.

Next, referring to FIG. 2, the robot is manually operated to replace the wire. This determination is made at 11, and the manual operation processing at 12 is performed to operate the robot. Here, steps 12 and 11 are repeated until there is a manual operation request. Then, the robot operates up to PB by manual operation. When the robot is operated up to PB, the wire is replaced with a new wire, and the operation start request unit in FIG. 3 issues an operation start request. The operation request is judged at 13 and the process proceeds to 14, and since it is the operation request after the alarm is generated, it is judged at 14 and the process proceeds to 23.
In 23, the locus control that operates from PB to PA is performed and P
23 and 24 are repeated until A is reached. When the arrival is judged at 24, the process proceeds to 15 and an arc is generated, the process proceeds to 16 and it is judged that there is no alarm, and the process proceeds to 19. Numeral 19 performs trajectory control to move from the state before the alarm to P2 again. And P
Repeat 16, 19, 20 until reaching 2, and then P
Repeat 16, 19, 20, 21, and 22 until 5 is reached.

[0010]

As described above, according to the present invention,
No need to waste work in progress after an alarm occurs, and complete unfinished work without relying on human resources.
By eliminating unnecessary work, various effects such as eliminating dead time can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a teaching point (P0 to P) for explaining the present embodiment.
The figure which shows the position of 5), the position where alarm occurred (PA), and the position operated by manual operation (PB)

FIG. 3 is a flowchart for explaining the present embodiment.

[Explanation of symbols]

 1 Manual operation command section 2 Position teaching section 3 Operation start command section 4 Welding machine 5 Position storage section 6 Alarm monitoring section 7 Robot operation control section 8 Robot body 9 Alarm occurrence position storage section

Claims (1)

[Claims] 1. A control device for an industrial robot, which comprises a manual device capable of manually operating a robot and a teaching device for operating the robot up to a teaching point to store the position, and performing trajectory calculation control. For monitoring the operation state of the tool attached to the robot for use, and if there is an abnormality, an alarm monitoring unit that issues an alarm, an alarm generation position storage unit that stores the position where the alarm is generated, and the robot operation is stopped by the alarm In addition, when the robot is operated by the manual device to release the alarm after the alarm is generated, the robot moves from the position moved by the manual device to the stored position after the alarm is released, and the teaching point is operated under the same condition as before the alarm is generated. A robot operation control unit for operating the Control device.