JPH1190880A - Industrial robot control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an industrial robot control device whereby a main circuit interruption object control group is selected, a main circuit power source can be interrupted, in accordance with an operating condition of a robot device. SOLUTION: In this control device, a plurality of control objects of robot main unit, external shaft, etc., are controlled by a single set of control device. Here, a plurality of the control objects S1 to S5 of the robot main unit, external shaft, etc., are divided into an arbitrary group, by divided control group unit, a means 6 controlling closing and interruption of a main circuit power source is provided. By this means 6, by divided control group unit, since the main circuit power source can be closed and interrupted, without giving an influence to work operation of a robot device total unit, at workpiece replacing work time or the like, only the external shaft with which a worker comes into contact is selected, the main circuit power source can be interrupted. Consequently, safety of the work can be easily ensured.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to control of a main circuit power supply of an industrial robot controller for simultaneously controlling the operation of a plurality of controlled objects.

[0002]

2. Description of the Related Art Conventionally, when a plurality of objects to be controlled, such as a peripheral device composed of a robot body and an external axis, are controlled by a single control device, the operating state of the entire device is affected during operation of the robot device. Therefore, it was not possible to turn on / off the main circuit power for an arbitrary control target. Therefore, in the related art, at the time of work replacement work or the like, since the operator has to contact the peripheral device formed by the external shaft, in order to ensure the safety of the operator, as shown below. It is necessary to take measures. (1) The operation is restricted when the main circuit power is turned on. (2) When an operator comes in contact with the apparatus, the operation is stopped and the main circuit of the entire apparatus is shut off. (3) A transport device is separately installed so that an operator does not need to make contact with the transport device.

To cope with such a problem, Japanese Patent Laid-Open No. 5-329794 discloses a robot in a system in which one controller 20 controls two robots 11 and 12 with reference to FIG. Is disclosed. In this circuit, two robots 11, 12
Servo amplifiers 13 and 14 of each axis servo motor (not shown) for driving each axis are provided with contacts 17 of relays 17 and 18.
A and a power supply line 1 to a power supply 19 via 18A, respectively.
5 and 16 are connected. The relay 17 is connected to a control power supply Vcc via a cutoff switch circuit 22 for the robot 11 and a common cutoff switch circuit 24. Further, the relay 18 is connected to a control power supply Vcc via a cutoff switch circuit 23 for the robot 12 and a common cutoff switch circuit 24. When the control device 20 is powered on, the relays 17 and 18 are energized through the common cutoff switch circuit 24 and the cutoff switch circuits 22 and 23 for the robot 11 and the robot 13, and connect the respective relay contacts 17A and 18A. When turned on, power is supplied from the power supply 19 to each of the servo amplifiers 13 and 14. When the two robots 11 and 12 are stopped at the same time, the common cutoff switch circuit 24 is operated to turn off the power supply to the two relays 17 and 18 and to turn off the power supply to the two relays 17 and 18. It is turned off, and the two relays 17 and 18 are both de-energized. As a result, the relay contacts 17A and 18A are turned off, the power supply to the servo amplifiers 13 and 14 is stopped, and both the robots 11 and 12 stop their operations. When only the robot 11 is operated and the robot 12 is stopped, the shutoff switch circuit 23 for the robot 2 is operated. When only the robot 2 is operated and the robot 11 is stopped, the shutoff switch circuit 22 for the robot 1 is set. Activate

[0004]

However, in the conventional circuit shown in FIG. 5, it is necessary to select a control loop to be interrupted outside the robot controller. When a plurality of control groups are operating in cooperation with each other in the series, select only a control loop that does not affect the operation of the entire device according to the operation status of the robot device, and shut off the main circuit power. There was a problem that can not be. Therefore, an object of the present invention is to provide an industrial robot control device capable of selecting a main circuit cutoff control group and shutting off the main circuit power supply according to the operation state of the robot device.

[0005]

In order to solve the above-mentioned problems, the present invention relates to a control device for an industrial robot which controls a plurality of objects to be controlled, such as a robot main body and an external shaft, with a single control device. A plurality of control objects such as a main body and an external shaft are divided into arbitrary groups, and a means for controlling turning on and off of a main circuit power supply is provided for each divided control group. By the above means, the main circuit power supply can be turned on and off for each divided control group, so that the worker can make contact when replacing a work without affecting the work operation of the entire robot apparatus. The main circuit power supply can be cut off by selecting only the external shaft to be operated.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of a typical robot device having a plurality of control targets. In the figure, S1, S
2, S3, S4 and S5 indicate external axes. S1 is an external shaft for rotating the entire peripheral device, S2, S3, S4,
S5 indicates an external axis that operates in synchronization with the robot 7 during work operation. For example, while the robot 7 is performing a work operation in synchronization with the external axes S2 and S3, in the work area A, a worker performs a work exchange operation on the external axes S4 and S5. FIG. 2 is a processing block diagram of the present invention. In the figure, 1 is a main circuit control signal including a control command for turning on and off the main circuit power, 2 is a robot controller, 3 is a signal determining unit for selecting a main circuit control target group based on the main circuit control signal 1, 4 Is a signal that stores the signal and control group information.
A control group comparison table, 5 is an operation control unit, 6 is a main circuit control unit, and 7 is a target group operation stop control group configuration table that stores the control group configuration that is operating in each sequence unit.

As shown in FIG. 3, the signal-control group comparison table 4 specifies which input number of the main circuit control signal corresponds to each control group such as a robot and a station. In addition, as shown in FIG. 4, the control group configuration table 7 defines information such as operation control group information, master control group information, and slave control group information for each stream. Next, the operation of the block in FIG. 2 will be described. In FIG. 1, a sensor (not shown) such as a proximity switch or a CCD camera detects that the worker has entered the work area A, and sends a main circuit control signal 1 to a signal determination unit 3 in the robot controller 2. Incoming. The signal determination unit 3 extracts the target control group information from the main circuit control signal 1 and the signal-control group comparison table 4 of FIG. 3, and requests the operation control unit 5 to shut off the main circuit of the target control group. The operation control unit 5 determines a system to be stopped and a control group to shut off the main circuit from the request control group from the signal determination unit 3 and the control group configuration table 7 in FIG. An instruction to shut off the main circuit of the control group is issued, and the operation of the target series is stopped.

[0008]

As described above, according to the present invention, the main circuit power can be turned on and off in units of divided control groups, so that the work operation of the entire robot apparatus is not affected. At the time of work replacement work or the like, the main circuit power supply can be cut off by selecting only the external shaft with which the operator contacts. Therefore, the safety of the worker can be easily ensured.

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing a typical system to which the present invention is applied.

FIG. 2 is a processing block diagram of the present invention.

FIG. 3 is an example of a signal-control group comparison table.

FIG. 4 is an example of a control group configuration table.

FIG. 5 is a block diagram showing a power supply cutoff circuit of a conventional robot.

[Explanation of symbols]

Reference Signs List 1 main circuit control signal, 2 robot controller, 3 signal judgment section, 4 signal-control group comparison table, 5 operation control section, 6 main circuit control section, 7 target group operation stop control group configuration table

Claims (1)

[Claims] 1. An industrial robot control device for controlling a plurality of control objects such as a robot main body and an external axis with a single control device, wherein the plurality of control objects such as the robot main body and the external axes are grouped into an arbitrary group. An industrial robot control device comprising: means for controlling the turning on and off of a main circuit power supply in units of divided control groups.