JPH0624886U - Industrial robot - Google Patents

Abstract

(57) [Summary] [Purpose] Regarding industrial robots, multiple robots
Multiple absolute position detection of drive motor that drives moving part
Type encoder separately from the normal power supply for maintenance etc.
So that the backup voltage can be supplied outside the robot body
The purpose is to [Structure] Absolute position detection encoder EC₁~ EC_FiveTo
Multiple drive motor M having ₁~ M_FiveBy industrial robot
Control of multiple robot moving parts 18, 20, 22
When performing, from the robot controller 10 to each encoder
EC₁~ EC_FiveInitial connection via the connection wiring cable 26
Excitation voltage and back-up voltage during alignment and normal robot operation.
And disconnecting the same connection wiring cable 26
Sometimes one optional battery 28
Multiple encoders EC with pre-exposed voltage outside the fuselage
₁~ EC_FiveCan be supplied to

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an industrial robot configured to control the operation of each robot movable part by a drive motor having an absolute position detection encoder, and particularly to the present position of each robot movable part stored in the absolute position detection encoder. The present invention relates to an industrial robot that has an improved backup voltage wiring system path so that data can always be held safely and reliably.

[0002]

[Prior art]

 An absolute position detection type encoder capable of calculating and storing the rotation direction, the number of rotations, and the rotation position within one rotation of the rotating body is disclosed and proposed in Japanese Patent Application No. 59-073872 by the applicant of the present application. A rotary drive motor has already been developed and provided by incorporating a type encoder into an electric motor so that the rotation direction, rotation speed, and rotation position within one rotation of the motor output shaft can be calculated and stored as an absolute current position. Has been done. Therefore, by using a drive motor having such an absolute position detection type encoder as a rotation drive source of each robot movable part of an industrial robot, for example, a 5-axis type or a 6-axis type robot, the current state of each robot movable part is increased. Since the position can be stored and maintained at all times, when starting the operation of the industrial robot, there is an advantage that the current position stored in this way can be quickly read by reading it from each encoder.

[0003]

[Problems to be solved by the device]

 However, when using a drive motor with an absolute position detection encoder as described above as a drive motor for each robot movable part of an industrial robot, initial adjustment is performed beforehand between the robot controller and each robot movable part. It is necessary to memorize and hold the current position of each robot movable part based on the original position, and when a wiring path is provided to supply the excitation voltage from the robot controller to the encoder of the drive motor in each robot movable part, For example, even if the cable forming the wiring line for supplying the excitation voltage to the encoder is disconnected due to maintenance work, it is necessary to have a wiring structure that can supply the backup voltage to the encoder provided in each drive motor in advance. To be done.

Therefore, the object of the present invention is to meet the above-mentioned wiring structure requirements, that is, to introduce an optional backup voltage from a backup DC power supply to the encoders provided in each of a plurality of drive motors. The purpose of the present invention is to provide an industrial robot which is provided with a possible receiving terminal and can be supplied with a backup voltage collectively from the above-mentioned backup DC power supply from another wiring path before the wiring path for supplying the excitation voltage is disconnected.

[0005]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the present invention provides an industrial robot configured to actuate and control a plurality of robot moving parts by a plurality of drive motors having an absolute position detection type encoder externally provided. A plurality of drive motors with attached encoders are provided with a connection wiring line that supplies both the encoder excitation voltage and the backup voltage together with the operating power from the robot controller. A plurality of option wiring paths for introducing an option backup voltage of the same voltage as the backup voltage from a battery to each of the external encoders provided in the plurality of drive motors, and the option wiring provided in each of the plurality of encoders. An externally exposed type receiving terminal to which a line can be connected, and disconnecting the connection wiring line for supplying the voltage. Previously, we provided an industrial robot with a body structure in which the option wiring paths were connected outside the body of the robot to protect the position stored data of the absolute position detection encoder. The backup voltage is supplied to the receiving terminals from the option battery all at once, and then the robot controller is disconnected from each drive motor and encoder.

[0006]

【Example】

 Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the accompanying drawings. FIG. 1 is a mechanism diagram showing an embodiment of an industrial robot of the present invention. In the figure, the industrial robot includes a robot body 12 and a robot controller 10. The robot controller 10 has a function of teaching a robot operation, a signal input to the robot body 12, and a function of supplying operating power. . The robot body 12 has a fixed body portion 16 installed on a fixed base 14, a swing body portion 18 provided on the fixed body portion 16 so as to be rotatable about a vertical axis, and at the upper end of the swing body portion 18. An upper arm portion 20 which is swingably rotatable about a horizontal axis, a forearm portion 22 which is also provided on the upper end of the upper arm portion 20 so as to be able to swing up and down about a horizontal axis, and a neck at the tip of the forearm portion 22. Each robot movable portion such as a wrist portion 24 and the like provided so as to be capable of swinging and turning around is provided.

In each of the robot movable parts, the turning motion of the turning body 18 is performed by the drive motor M. ₁ The upper arm 20 is similarly driven by the drive motor M.₂, The forearm 22 is a drive motor M₃, The wrist 24 is a drive motor M_FourAnd a drive motor M arranged symmetrically with this_FiveThe operation is controlled by each (not shown). In addition, these drive motors M₁~ M_FiveEach is an absolute position detection type encoder EC₁~ EC _Five (EC_FiveHave not been shown), and thus each of the latter encoders EC₁~ EC _Five Is the corresponding drive motor M₁~ M_FiveBy calculating and storing the current position of the output axis of, it is possible to indirectly calculate and store the current position of each corresponding robot movable part. A drive motor M is connected to each robot movable part from the above-mentioned robot controller 10 via a connection wiring cable 26.₁~ M_FiveIs supplied with power for operation control, and at the same time each corresponding encoder EC₁~ EC_FiveBoth the excitation voltage and the backup voltage are supplied to. Of course, each encoder EC₁~ EC_FiveA control signal line for enabling the robot controller 10 to read out the current position of each robot movable part is also included in the connection wiring cable 26.

However, there is a case where the connection wiring cable 26 has to be disconnected from the robot body 12 when the purpose of maintenance work on the robot body 12 side, for example, a disconnection of a wiring path inside the robot body 12 occurs. In such a case, each drive motor M₁~ M_FiveAbsolute position detection encoder EC₁~ EC _Five The excitation voltage and the backup voltage from the robot controller 10 side with respect to₁~ EC_FiveThe current value data of each robot moving part that was recorded and maintained inside will be erased. In order to avoid this, each encoder EC is used in the present invention.₁~ EC_FiveEach encoder EC so that a required voltage input (usually 6 volt DC) can be collectively applied as a backup voltage from one option battery 28 via the signal line 30.₁~ EC_FiveA receiving terminal (not shown in FIG. 1) is provided on the. That is, the backup voltage can be temporarily applied from the option battery 28 prior to disconnection of the connection wiring cable 26.

FIG. 2 typically shows a drive motor M ₁ equipped with an absolute position detection encoder EC ₁ , and shows the relationship between the drive motor M ₁ and the robot controller 10 and the optional battery 28. . In FIG. 2, a power line 26a from the robot controller 10 to the drive motor M ₁ supplies motor operating power, a signal line 26b supplies an excitation voltage, and a signal line 26c supplies a backup voltage. . The encoder EC ₁ is provided with a receiving terminal 32, and when the connection wiring cable 26 is disconnected, the signal line 30 is connected to the receiving terminal 32 from the option battery 28 to supply the backup voltage from the option battery 28. The optional battery 28 can be attached and held on the robot body 12 in advance, or an optional battery unit provided separately may be prepared at the robot use site.

FIG. 3 is a wiring diagram for supplying an excitation voltage and a backup voltage to the absolute position detection type encoder. The diode element in the figure is provided for backflow prevention, and the capacitor is for holding a constant voltage. It is provided in.

[0011]

[Effect of device]

 As is apparent from the above description, according to the present invention, a drive motor having an absolute position detection type encoder controls the operation of a plurality of robot movable parts of an industrial robot. The encoder encoder is supplied with excitation voltage and backup voltage via the connection wiring cable 26 during initial adjustment and during normal robot operation. When the connection wiring cable 26 is disconnected during maintenance work or repair work, one option is available. Since the backup voltage can be supplied from the battery to each of the absolute position detection type encoders that have been exposed to the outside of the airframe in a simple operation, the consistency between the initially adjusted robot controller and the robot airframe can always be maintained, and The current positions of the moving parts of each robot can always be maintained without being erased. . Therefore, it is possible to obtain the effect that the robot operation can be immediately started after the maintenance work or the repair work is completed without performing the readjustment conventionally required.

[Brief description of drawings]

FIG. 1 is a mechanism diagram of an industrial robot according to an embodiment of the present invention.

FIG. 2 shows a typical wiring connection relationship between a drive motor having an absolute position detection type encoder and a robot controller.
FIG. 3 is a block diagram showing two motors.

FIG. 3 is a circuit diagram showing a circuit for supplying both excitation and backup voltages to an absolute position detection encoder.

[Explanation of symbols]

10 ... robot controller 12 ... robot unit M ₁ ~M ₅ ... driving motor EC ₁ ~EC ₅ ... absolute position detection type encoder 26 ... connecting cables 28 ... Options Battery 32 ... receiving terminals

Claims (2)

[Scope of utility model registration request] 1. An industrial robot configured to actuate and control a plurality of robot moving parts by a plurality of drive motors externally equipped with absolute position detection type encoders, wherein a plurality of drives having the external encoders are provided. The motor is provided with a connection wiring line for supplying both the encoder excitation voltage and the backup voltage together with the operating power from the robot controller, and, in addition to the voltage supply connection wiring line, the same voltage as the backup voltage is supplied from one battery. A plurality of option wiring paths for introducing an option backup voltage to each encoder provided in the plurality of drive motors, and an exposed type receiving terminal provided in each of the plurality of external encoders, to which the option wiring paths can be connected. And the plurality of options before disconnecting the connection wiring path for the voltage supply. An industrial robot characterized in that a wiring path is connected outside the robot body to protect the position stored data of an absolute position detection type encoder. 2. The industrial robot according to claim 1, wherein the backup is formed by an optional battery.