JPS61161516A - Controller of industrial robot - Google Patents
Controller of industrial robotInfo
- Publication number
- JPS61161516A JPS61161516A JP223085A JP223085A JPS61161516A JP S61161516 A JPS61161516 A JP S61161516A JP 223085 A JP223085 A JP 223085A JP 223085 A JP223085 A JP 223085A JP S61161516 A JPS61161516 A JP S61161516A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- teaching
- control unit
- wireless
- teaching box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33207—Physical means, radio, infra red, ultrasonic, inductive link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33253—Correction data transmission errors, protection against noise, twisted pair
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、産業用ロボットの制御装置、４ＩＫエコー
・バック方式によるワイヤレス・ティーチング・ボック
スでロボット本体を制御する装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control device for an industrial robot, and a device for controlling a robot body using a wireless teaching box using a 4IK echo back method.
第３図は従来の産業用ロボットとその制御装置との構成
を示す説明図である。図において、（１）はロボット本
体、（２）は四ボット本体（１）とケーブル（３）によ
って接続されている制御部、（４１は操作員によってこ
の制御部（２）へ指令を与えるためのティーチング・ボ
ックスで、ケーブル（５）Ｋよって制御部（２）と＊ａ
されている。FIG. 3 is an explanatory diagram showing the configuration of a conventional industrial robot and its control device. In the figure, (1) is the robot body, (2) is the control unit connected to the four-bot body (1) by a cable (3), and (41 is for giving commands to this control unit (2) by the operator. In the teaching pendant, connect the control unit (2) and *a with the cable (5)K.
has been done.
上記のように構成した従来の産業用ロボットとその制御
装置において、ティーチング・ボックス（４１によって
ロボット本体（１）ｔ−教示するＫは、先ず、ティーチ
ング・ボックス（４）からの指令をケーブル（５）を経
由して制御部（２）へ与え、この制御部（２）からの制
御出力がケーブル（３）を介してロボット本体（１）が
繰作されるようになっている。In the conventional industrial robot and its control device configured as described above, K, who teaches the robot body (1) through the teaching box (41), first transmits commands from the teaching box (4) to the cable (5). ) to a control unit (2), and the control output from this control unit (2) is used to manipulate the robot body (1) via a cable (3).
上記のような従来・の産業用ロボットへのティーチング
装置では、ティーチング・ボックス（４）ト制御部（２
１とを結ぶケーブル（５）ｔ−周辺の機器類等の近傍に
張シ巡らす場合もあるので、特に１テイーチング・ボッ
クス（４）と制御部（２）との距離が長い場合とか、ケ
ーブル（５）の設置場所の近傍にあるノイズ源となる機
器等に対して迂回を要する場合などでは、回線のための
工事費用がかさみ、以上の配慮上行なっても、条件によ
っては予期しないノイズの影Ｉ＃を受ける等の問題があ
った。In the conventional teaching device for industrial robots as described above, a teaching box (4) and a control section (2) are used.
The cable (5) that connects the 1 teaching box (4) and the control unit (2) may be routed close to peripheral devices, so the cable (5) connecting the 1 teaching box (4) and the 5) In cases where a detour is required for equipment that is a noise source near the installation location, construction costs for the line will increase, and even if the above considerations are taken, unexpected noise effects may occur depending on the conditions. There were problems such as receiving I#.
この発明は、かかる問題点を解決するためになされたも
ので、上記のような制御５（２）とティーチング・ボッ
クス（４）との回線距離、あるいは回線周辺の機器等に
よるノイズの影ＩＩＩＫよる回線の場所に対する考Ｊ［
ヲ必要としない産業用ロボットの制御装置を得ること上
目的とする。This invention was made in order to solve such problems, and due to the line distance between the control 5 (2) and the teaching box (4) as described above, or the influence of noise caused by devices around the line, etc. Thoughts on the location of the line J[
The purpose of the present invention is to obtain a control device for an industrial robot that does not require the following.
この発明に係る産業用ロボットの制御装置は、無線によ
る送信および受信機能とがそれぞれに設けられた、ワイ
ヤレス・ティーチング・ボックスと制御部とを備え、こ
の制御部とケーブルで接続された党ポット本体の操作を
行なうために１上記のワイヤレス・ティーチング・ボッ
クスよシの教示の信号を発信して制御部へ送信し、制御
部で受傷した信号と上記ワイヤレス・ティーチング・ボ
ックスより発信され次信号とか一致しているときにのみ
、上記の教示信号によるデータによって制御部が動作し
、胃ポット本体へ操作の指令を伝達するものである。A control device for an industrial robot according to the present invention includes a wireless teaching box and a control unit, each of which is provided with wireless transmission and reception functions, and a control unit connected to the control unit by a cable. In order to perform this operation, 1) The wireless teaching box described above transmits the signal taught by the wireless teaching box and sends it to the control unit, and the signal received by the control unit and the next signal transmitted from the wireless teaching box are combined. Only when the gastric pot is in operation, the control section operates based on data from the teaching signal and transmits an operation command to the gastric pot main body.
ワイヤレス・ティーチング・ボックスより制御部へ至る
間の無線信号搬送の途中で、例えば、電動機等の機器に
よるノイズの影響を受けて、ワイヤレヌーテイーチング
・ボックスから送信された教示信号と、制御部が受信し
た信号が不一致の場合は、即座に制御部よシワイヤレス
・ティーチング・ボックスへエコー・バックされ、同時
に、不一致な信号による制御部内のＣＰＵのデータはキ
ャンセルされる。そして、上記のノイズの影響による状
況に応じては、このエコー・パック作用全繰返し、教示
信号と制御部が受信した信号とが一致すると、制御部は
正常な作動を開始して、ロボット本体へ所定の操作指令
を行う。During the wireless signal transmission from the wireless teaching box to the control unit, for example, the teaching signal transmitted from the wireless teaching box and the control unit may be affected by noise from equipment such as electric motors. If the received signals do not match, they are immediately echoed back from the control section to the wireless teaching box, and at the same time, data in the CPU in the control section due to the mismatched signals is canceled. Then, depending on the situation due to the influence of the noise mentioned above, this echo pack action is repeated, and when the teaching signal and the signal received by the control unit match, the control unit starts normal operation and sends the signal to the robot body. Issues a predetermined operation command.
第１図はこの発明の一実施例を示す構成図である。図１
ｃＴｈいて、（１）のロボット本体と（３）のケーブル
とは従来例の第６図における同符号のものと同一部分で
ある。（２）は制御部、（４）はワイヤレス・ティーチ
ング・ボックス（以下、ワイヤレスＴ／Ｂ°と言う）で
あシ、無線送受信器とじて構成され次、このワイヤレス
Ｔ ／ Ｂ （４１の指令を受けて交信する制御部（２
）の制御出力が、ケーブル（３）を経由して、ロボット
本体（１）ｔ−操作し、所定の動作を行なわせるようＫ
なっている。FIG. 1 is a block diagram showing an embodiment of the present invention. Figure 1
cTh, the robot body (1) and the cable (3) are the same parts as those with the same symbols in FIG. 6 of the conventional example. (2) is a control unit, and (4) is a wireless teaching box (hereinafter referred to as wireless T/B°), which is configured as a wireless transmitter/receiver. Control unit (2) that receives and communicates
) is transmitted via the cable (3) to the robot body (1) so as to cause it to perform a predetermined action.
It has become.
第２図は制御部（２）およびワイヤレスＴ ／ Ｂ （
４）の構成の一例を示すブロック図であシ、制御部（２
）はＣＰ Ｕ （２ａ）と接続されたＵＡＲＴＣ２ｂ）
と、このＵＡＲＴ（２ｂ）と接続された受信部（２Ｃ）
および送信部（２ｄ）とから成っている。一方、ワイヤ
レスＴ ／ Ｂ （４）はＣＰ Ｕ （４ａ）と接続さ
れた表示器（４ｂ）、キーボード（４ｃ） ｂよびＵＡ
ＲＴ （４ｄ）と、このＵＡＲＴ（４ｄ）と接続された
送信部（４ｅ）および受傷部（４ｆ）とから成っている
。Figure 2 shows the control unit (2) and wireless T/B (
4) is a block diagram showing an example of the configuration of the control unit (2).
) is UARTC2b) connected to CPU (2a)
and the receiving section (2C) connected to this UART (2b)
and a transmitter (2d). On the other hand, the wireless T/B (4) has a display unit (4b) connected to the CPU (4a), a keyboard (4c) b and a UA.
It consists of an RT (4d), a transmitting section (4e) and a damaged section (4f) connected to this UART (4d).
上記のように構成され九この発明による産業用ロボット
の制御装置においては、ワイヤレスＴ／Ｂ（４）の無線
による指令信号が制御部（２）へ到達する途中における
、例えば電動機等ノイズ源となる機器類などの影響によ
って、制御部（２）内で誤った作動が発生し、この出力
がロボット本体（１）を操作するととｋなると、ロボッ
ト本体（１）は所定通）の動作を行なわなくだけではな
く、上記のノイズの条件によっては、ロボット本体（１
）は暴走状態となって、大きな事故の発生を招くことも
あるので、先ず、上記の指令信号は第２図に示すワイヤ
レスＴ／Ｂ（４）内のキーボード（４ｃ）からの信号を
シリアルに変換し、ＵＡＲＴ（４ｄ） ｔ−介して、送
信部（４ｅ）よシ発生させる。制御部（２１における受
信部（２ｃ）は上記送信部（４ｅ）よシの指令信号を受
信し、ＵＡＲＴ（２ｂ）でパラレルに変換されてＣＰＵ
（２ａ）Ｋ送られる。In the industrial robot control device according to the present invention configured as described above, the wireless T/B (4) transmits a wireless command signal to the control unit (2) when the noise source is generated, such as an electric motor. If an erroneous operation occurs in the control unit (2) due to the influence of equipment, etc., and this output does not operate the robot body (1), the robot body (1) will not perform the specified operation. Depending on the above noise conditions, the robot body (1
) may go out of control and cause a major accident, so first, the above command signal is serially transmitted from the keyboard (4c) in the wireless T/B (4) shown in Figure 2. It is converted and generated by the transmitter (4e) via the UART (4d). The receiving unit (2c) in the control unit (21) receives the command signal from the transmitting unit (4e), converts it into parallel by the UART (2b), and sends it to the CPU.
(2a) K is sent.
とのＣＰＵ（２ａ）に入力した信号は再びＵＡＲＴ（２
ｂ）へ出力し、シリアルに変換されてから、送信部（４
ｆ）よりワイヤレスＴ ／ Ｂ （２＋の受信部（４ｆ
）ｔ−経てＵＡＲＴ （４ｄ）においてパラレルに変換
され、ＣＰ Ｕ （４ｍ）に入力する。次に、とのＣＰ
Ｕ （４ａ）において送信した信号と受信した信号と
が一致しているか否かが判断され、この判断結果がＵＡ
ＲＴ（４ｄ） 、送信部（４ｅ）を経て制御部（２１の
受信部（４ｅ）へ送られることになる。The signal input to the CPU (2a) is sent back to the UART (2a).
b), converted to serial, and sent to the transmitter (4).
f) Wireless T/B (2+ receiving section (4f
)t- is converted into parallel data at the UART (4d) and input to the CPU (4m). Next, CP with
In U (4a), it is determined whether the transmitted signal and the received signal match, and this determination result is sent to the UA.
The signal is sent to the receiving section (4e) of the control section (21) via the RT (4d) and the transmitting section (4e).
この場合、上記のＣＰ Ｕ （４ａ）において送信、受
信の信号が一致していると判断されると、最初に指令さ
れたデー／にもとづいて制御部（２）が所定の動作を行
い、ロボット本体（１１へ操作信号を伝達する。逆に１
上記ＣＰ Ｕ （４ａ）において、送信、受信の信号が
不一致の判断があると、ＣＰ Ｕ（４ａ）Ｉ から発
信したＵＡＲＴ（４ｄ） 、送信部（４ｅ）を経由した
受信部（２ｃ）の信号にもとづき、ＣＰＵ（２ａ）内に
おける最初に送られたデータはキャンセルされ、ワイヤ
レスＴ／Ｂ（４）からの教示通フの信号を制御部（２）
が受信するまで、上記の作用が繰返えされる０上配送受
信の信号が一致すると、制御部（２）がロボット本体（
１）へ制御信号を伝達して所定のロボット稼働が行なわ
れる。In this case, when the above-mentioned CPU (4a) determines that the transmitted and received signals match, the control unit (2) performs a predetermined operation based on the first commanded data, and the robot The main body (transmits the operation signal to 11. Conversely, 1
In the above CPU (4a), when it is determined that the transmitted and received signals do not match, the signal from the receiving unit (2c) via the UART (4d) and the transmitting unit (4e) transmitted from the CPU (4a) I is transmitted. Based on this, the first data sent in the CPU (2a) is canceled and the teaching communication signal from the wireless T/B (4) is transmitted to the control unit (2).
The above operation is repeated until the robot body (
1), a predetermined robot operation is performed by transmitting a control signal to the controller.
この発明は以上説明したとおり、制御部とこれを教示す
るティーチング・ボックスとの信号の伝達を無線で行う
ように構成したので、これらの信号伝達の九めに要する
有線網の経路等を配慮する必要がなくなり、また、上記
信号の伝達間にノイズの影響があっても、このノイズの
影＠！を判断して、正しい教示通シのデータで制御部を
作動させ、信頼度の高い稼働をロボット本体に行なわせ
ることができる効果かある。As explained above, this invention is configured so that signals are transmitted wirelessly between the control unit and the teaching box that teaches the control unit, so consideration must be given to the route of the wired network required for these signal transmissions. It is no longer necessary, and even if there is an influence of noise during the transmission of the above signal, the shadow of this noise @! This has the effect of being able to determine the correct teaching data, operate the control unit with the correct teaching data, and cause the robot body to operate with high reliability.
第１図はこの発明の一実施例の産業用ロ゛ポット装置に
おける制御の構成を示す図、第２図は第１図における制
御部およびワイヤレスＴ／Ｂの構成を示すブロック図、
第３図は従来の産業用ロボットの制御の構成を示す図で
ある。
図において、（１）はロボット本体、（２）は制御部、
（２ａ） ＃′ｉＣＰ Ｕ、 （２ｃ） ｔｄ受信部
、（２ｄ） ｔｉｔ送化部、（４）はワイヤレ、ＫＴ／
Ｂ、（４ａ）はＣＰＵ。
（４ｄ） ＩＩ′１ＵＡＲＴ、 （４ｅ） ｔ：１送
信部、（４ｆ）は受信部。
なお、図中の同一符合は同°°一部分または相当部分を
示す。
代理人 弁理士 木 村 三 朗１ ：やキー、
ト本イ本、
２：’ｅｌ轡仰
３：Ｉ７″−−７”Ｌ
第２図
第３図FIG. 1 is a diagram showing the control configuration of an industrial robot device according to an embodiment of the present invention, and FIG. 2 is a block diagram showing the configuration of the control unit and wireless T/B in FIG. 1.
FIG. 3 is a diagram showing a control configuration of a conventional industrial robot. In the figure, (1) is the robot body, (2) is the control unit,
(2a) #'iCPU, (2c) td reception section, (2d) tit transmission section, (4) wireless, KT/
B, (4a) is a CPU. (4d) II'1UART, (4e) t:1 transmitting section, (4f) receiving section. Note that the same reference numerals in the figures indicate the same parts or corresponding parts. Agent Patent Attorney Sanro Kimura 1: Yakey,
2: 'el 3: I7''--7''L Figure 2 Figure 3
Claims (1)
教示によって作用する制御装置との両者に相互に交信で
きる無線操作機能を設け、上記ティーチング・ボックス
よりの教示信号と、この教示信号を受けた上記制御装置
への入力信号とが一致したときのみ上記制御装置が上記
教示信号のデータに従って作動してロボット本体への操
作命令を伝達する産業用ロボットの制御装置。A wireless operation function is provided that allows both the teaching box and the control device that operates based on the teachings of the teaching box to communicate with each other, and the teaching signal from the teaching box and the input to the control device that receives this teaching signal are provided. A control device for an industrial robot, wherein the control device operates according to the data of the teaching signal and transmits an operation command to a robot body only when the signals match.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP223085A JPS61161516A (en) | 1985-01-11 | 1985-01-11 | Controller of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP223085A JPS61161516A (en) | 1985-01-11 | 1985-01-11 | Controller of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61161516A true JPS61161516A (en) | 1986-07-22 |
Family
ID=11523550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP223085A Pending JPS61161516A (en) | 1985-01-11 | 1985-01-11 | Controller of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61161516A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0536417A1 (en) * | 1991-04-24 | 1993-04-14 | Fanuc Ltd. | Wireless control board, and method of connection between the wireless control board and numeric controller |
| JP2006297590A (en) * | 2005-04-19 | 2006-11-02 | Como Spa | Control method of industrial robot, robot, system and computer program |
| JP2006297589A (en) * | 2005-04-19 | 2006-11-02 | Como Spa | Control method of industrial robot, robot, system and computer program |
| JP4826921B2 (en) * | 2005-03-25 | 2011-11-30 | 株式会社安川電機 | Automatic machine system and wireless communication method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58151608A (en) * | 1982-03-05 | 1983-09-08 | Nissan Motor Co Ltd | Teaching device of robot |
-
1985
- 1985-01-11 JP JP223085A patent/JPS61161516A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58151608A (en) * | 1982-03-05 | 1983-09-08 | Nissan Motor Co Ltd | Teaching device of robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0536417A1 (en) * | 1991-04-24 | 1993-04-14 | Fanuc Ltd. | Wireless control board, and method of connection between the wireless control board and numeric controller |
| EP0536417A4 (en) * | 1991-04-24 | 1994-11-17 | Fanuc Ltd | Wireless control board, and method of connection between the wireless control board and numeric controller |
| JP4826921B2 (en) * | 2005-03-25 | 2011-11-30 | 株式会社安川電機 | Automatic machine system and wireless communication method thereof |
| JP2006297590A (en) * | 2005-04-19 | 2006-11-02 | Como Spa | Control method of industrial robot, robot, system and computer program |
| JP2006297589A (en) * | 2005-04-19 | 2006-11-02 | Como Spa | Control method of industrial robot, robot, system and computer program |
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