JPH10151596A - Robot control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent hinging-down of an arm as a brake device of-robot other than a robot desired to control is unlocked by erroneous control due to a wiring mistake in a rrbtt control device on the robot control device to control a plural number of the robots by one control device. SOLUTION: This robot control device is provided with a brake release shaft detection means to detect a shaft to unlock brake devices Bn (n=1, 2...12) at the time when a specific robot is selected by a command means 200, a judgment means 101 to judge whether relation of a shaft detected by this brake release shaft detection means and a setting means (MEM) setting corresponding relation of each of the shafts of each of the robots coincide with each other or not and an annunciation means to enunciate abnormality in the case when it is judged as they do not coincide with each other by this judgment means 101.

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 a plurality of robots with one controller, and particularly to a case where it is desired to operate a specific robot selected by an operating box. The present invention relates to a robot control device in which a brake device of a robot different from the robot to be operated is unlocked due to a wiring error in the robot control device and an arm is prevented from hanging down.

[0002]

2. Description of the Related Art FIG. 5 shows a robot controller which can control a plurality of robots with one controller. 1
Reference numeral 00 denotes a robot controller. The robot controller 100 is connected to each of the robots R1 and R2 via a connector C.
And an operating box 200 for outputting an operation command to each of the robots R1 and R2.

The robot controller 100 controls a main CPU 101 for controlling all axes of the robots R1 and R2, and servomotors SM1 to SM6 and SM7 to SM12 provided for each axis based on commands from the main CPU 101. Servo CPUs 102a-102l and amplifiers 103a-103f, 103g-10 that supply drive currents to the servo motors SM1-SM6, SM7-SM12 based on the outputs of the servo CPUs 102a-102l.
3l and brake devices B1 to B6, B7 to B for locking the rotation of the axes provided on the axes of the robots R1 and R2.
12 for controlling the brakes, and each axis No. controlled by the main CPU 101. And a memory MEM storing the correspondence between the robot and the axes of the robots R1 and R2 as shown in FIG.

Then, the amplifiers 103a to 103a
f, 103g to 103l and the relay circuit 104 are connected to the terminals T1 to T24 of the connector C and the leads L1 to L24.
They are connected by wiring L24. With this configuration, when one of the plurality of robots R1 and R2 is selected by operating the operating box 200, for example, when the robot R1 is selected, the selection is performed according to the correspondence stored in the memory MEM. After each of the axes (axis Nos. 1 to 6) corresponding to the robot R1 is set in the servo lock state, a signal for unlocking the rotation of each axis (axis Nos. 1 to 6) is transmitted to the brake devices B1 to B6. Output.

[0005]

As described above, each of the amplifiers 103a to 103f, 10
3g to 103l, and between the relay circuit 104 and each terminal T1 to T24 of the connector C, since the worker connects and connects the lead wires L1 to L24, for example, immediately after installing the robots R1 and R2. If a wiring error cannot be found in advance during the wiring check, the brake device of the robot other than the robot selected by the user will be unlocked during the teaching work, and the arm may hang down. was there.

[0006]

According to one aspect of the present invention, there is provided a robot having a servomotor for rotating each axis and a brake device for locking the rotation of each axis. Control means capable of controlling the robot, command means capable of selecting a specific robot from among the plurality of robots and outputting an operation command to the control means,
A robot control device comprising: a brake release unit that releases a lock of a brake device of each axis of the robot instructed by the command unit; and a setting unit that sets a correspondence between the plurality of robots and each of the axes. When a specific robot is selected by the command means, a brake release axis detecting means for detecting an axis on which the brake device is unlocked, and an axis detected by the brake release axis detecting means and set to the setting means. Determining means for determining whether the relationship with the axis corresponding to each of the robots has been matched or mismatched. If the determination means determines that the relationship does not match,
It is characterized by having a notifying means for notifying an abnormality.

According to a second aspect of the present invention, there is provided a re-locking means for returning the robot which has unlocked the brake device to the locked state again when the abnormality is notified by the notifying means. is there. (Function) The brake releasing axis detecting means can detect the axis of the robot in which the brake device is unlocked by the control means instructed by the command means by the brake releasing axis detecting means, and can be detected by the determining means by the brake releasing axis detecting means. The relationship between the detected axis and each axis corresponding to a preset robot is compared to determine whether the two coincide or not. When the determination result of the determination unit does not match by the notification unit, the abnormality is notified to immediately release the lock of the brake device of a robot different from the robot selected by the instruction unit. Inform.

According to the second aspect of the present invention, when an abnormality is notified, the brake device of the released robot is once again locked by the re-locking device, and the operation command is issued by the commanding device. Prevent the robot arm from falling.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a configuration of a robot according to an embodiment of the present invention. Reference numeral 10 denotes a robot main body, and a base 13 for fixing the robot main body 10 is provided on the floor, and a column 12 is fixed on the base 13, and a body 14 is mounted on the column 12 around the a-axis. It is arranged rotatably. The body 14 pivotally supports an upper arm 15 rotatably about a b-axis, and the upper arm 15 pivotally supports a forearm 16 rotatably about a c-axis. This forearm 16
A twist list 17 is rotatably supported around the d-axis at a tip end of the bend list 9.
Are rotatably supported around the e-axis. A swivel wrist 18 having a flange 18a at the tip is rotatably supported on the bend wrist 9 about the f-axis, and a hand 19 is attached to the flange 18a. Thus, the robot main body 10 has six degrees of freedom (six control axes).

FIG. 2 shows the configuration of the robot control device. Symbols R1 and R2 in the figure have the same configuration as the robot body 10 described in FIG. 1, and each of the robots R1 and R2 has Servo motors SM1 to SM for controlling rotation
6, SM7 to SM12 and brake devices B1 to B6, B7 to B12 for locking the rotation of each axis. 1
Reference numeral 00 denotes a robot controller, and the main CPU 101
And the servo CPUs 102a to 102f, 102 for obtaining the output torques of the servo motors SM1 to SM6, SM7 to SM12 based on the angle command value of each axis, the moment of inertia, and the gravitational torque output from the main CPU 101.
g to 102l, and the respective servo CPUs 102a to 102l.
amplifiers 103a to 103f, 103g to apply currents to the servo motors SM1 to SM6, SM7 to SM12 by changing the frequency of the three-phase current supplied from the servo power supply D1 based on the outputs from the f, 102g to 102l. 1
03l and the output of the brake power supply D2 based on the command from the main CPU 101.
B6, B7 to B12, and a brake control circuit 105 that outputs a lock release signal to the amplifiers 103a to 103b.
3f, 103g to 103l and the brake control circuit 10
5 and the terminals T1 to T24 are connected to the lead wires L1 to L4.
It is composed of a connector C connected by L24 and a memory MEM.

An operating box 200 and an external control device 300 are connected to the robot control device 100 via an interface (not shown). And the respective axes (see FIG. 6), teaching point data, operation programs, and the like can be stored in the memory MEM.

The brake devices B1 to B6, B7 to B1
Reference numeral 2 denotes, for example, a clutch disk brake, and the clutch is normally turned on by a pressing force of a coil spring and is in a mechanically locked state. When the electromagnetic force exceeds the pressing force of the coil spring by energizing the electromagnet, the clutch is turned off and the lock is released. The control of energization of the electromagnets of the brake devices B1 to B6 and B7 to B12 is performed by the brake control circuit 105.

The brake control circuit 105 includes a relay circuit shown in FIG. The brake control circuit 105 operates based on a command from the main CPU 101, and a specific robot is selected by operating an operating box 200 (in this embodiment, one of the two robots R1 and R2 is selected). When selected, the brake release signal is output from the main CPU 101 to the brake control circuit 105, and the contact BKR is closed. Next, the a-axis to f shown in FIG.
When any of the six axes is selected and operated,
The contact Sn (n = 1, 2,...) Corresponding to the selected axis
12: Here, the a-axis is S1, the b-axis is S2, and the c-axis is S
3, d-axis corresponds to S4, e-axis corresponds to S5, and f-axis corresponds to S6), and relay BKn (n = 1, 2,...)・ 12)
Is turned on, and the two contacts BKn (n = 1, 2,..., 12) corresponding to the relay BKn in the figure are all closed. Then, the voltage 0H (for example, 0 V) is output to any one of Kn (n = 1, 2,..., 12) of the corresponding signal line K to the main CPU 101, and the main CPU 101
It is possible to detect the axis on which the brake device Bn is operated on the 101 side. Lm (m = 2, 4... 24) of the lead wires L connected to the terminals T1 to T24 of the connector C
And the brake power of the brake device Bn (n = 1, 2,..., 12) is released. The portion indicated by reference numeral 105a in the figure constitutes a brake release axis detecting means of the present invention.

With the above configuration, the main C that determines whether or not the axis of the robot to be controlled by operating the operating box 200 and the axis from which the brake is released coincides.
The processing of the PU 101 (determination means of the present invention) will be described based on the flowchart of FIG. The process of this flowchart is executed when the operating box 200 is operated and the robot and the axis to be controlled are selected.

In step S100, all axes of the robot selected by the operating box 200 are set in the servo lock state. Specifically, the main CPU 10
Reference numeral 1 denotes an axis corresponding to the robot selected by the operating box 200, which is read from the corresponding relationship between the robot and each axis stored in the memory MEM (corresponding relationship in FIG. 6), and each servo CPU 102a for controlling the corresponding axis.
The command is output to 102l. For example, when the robot R1 is selected, the main CPU 101
Output servo lock command to U102a-102f,
All six axes, a-axis to f-axis, are set in the servo lock state.

In the next step S101, a command to close the contact point of the contact point BKR is output to the brake control circuit 105 shown in FIG. 3, and the axis corresponding to the robot selected by the operating box 200 is stored in the memory MEM. The command is read from the corresponding relationship between the robot and each axis (corresponding relationship in FIG. 6), and a command to close the contact point of the axis Sn (n = 1, 2,..., 12) corresponding to the relevant axis is output. For example, when the robot R1 is selected by the operating box 200, the main CPU 1
01, a command to close the contact point of the contact point BKR is first output to the brake control circuit 105. Next, the axis corresponding to the robot R1 is read from the memory MEM in which the correspondence shown in FIG. 6 is stored. Since a command to close the contacts S1 to S6 corresponding to the a-axis to f-axis is output,
Relay BK connected in series with these contacts S1 to S6
1 to BK6 are turned on, the contacts BK1 to BK6 are closed, and the power supply D2 for braking is applied to the brake devices B1 to B6.
The locks of 1 to B6 are released.

In step 102, the main CPU 101
Indicates that a voltage 0 is applied to one of the lines Kn (n = 1, 2,..., 12) of the signal line K bus-connected to the brake control circuit 105.
By determining whether H is applied, the axis to which the voltage for unlocking the brake device Bn (n = 1, 2,..., 12) is applied is detected. In step 103, the relationship between the robot selected by the operating box 200 and the axis detected in step 102 is
It is determined whether the correspondence between the robot and each axis stored in the memory MEM shown in FIG. 6 matches. If it is determined that they match, the process proceeds to the next step S104, in which the axis controlled by operating the operating box 200 is controlled. If it is determined that the values do not match, the process proceeds to step S105.

In step S105, a command for immediately opening the contact point of the contact point BRK of the brake control circuit 105 is output, and both the rotation axes of the robots R1 and R2 are locked, and an abnormality is displayed on the display section 200a of the operating box 200. Is displayed, and the control by the operating box 200 is stopped. Note that the step S
The brake device Bn of the robot selected at 102 (n =
The energization of the electromagnets (1,..., 12) is started, but the time required for the determination in step S104 is very short. Will not hang down.

As described above, the robot R1 (or R2) selected by the operating box 200
All the unlocked axes of the brake device can be detected, and a comparison can be made between the detected axis and a preset correspondence between the axes of the robot to determine a mismatch. In the case of a mismatch, an abnormality is notified. In addition, since the brake device is returned to the locked state, it is possible to prevent the arm of a robot other than the robot that is to be controlled by operating the operating box 200 from hanging down due to a wiring error in the robot control device 100.

[0020]

As described above, according to the present invention, when unlocking the brake device of each axis corresponding to the robot selected by the command means, each unlocked axis is detected, The relationship between the detected axis and the robot,
A preset robot is compared with a setting unit storing a correspondence relationship between each axis, and in the case of a mismatch, an abnormality is notified. Therefore, a brake device of a robot other than the robot selected by the command unit is used. Is unlocked, it is possible to prevent erroneous control due to a wiring error of the robot controller. In addition, when the abnormality is informed, the unlocked brake device is returned to the locked state again, so that it is possible to prevent the arm of a robot other than the robot to be controlled from hanging down.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a robot used in an embodiment of the present invention.

FIG. 2 is a block diagram of the robot control device according to the embodiment of the present invention.

FIG. 3 is a diagram illustrating a brake control circuit according to the embodiment of the present invention.

FIG. 4 is a flowchart illustrating a processing procedure of a main CPU according to the embodiment of the present invention.

FIG. 5 is a block diagram of a conventional robot control device.

FIG. 6 is a diagram illustrating a correspondence between a robot and each axis.

[Explanation of symbols]

 Reference Signs List 10 robot 18 swivel list 18a flange 19 hand 100 robot controller 101 main CPU 102a to 102l servo CPU 103a to 103l amplifier 105 brake control circuit 105a brake release axis detecting means C connector D1 servo power supply D2 brake power supply R1, R2 robot SM1 To SM12 Servo motor B1 to B12 Brake device MEM memory

Claims (2)

[Claims] 1. A robot having a servo motor for rotating each axis and a brake device for locking the rotation of each axis, control means capable of controlling a plurality of said robots, and a specific robot among said plurality of robots Command means capable of selectively outputting an operation command to the control means; brake release means for unlocking a brake device of each axis of the robot instructed by the command means; and A robot control device comprising setting means for setting a correspondence relationship, wherein when a specific robot is selected by the command means, a brake release axis detecting means for detecting an axis that has unlocked the brake device; and It is determined whether the relationship between the axis detected by the brake release axis detecting means and the axis corresponding to each robot set in the setting means matches or does not match. 1. A robot control device comprising: a determination unit for determining a value; and a notification unit for notifying an abnormality when the determination unit determines that the values do not match. 2. The robot control according to claim 1, further comprising a re-locking unit for returning the shaft, from which the brake device has been unlocked, to a locked state again when an abnormality is notified by the notifying unit. apparatus.