JPH0550391A - Industrial robot controller - Google Patents

Abstract

PURPOSE:To improve safety by prohibiting a robot from radiating a laser beam only when the posture of a work tool is out of the range previously set in the laser cutting robot. CONSTITUTION:A range for safe working tool attitude is set by a teaching operation panel 14 and an operation panel 15 and stored in a memory 13. In the next step, the attitude of the wrist of a robot is adjusted by the teaching operation panel 14 to change the attitude of a work tool 60 for fine adjustment of cutting angle. During the work for this change of teaching, the attitude of the wrist of the robot is calculated by an interpolation.arithmetic process section 16 based on the position information from a axis controller 18. A CPU 11 compares the current attitude and the set attitude stored in the memory 13, and if the current attitude <= the set attitude, it outputs set an attitude range output signal to a tool controlling panel 50 and lets the work tool 60 output action command. On the contrary, if the current attitude > the set attitude, it turns off the set attitude range output signal and turns off the action command to the work tool 60 unconditionally by the tool controlling panel 50 and stops the action of the work tool 60.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an industrial robot in which a work tool, which emits dangerous radiation when directed to an operator, is attached to a movable part, and particularly to a cutting work by a water jet or a laser. The present invention relates to ensuring safety in the case of an erroneous operation during the robot teaching process.

[0002]

2. Description of the Related Art In a conventional robot control device, the operation of the robot and the timing of the work are programmed at the time of teaching the robot so that the work such as cutting cannot be performed for the safety of the worker. In addition, even in a test operation in which the worker confirms the motion locus of the robot near the robot, control is performed so that work operations such as cutting are not performed for the safety of the worker. During commissioning and actual work,
The operator is controlled such that the operator is operated at a position distant from the robot.

[0003]

However, the cutting angle may be finely adjusted depending on the shape and material of the object to be cut. In this case, since the teaching correction is performed in a shorter time, the general rules for robot safety may be stopped by the operator's judgment, and the trial cutting may be performed during the test driving. In this case, the operator confirms the cutting situation near the robot and adjusts the wrist posture of the robot to change the posture of the work tool in order to correct the cutting angle if it is incorrect. In the prior art, when adjusting the wrist posture of this robot,
There has been a problem that a worker may be exposed to a jet of water jet or may be irradiated with laser light due to an erroneous operation such as a wrist posture changing motion in an incorrect direction or a wrist posture changing motion at high speed. On the other hand, JP-A-3-987
Japanese Patent Publication No. 86 discloses a technique for preventing the robot itself from entering a dangerous area. However, there are many cases where teaching is necessary even if it is a dangerous area at the time of teaching, and it can be put to practical use. Not a thing. Therefore, the present invention, in order to protect the operator even in such a case,
An object of the present invention is to limit the operation of the work tool by controlling the output that controls the operation of the work tool depending on the posture of the work tool.

[0004]

In order to solve the above problems, the present invention relates to a teaching playback type industrial robot in which a work tool, which emits dangerous radiation when directed to an operator, is attached to a movable part. It is characterized in that it has means for preventing the radiation from the work tool only when the posture of the work tool is out of a predetermined range.

[0005]

With the above means, when adjusting the posture of the movable part of the robot, for example, the posture of the wrist, it is possible to prevent the worker from being in danger due to an erroneous operation such as a movement of the posture of the wrist in a wrong direction or a movement of the posture of the wrist at a high speed. Can be prevented.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A concrete embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a block diagram of an industrial robot system of one embodiment for implementing the safety control system of the present invention. In the figure, 10 is a robot control device, 30 is a servo amplifier for driving the servo motor of each axis of the robot, 40 is a mechanism part of the robot, 50 is a tool control panel for controlling the operation of the work tool, and 60 is a work tool. The work tool 60 is attached to the wrist of the robot. Robot controller 10
Has a central processing unit (hereinafter referred to as CPU) 11,
The PU includes a memory 12 including a ROM, a memory 13 including a RAM, a teaching operation panel 14, an operation panel 15, and an interpolation / calculation processing unit 1.
6, the I / O unit 17 and the axis controller 18 are connected by a bus 20. The memory 12 stores various control programs to be executed by the CPU 11. The memory 13 is non-volatile, and stores teaching data input from the teaching operation panel 14 and the operation panel 15 and data such as set values of various parameters. The teaching operation panel 14 has a numerical display, lamps, and operation buttons necessary for operating the robot. On the control panel 15,
It has various keys such as a numeric keypad and function keys, and inputs various data to the robot controller 10 from the outside.

The interpolation / calculation processing unit 16 calculates the position and orientation of the wrist of the robot. The I / O unit 17 is connected to the tool control panel in connection with the present invention and outputs a command signal for controlling the operation on / off command signal of the work tool, as will be described later. The axis controller 18
It is connected to a servo motor (not shown) for each axis via a servo circuit 19 for each axis and a servo amplifier 30. Working tools
Reference numeral 60 is a tool for emitting a water jet or a laser beam, and its operation is controlled by the tool control board 50. The configuration of the robot is similar to that of the conventional robot, and detailed description thereof will be omitted.

Next, the operation of this embodiment will be described with reference to the flow chart of FIG. First, the teaching operation panel 14 and the operation panel
From 15, the range of safe work tool posture (the range in which the posture of the work tool attached to the wrist of the robot does not pose a danger to the worker): A is set (S1). The set range: A is stored in the memory 13. After setting the setting range: A, when it is necessary to finely adjust the cutting angle depending on the shape and material of the object to be cut, the teaching operation panel 14 is used to adjust the posture of the wrist of the robot and change the posture of the work tool. Teaching change work is started (S2). During teaching change work, the posture of the work tool is interpolated based on the position information from the axis controller 18.
The calculation processing unit 16 calculates the posture of the robot wrist (current posture of the work tool: B) (S3).

The CPU 11 constantly compares the work tool attitude: A preset in (S1) with the current attitude of the work tool: B (S4). If B≤A, the CPU 11 stores the work tool in the I / O unit 17. The assigned "output within the set posture range" signal is output to the tool control panel 50 (S5), and the tool control panel 50 turns on the operation command to the work tool 60 by the signal received in (S5).
Yes (S6). If B> A, I / O unit
The "output within the set posture range" signal assigned in 17 is turned off (S7), and the tool control panel 50 (S7) unconditionally turns off the operation command to the work tool 60 to change the operation of the work tool. Stop (S8). That is, the work tool can be operated only when the posture of the work tool is within the preset safe posture range of the work tool, and when the posture exceeds the set range, the work tool is immediately stopped. ..

[0010]

As described above, according to the present invention, in the teaching process of the robot in the above cutting work, the worker confirms the cutting condition near the robot or the wrist for correcting the cutting angle. When adjusting the posture to change the posture of the work tool, etc., the posture of the work tool attached to the wrist of the robot is constantly monitored by the robot controller, and the posture of this work tool is outside the preset posture range. If so, by turning off the operation command of the work tool, there is an effect that it is possible to prevent an accident in which the worker is exposed to the jet of the water jet or is irradiated with laser light due to an erroneous operation.

[Brief description of drawings]

FIG. 1 is a block diagram of an industrial robot system according to an embodiment for implementing a safety control system of the present invention.

FIG. 2 is an operation flowchart of the present invention.

[Explanation of symbols]

10 is a robot controller, 11 is a central processing unit, 12 is a ROM
Is a memory, 13 is a RAM, 14 is a teaching operation panel, 15 is an operation panel, 16 is an interpolation / arithmetic processing unit, and 17 is I / I.
O unit, 18 is an axis controller, 20 is a bus connecting 11 to 18, 30 is a servo amplifier that drives the servo motor of each axis of the robot, 40 is a robot mechanical section, and 50 is a control of the operation of the work tool. Tool control panel, 60 is a work tool.

Claims (1)

[Claims] 1. In a teaching playback industrial robot having a work tool attached to a movable part, which emits dangerous radiation when directed to a worker, the posture of the work tool is out of a predetermined range. An industrial robot controller having means for preventing the radiation from the work tool only when