JPS61187010A - Controller of robot - Google Patents

Abstract

PURPOSE:To facilitate the work for troubles as well as maintenance and inspection by displaying the operation state of each of limit switches arranged in individual parts of a robot body. CONSTITUTION:The contact state of a limit switch 3 arranged in each part of a robot body 2 is inputted to an input signal processing part 4 through a cable, and the state of each switch which is processed and recorded on a basis of this input by a microcomputer is transmitted to a picture generating part 6 and is converted to a command of code display or the like and is sent to a limit switch state display part 7, and the state of two contacts of each limit switch is displayed. Switch states are referred to perform the work accurately and easily for troubles as well as maintenance and inspection.

Description

DETAILED DESCRIPTION OF THE INVENTION [Fields of use in beam planting] This specification relates to, for example, a control device for a robot for mold nesting, and a function to display the status of a limit switch that checks the operating range of each part.

[Conventional technology]

Conventionally, in this type of device, for example, the arm of the robot body.
There was no function to display whether the limit switch was on or off to check the operating range of the hand, etc.

[Problem that the invention seeks to solve]

For example, a failure occurs because the range of rotation angle or stroke that operates the 11 limit switch is not normal, or the limit switch itself turns on the contact at 1. In the case of failures that occur because the switch does not turn off, you may have to ignore the cause related to the limit switch mentioned above and look for other parts to solve the problem, wasting a lot of time and money to recover. was there.

This invention was made to solve this problem, and it is possible to turn on the limit switch. By making it possible to confirm the off state at a glance, it is possible to determine whether the failure is due to the action of each part of the robot body that activates the limit switch, or whether the failure is caused by the limit switch itself. The purpose of the present invention is to provide a device that can quickly determine the situation and perform restoration measures and maintenance inspections accurately and easily.

[Q means to solve problems]

The robot control device according to the present invention connects contact terminals of limit switches disposed in each part of the robot body and a limit switch status display section provided in the control device through an input signal processing section and a screen creation section. The on/off state of the limit switch contacts is displayed for each switch.

[Effect]

Just by looking at the on/off state of each switch displayed on the limit switch status display section, for example, "0" or "1", you can easily identify the individual IJ limit switches installed in each part of the robot body. The operation is 1! ! !
be recognized.

〔Example〕

FIG. 1 is an ILF diagram of a robot control device according to an embodiment of the present invention. In the figure button, (1) is the control device,
(2) I/i robot body, (3) robot body (2)
) is installed to detect the operating range of each part, and (4) is a limit switch that detects the operating range of each part of the robot.
A human power signal processing unit that receives signals such as strokes, etc., (5) a calculation unit that receives the output of this input signal processing unit (4) and performs predetermined calculations, and (6) a workpiece that is gripped by a robot node, for example. (7) a screen creation unit that images the state of
This is the IJ mitswitch status display section.

Figure 2 shows an enlarged example of this limit switch status display section, and shows, for example, 4 limit switches (3
) on the display board to display the status of
R, and l-0VER, are arranged on the left and right, and within this left and right arrangement, IlV & 111 to I11 are further arranged from the top.
&14N limit switches (3) are all classified and made to correspond to their on/off states, for example, for each circuit by the IOl 1N code as shown in the figure, a' + 0VERti 6 Louis n'- 0VER
, y. In the robot control device according to the present invention configured as described above, limit switches (3) disposed in each part of the robot body (2) ) is input to the input signal processing unit (4) via a cable, processed by a microcomputer based on this input, and recorded as the individual switch status, for example, in the case of a switch with one circuit and one contact, it is turned on, Off only, 11! ! In the case of a switch with 1 path and 2 contacts, both of these contacts are on.

OFF state t - Transmitted to the screen creation unit (6), where commands such as displaying codes of 〃0〃 and 〃1〃, or displaying according to the display lamp ``turn on I/'' and ``turn off I'' are sent. As shown in FIG. 2, which is an example of the display, the two contacts of each limit switch on floors 1 to 4, that is, "+o
vaa, and /'-ovgn.

The state of DA 1 is rl, limit switch 73 (3) is neutral point, and limit switch 2 (3) is s.
The +□yEECx side contact is on, the limit switch (3) on floor 4 is -0VER, and the gIll contact is on.

Although the above embodiment describes the case where the state of the limit switch (3) is displayed, this display is not limited to the state of the limit switch (3), but can be used to control the entire robot body, allowing operation to be performed simply by looking at the display. If necessary, the control signal t- may be displayed so that the state f can be recognized, and the same effect as the above embodiment is achieved. [Effects of the Invention] As explained above, this invention The operating status of the limit switches installed in each part is displayed for each individual switch so that the operator can recognize the switch status at a glance, making it easy to check the switch status in the event of a failure or during maintenance and inspection. This has the effect of allowing you to use it as a handhold to perform work accurately and easily.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a robot control device 2 according to an embodiment of the present invention, and FIG. 2 is a detailed diagram of a limit switch status display section in FIG. 1. In the figure, (1) is the control device, (2) is the robot body, (3) is the limit switch, (4) is the input signal processing section, (5) is the calculation section, (6) #: tlliii surface creation section, (7) is the limit switch status display section.

Claims (2)

[Claims] (1) A limit switch installed on the robot body that detects the operating range of each part, and an input signal processing unit that receives the signal detected by the limit switch via a cable.
A screen creation section that converts the individual contact states of the limit switches into classification codes based on the output commands of this input signal processing section, and a screen creation section that displays the contact states of each of the limit switches based on the output commands of this screen creation section. A robot control device consisting of a limit switch status display section. (2) A robot control device according to claim 1, characterized in that a microcomputer is used for control.