JPS6123210A - Automatic release device for emergency stop mode of robot - Google Patents
Automatic release device for emergency stop mode of robotInfo
- Publication number
- JPS6123210A JPS6123210A JP14240284A JP14240284A JPS6123210A JP S6123210 A JPS6123210 A JP S6123210A JP 14240284 A JP14240284 A JP 14240284A JP 14240284 A JP14240284 A JP 14240284A JP S6123210 A JPS6123210 A JP S6123210A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- emergency stop
- amount
- stop state
- movement
- 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
- G05B19/4067—Restoring data or position after power failure or other interruption
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34365—After interrupt of operation, do other task and go on - resume operation
-
- 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
- G05B2219/45—Nc applications
- G05B2219/45083—Manipulators, robot
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50103—Restart, reverse, return along machined path, stop
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Safety Devices In Control Systems (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、ロボットにおける非常停止状態の自動解除装
置に係シ、さらに詳しくはロボットの動作範囲オーパに
よる非常停止後、この非常停止状態を自動的に解除させ
るために好適な非常停止状態の自動解除装置に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an automatic release device for an emergency stop state in a robot, and more specifically, to an automatic release device for automatically canceling an emergency stop state in a robot after an emergency stop due to the operating range of the robot being exceeded. The present invention relates to an automatic release device for an emergency stop state that is suitable for releasing the emergency stop state.
従来のロボットには、原点合わせ完了以前はロボット自
身、現在位置を知る機能がない。そして、ロボットはハ
ード的に非常停止になっても動作可能である。また、ロ
ボットの非常停止状態の解除を作業員が行っておシ、作
業員がロボットを誤つた方向に動作させてしまうと、チ
ェーンを乗シ上げて゛しまったシ、チェーンを切断して
しまうことがあり、作業性が悪く、シかも安全性、信頼
性に欠ける問題があった。Conventional robots do not have the ability to know their current position before the origin alignment is complete. Furthermore, the robot can operate even if it comes to a hardware emergency stop. In addition, if the worker releases the robot from the emergency stop state and moves the robot in the wrong direction, the chain may end up riding up and breaking the chain. However, there were problems with poor workability and lack of safety and reliability.
本発明の目的は、ロボットの動作範囲オーパによる非常
停止後の、非常停止状態の解除をロボット自身で短時間
に行い得るロボットにおける非常停止状態の自動解除装
置を提供するにあシ、他の目的は非常停止状態の解除中
に、ロボット周辺に警告を発し得るロボツ）Ｋおける非
常停止状態の自動解除装置を提供するにある。SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic release device for an emergency stop state in a robot, which allows the robot to release the emergency stop state by itself in a short time after an emergency stop due to an overoperation of the robot's operating range. An object of the present invention is to provide an automatic release device for an emergency stop state in a robot (K) that can issue a warning to the surroundings of the robot while the emergency stop state is being released.
（発明の概要〕
本発明の１番目の発明は、ロボットの電源投入時から手
動運転時または原点合わせ時のロボットの移動量を累積
して記憶する記憶バッファと、ロボットの動作範囲オー
パによる非常停止後、これを解除させる作動キーと、こ
の作動キーによる非常停止状態の解除時、前記記憶バッ
ファに累積して記憶されているロボットの移動量を指令
値としてロボットのサーボ系に送り、ロボットを電源投
・人時の位置に戻す自動復帰機能部とを備えているとこ
ろＫＩ＃徴を有するもので、この構成により非常停止状
態の解除をロボット自身で短時間で行うことができ、し
たがって安全性および信頼性を向上でき、かつ作業性を
も向上させることができる。(Summary of the Invention) The first aspect of the present invention is a memory buffer that accumulates and stores the amount of movement of the robot from the time the robot is powered on to manual operation or home alignment, and an emergency stop when the robot's operating range is exceeded. Then, when the emergency stop state is canceled using the activation key and this activation key, the amount of movement of the robot accumulated and stored in the memory buffer is sent as a command value to the robot's servo system, and the robot is powered on. The robot has the KI# feature in that it is equipped with an automatic return function that returns it to the thrown/attended position.With this configuration, the robot itself can release the emergency stop state in a short time, thus improving safety and safety. Reliability can be improved, and workability can also be improved.
また、本発明の２＠目の発明は、前記１番目の発明にお
いて、非常停止状態の解除時、ロボット周辺に警告を発
する手段を備えているところに特徴を有するもので、こ
の構成によυ非常停止状態の解除中に警告を発すること
ができ、したがってロンド周辺の安全性を向上させるこ
とができる。Further, the second invention of the present invention is characterized in that, in the first invention, a means is provided to issue a warning around the robot when the emergency stop state is released. A warning can be issued while the emergency stop state is released, thus improving safety around Rondo.
以下、本発明の実施例を図面によシ説明する。 Embodiments of the present invention will be described below with reference to the drawings.
第１図（Ａ）、（Ｂ）、（Ｃ）はロボットの移動位置と
移動量の記憶バッファの関係を示し、第２図は非常停止
状態の解除を行う自動復帰機能部の内部ロジックを示し
、第８図は本発明の動作フローの一例を示す。Figures 1 (A), (B), and (C) show the relationship between the robot's movement position and the storage buffer for the movement amount, and Figure 2 shows the internal logic of the automatic return function unit that cancels the emergency stop state. , FIG. 8 shows an example of the operation flow of the present invention.
これらの図において、ロボットは第１、第２のアーム１
．２と、ハンド８と、第１、第２、第８、第４のサーボ
４．５．６．７と、制御盤と、ティーチングボッ〉スと
、ロボットの動作範囲オーパ時に作動する非常停止機能
部とを備えているが、前記制御盤と、ティーチングボッ
クスと、非常停止機能部とは図面では省略されている。In these figures, the robot has first and second arms 1
．． 2, the hand 8, the first, second, eighth, and fourth servos 4.5.6.7, the control panel, the teaching boss, and the emergency stop function that operates when the robot's operating range is exceeded. However, the control panel, teaching box, and emergency stop function section are omitted in the drawing.
なお、第１図（Ａ）、（Ｂ）、（Ｃ）において、８はロ
ボットの動作状況を示す。In addition, in FIGS. 1(A), (B), and (C), 8 indicates the operating status of the robot.
そして、前記ロボットの制御盤には記憶バッファ９と自
動復帰機能部１０とが設けられ、ティーチングボックス
には作動キー（図示せず）が設けられ、さらにロボット
本体（図示せず）には警告を発する手段としての警告ラ
ンプ（図示せず）が設けられている。The control panel of the robot is provided with a memory buffer 9 and an automatic return function section 10, the teaching box is provided with an operation key (not shown), and the robot body (not shown) is provided with a warning function. A warning lamp (not shown) is provided as a means for issuing a warning.
前記記憶バッファ９は、電源投入時からの手動運転時ま
たは原点合わせ時のロボットの移動量としての、第１の
アーム１の移動量（アーム１の動きが回転であるためこ
の場合は回転量）と、第２のアーム２の移動量（回転量
）と、ノ・ンド３の上下方向の移動量（アーム２とハン
ド８との間に／Ｓンド３の上下機構がある）と、ハンド
８のひねシ量とを累積して記憶するように構成されそい
る。The memory buffer 9 stores the amount of movement of the first arm 1 (in this case, the amount of rotation since the movement of arm 1 is rotation) as the amount of movement of the robot during manual operation after power-on or when adjusting the origin. , the amount of movement (amount of rotation) of the second arm 2, the amount of movement in the vertical direction of the hand 3 (there is a vertical mechanism for the hand 3 between the arm 2 and the hand 8), and the amount of movement of the hand 3 in the vertical direction. It is likely to be configured to accumulate and store the amount of twist.
なお、第１図（Ａ）、（Ｂ）、（Ｃ）のメモリテーブル
中では第１のアーム１の移動量をｅｔ＋として示し、第
２のアーム２の移動量をθ【２として示し、ハンド８の
上下方向の移動量をＴｔとして示し、ハンド８のひねり
量を単にｅｔとし°Ｃ示す。Note that in the memory tables of FIGS. 1(A), (B), and (C), the amount of movement of the first arm 1 is shown as et+, the amount of movement of the second arm 2 is shown as θ[2, and the amount of movement of the first arm 1 is shown as θ[2, The amount of movement of the hand 8 in the vertical direction is shown as Tt, and the amount of twisting of the hand 8 is simply shown as et, which is shown in °C.
前記作動キーは、ロボットの手動運転時または原点合わ
せ時に、ロボットの動作範囲オーパにより非常停止後、
動作範囲オーパの原因を除却し、作動キーをＯＮに操作
すると、非常停止状態を解除し、自動復帰機能部および
警告ランプを作動させるようになっている。The activation key is used to operate the robot manually or when adjusting the origin, after an emergency stop due to the robot's operating range being exceeded.
When the cause of the operating range overflow is removed and the operation key is turned on, the emergency stop state is canceled and the automatic return function and warning lamp are activated.
前記自動復帰機能部ＩＯは、非常停止状態の解除時に、
記憶バッファ９に累積して記憶されているロボットの移
動量を指令値として第１、第２、第８、第４のサーボ４
．５．６．７に送り、この第１、第２、第８、第４のサ
ーボ４．５．６．７を通じてロボットを電源投入時の位
置に戻すように構成されている。The automatic return function section IO, when canceling the emergency stop state,
The first, second, eighth, and fourth servos 4 use the movement amount of the robot accumulated and stored in the memory buffer 9 as a command value.
．． 5.6.7 and return the robot to the power-on position through the first, second, eighth, and fourth servos 4.5.6.7.
前記実施例の自動解除装置は、次のように動作する。The automatic release device of the above embodiment operates as follows.
まず、第１図（Ａ）に示すように、電源投入時のロボッ
トの位置を仮の原点位置とし、記憶バッファ９を零に初
期化する。First, as shown in FIG. 1(A), the position of the robot when the power is turned on is set as a temporary origin position, and the storage buffer 9 is initialized to zero.
次に、ロボットの手動運転時または原点合わせ時のロボ
ットの移動量を、第１図（Ｂ）Ｋ示すように、動作範囲
オーパによる非常停止になるまで記憶バッファ９に累積
して記憶させて行く。Next, as shown in FIG. 1 (B) K, the amount of movement of the robot during manual operation or home alignment is accumulated and stored in the memory buffer 9 until an emergency stop occurs due to the operating range being exceeded. .
前記ロボットが動作範囲７を越えて移動すると。When the robot moves beyond the operating range 7.
非常停止機能部が働いてロボットが非常停止する。The emergency stop function section operates and the robot comes to an emergency stop.
ついでｔロボットの動作範囲オーパの原因を除却し、作
動キーをＯＮにすると、非常停止状態が解除される。Then, when the cause of the robot's operating range is removed and the activation key is turned on, the emergency stop state is canceled.
この時、自動復帰機能部１０が作動し、第２図に示すよ
うに、記憶バッファ９に累積して記憶されているロボッ
トの移動量を指令値として第１、第２、第８、第４のサ
ーボ４．５．６．７にネガティブフィードバックされ、
第１図（Ｃ）Ｋ示すように、ロボットが電源投入時の位
置に戻される。At this time, the automatic return function section 10 is activated, and as shown in FIG. negative feedback to servo 4.5.6.7,
As shown in FIG. 1(C)K, the robot is returned to the position at which the power was turned on.
また、前記作動キーをＯＮにした時、警告ランプが点滅
し、ロボット周辺にロボットの復帰作動の警告を発する
。Furthermore, when the operation key is turned on, a warning lamp flashes, giving a warning to those around the robot that the robot will return to its original state.
前述の動作フローを第３図に詳細に示している。The aforementioned operational flow is shown in detail in FIG.
なお、本発明では警告を発する手段は、警告ランプに限
らず、ブザー等であってもよい。In the present invention, the means for issuing a warning is not limited to a warning lamp, but may be a buzzer or the like.
また、本発明は図面に示すロボツ）Ｋ限らず、ロボット
全般に適用することができる。Furthermore, the present invention is applicable not only to the robot shown in the drawings, but also to robots in general.
以上説明した本発明の１番目の発明によれば、ロボット
の電源投入時から手動運転時または原点合わせ時のロボ
ットの移動量を累積して記憶する記憶バッファと、ロボ
ットの動作範囲オーパによる非常停止後、こ五を解除さ
せる作動キーと、この作動キーによる非常停止状態の解
除時、前記記憶バッファに累積して記憶されているロボ
ットの移動量を指令値としてロボットのサーボ系に送り
、ロボットを電源投入時の位置に戻す自動り帰機能部と
を備えているので、非常停止状態の解除時、記憶バッフ
ァに累積して記憶されているロボットの移動量を指令値
として、自動復帰機能部によりサーボ系にネガティブフ
ィードバックさせ、ロボットを電源投入時の位置に自動
的に、かつ短時間で戻すことができ、したかりて非常停
止状態の解除の安全性、信頼性および作業性を向上させ
得る効果がある。According to the first aspect of the present invention described above, there is provided a memory buffer that accumulates and stores the amount of movement of the robot from when the robot is powered on to manual operation or home alignment, and an emergency stop when the robot's operating range is exceeded. Then, when the emergency stop state is canceled by using the actuation key that releases the rotor, the movement amount of the robot accumulated and stored in the memory buffer is sent as a command value to the robot's servo system, and the robot is activated. It is equipped with an automatic return function that returns the robot to the position it was in when the power was turned on, so when the emergency stop state is released, the automatic return function uses the amount of movement of the robot accumulated and stored in the memory buffer as a command value. Negative feedback is provided to the servo system to automatically return the robot to the position it was in when the power was turned on in a short time, thus improving the safety, reliability, and workability of releasing the emergency stop state. There is.
また、本発明の２番目の発明によれば、前記１番目の発
明において、非常停止状態の解除時に、ロボット周辺に
警告を発する手段を備えているので、ロボット周辺の安
全性を向上させ得る効果がある。Further, according to the second aspect of the present invention, in the first aspect, since a means for issuing a warning to the vicinity of the robot is provided when the emergency stop state is released, the safety of the vicinity of the robot can be improved. There is.
第１図ないし第８図は本発明の一実施例を示すもので、
その第１図囚、（６）、（Ｃ）はロボットの移動位置と
移動量の記憶バッファの関係の説明図、第２図は自動復
帰機能部の内部ロジックを示す図、第３図は動作のフロ
ーチャートであり、第４図は従来技術の動作のフローチ
ャートである。
１．２・・・ロボットの第１、第２のアーム、８・・・
同ハンド、４．５．６．７・・・ロボットのサーボ系を
構成している第１、第２、第８、第４のサーボ、８・・
・ロボットの動作範囲、９・・・ロボットの移動量の記
憶バッファ、１０・・・非常停止状態の解除を行う自動
復帰機能部。
第１図
／Ａｌ
界４ 目1 to 8 show an embodiment of the present invention,
Figure 1, (6) and (C) are explanatory diagrams of the relationship between the robot's movement position and movement amount storage buffer, Figure 2 is a diagram showing the internal logic of the automatic return function section, and Figure 3 is the operation. FIG. 4 is a flowchart of the operation of the prior art. 1.2...First and second arms of the robot, 8...
Same hand, 4.5.6.7... The first, second, eighth, fourth servos that make up the robot's servo system, 8...
- Motion range of the robot, 9... A storage buffer for the amount of movement of the robot, 10... An automatic return function unit that cancels the emergency stop state. Figure 1/Al field 4
Claims (1)
わせ時のロボットの移動量を累積して記憶する記憶バッ
ファと、ロボットの動作範囲オーパによる非常停止後、
これを解除させる作動キーと、この作動キーによる非常
停止状態の解除時、前記記憶バッファに累積して記憶さ
れているロボットの移動量を指令値としてロボットのサ
ーボ系に送り、ロボットを電源投入時の位置に戻す自動
復帰機能部とを備えていることを特徴とするロボットに
おける非常停止状態の自動解除装置。 ２、ロボットの電源投入時から手動運転時または原点合
わせ時のロボットの移動量を累積して記憶する記憶バッ
ファと、ロボットの動作範囲オーパによる非常停止後、
これを解除させる作動キーと、この作動キーによる非常
停止状態の解除時、前記記憶バッファに累積して記憶さ
れているロボットの移動量を指令値としてロボットのサ
ーボ系に送り、ロボットを電源投入時の位置に戻す自動
復帰機能部と、前記非常停止状態の解除時、ロボット周
辺に警告を発する手段とを備えていることを特徴とする
ロボットにおける非常停止状態の自動解除装置。[Scope of Claims] 1. A memory buffer that accumulates and stores the amount of movement of the robot during manual operation or origin alignment from the time the robot is powered on, and after an emergency stop due to the robot's operating range being exceeded;
When the emergency stop state is canceled by this activation key, the movement amount of the robot accumulated and stored in the memory buffer is sent as a command value to the robot's servo system, and when the robot is powered on. An automatic release device for an emergency stop state in a robot, characterized in that the robot is equipped with an automatic return function section that returns the robot to its position. 2. A memory buffer that accumulates and stores the amount of robot movement from when the robot is powered on to manual operation or home alignment, and after an emergency stop due to the robot's operating range being exceeded.
When the emergency stop state is canceled by this activation key, the movement amount of the robot accumulated and stored in the memory buffer is sent as a command value to the robot's servo system, and when the robot is powered on. 1. An automatic release device for an emergency stop state in a robot, comprising: an automatic return function section for returning the robot to the position; and means for issuing a warning around the robot when the emergency stop state is released.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14240284A JPS6123210A (en) | 1984-07-11 | 1984-07-11 | Automatic release device for emergency stop mode of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14240284A JPS6123210A (en) | 1984-07-11 | 1984-07-11 | Automatic release device for emergency stop mode of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6123210A true JPS6123210A (en) | 1986-01-31 |
Family
ID=15314509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14240284A Pending JPS6123210A (en) | 1984-07-11 | 1984-07-11 | Automatic release device for emergency stop mode of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6123210A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991013732A1 (en) * | 1990-03-08 | 1991-09-19 | Fanuc Ltd | Robot control method after interruption of service |
| JP2016125998A (en) * | 2014-12-26 | 2016-07-11 | 株式会社ジェイテクト | Vehicle behavior reproduction system |
| JP2016125873A (en) * | 2014-12-26 | 2016-07-11 | 株式会社ジェイテクト | Vehicle behavior reproduction system |
| JP2016125874A (en) * | 2014-12-26 | 2016-07-11 | 株式会社ジェイテクト | Vehicle behavior reproduction system |
| CN111438693A (en) * | 2020-05-15 | 2020-07-24 | 深圳国信泰富科技有限公司 | Robot control system and robot |
-
1984
- 1984-07-11 JP JP14240284A patent/JPS6123210A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991013732A1 (en) * | 1990-03-08 | 1991-09-19 | Fanuc Ltd | Robot control method after interruption of service |
| EP0471860B1 (en) * | 1990-03-08 | 1995-07-19 | Fanuc Ltd. | Robot control method after interruption of service |
| JP2016125998A (en) * | 2014-12-26 | 2016-07-11 | 株式会社ジェイテクト | Vehicle behavior reproduction system |
| JP2016125873A (en) * | 2014-12-26 | 2016-07-11 | 株式会社ジェイテクト | Vehicle behavior reproduction system |
| JP2016125874A (en) * | 2014-12-26 | 2016-07-11 | 株式会社ジェイテクト | Vehicle behavior reproduction system |
| CN111438693A (en) * | 2020-05-15 | 2020-07-24 | 深圳国信泰富科技有限公司 | Robot control system and robot |
| CN111438693B (en) * | 2020-05-15 | 2022-05-31 | 深圳国信泰富科技有限公司 | Robot control system and robot |
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