JPWO2005102599A1 - Robot control device - Google Patents

Robot control device Download PDF

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JPWO2005102599A1
JPWO2005102599A1 JP2006512422A JP2006512422A JPWO2005102599A1 JP WO2005102599 A1 JPWO2005102599 A1 JP WO2005102599A1 JP 2006512422 A JP2006512422 A JP 2006512422A JP 2006512422 A JP2006512422 A JP 2006512422A JP WO2005102599 A1 JPWO2005102599 A1 JP WO2005102599A1
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brake
time
position detection
motor
motors
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JP4544248B2 (en
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朋治 水谷
朋治 水谷
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Mitsubishi Electric Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • 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
    • G05B2219/50228—Synchronize two slides, portal gantry, raising, moving

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

可動部（７）の一端部（７ａ）と他端部（７ｃ）とをそれぞれ駆動する第１、第２モータ（１１、１１１）と、第１、第２モータ（１１、１１１）の回転位置をそれぞれ検出する第１、第２位置検出器（１２、１１２）と、第１、第２モータ（１１、１１１）の回転をそれぞれ拘東、開放する第１、第２ブレーキ（１３、１１３）と、第１、第２モータ（１１、１１１）をそれぞれ駆動する第１、第２制御部と、第１、第２位置検出器（１２、１１２）の検出信号が一致するように第１、第２ブレーキ（１３、１１３）の拘束時間、開放時間を変更するブレーキ調整手段とを備える。Rotation positions of the first and second motors (11, 111) and the first and second motors (11, 111) for driving the one end (7a) and the other end (7c) of the movable part (7), respectively. The first and second position detectors (12, 112) for detecting the first and second brakes (13, 113) and the first and second brakes (13, 113) for releasing the rotation of the first and second motors (11, 111), respectively. And the first and second control units for driving the first and second motors (11 and 111), respectively, and the first and second position detectors (12 and 112) so that the detection signals coincide with each other. Brake adjusting means for changing the restraint time and release time of the second brake (13, 113).

Description

従来のロボットの制御装置を日本国特開平１１−１７９６９１号公報によって説明する。かかる公報によれば、サーボ制御部の動作によりロボットのアームの位置を制御するとともに、サーボ制御部の非動作時にアームを制動するブレーキを備えたロボットの制御装置において、ブレーキを所定時間ロックするロック時間設定部と、ブレーキを所定時間解除する解除時間設定部とを備え、操作部からのブレーキ解除指令があった場合、ロック時間設定部と解除時間設定部の設定時間に応じてブレーキのロックと解除とを交互に行うブレーキ制御部を備えたものが記載されている。
かかるロボットの制御装置によれば、作業者がブレーキ解除を指令したときに、ブレーキの解除時間設定部とロック時間設定部の設定値により、ブレーキの解除とロック動作を断続的に行うことができるので、ロボットのアームの自重による過大な移動を抑えるとともに、該アームの微調整やスムーズな移動ができるものである。
しかしながら、従来のロボットの制御装置は、複数のモータを有し、該モータにより一つの可動部を動作させるタンデム型の制御を想定していない。このため、ブレーキ信号のオン・オフのタイミングが同一でも、各ブレーキの発生トルク、オン時間、オフ時間のバラツキによってモータの移動量が異なる。これにより、可動部を移動させる量が異なるという問題点があった。A conventional robot controller will be described in Japanese Patent Application Laid-Open No. 11-179691. According to this publication, the position of the robot arm is controlled by the operation of the servo control unit, and in the robot control device including the brake that brakes the arm when the servo control unit is not operating, the lock that locks the brake for a predetermined time. It has a time setting unit and a release time setting unit that releases the brake for a predetermined time, and when there is a brake release command from the operation unit, the brake is locked and The thing provided with the brake control part which performs cancellation | release alternately is described.
According to such a robot control device, when the operator gives a command to release the brake, the brake release and the lock operation can be intermittently performed by the set values of the brake release time setting unit and the lock time setting unit. Therefore, it is possible to suppress an excessive movement due to the weight of the robot arm and to finely adjust the arm and smoothly move the arm.
However, the conventional robot control device has a plurality of motors, and does not assume tandem control in which one movable part is operated by the motors. For this reason, even when the on / off timing of the brake signal is the same, the amount of movement of the motor varies depending on the variation in the torque generated, the on time, and the off time of each brake. As a result, there is a problem in that the amount by which the movable part is moved is different.

本発明は、上記のような問題点を解決するためになされたもので、各モータの移動量が等しくなるようにブレーキを制御し得るロボットの制御装置を提供することを目的とする。
本発明に係るロボットの制御装置は、Ｚ軸方向に移動する可動部と、該可動部の一端部と他端部とをそれぞれ第１、第２の移動機構を介して駆動する第１、第２のモータと、該第１、第２のモータの回転位置を、それぞれ検出して第１、第２の位置検出信号を発生する第１、第２の位置検出手段と、前記第１、第２のモータの回転をそれぞれ拘束及び開放する第１、第２のブレーキと、前記第１、第２のモータをそれぞれ駆動する第１、第２制御部と、該第１、第２制御部を無効にする共に、前記第１、第２のブレーキを所定時間開放・拘束する指令手段と、該指令手段の動作により、前記第１、第２の位置検出信号が一致するように前記第１、第２のブレーキの拘束時間又は開放時間の少なくともいずれか一方を変更するブレーキ調整手段と、を備えたことを特徴とするものである。
本発明によれば、ブレーキ調整手段は指令手段の動作により、第１、第２の位置検出信号が一致するように第１、第２のブレーキの拘束時間又は開放時間の少なくともいずれか一方を変更する。これにより、可動部の一端部と他端部とを駆動する第１及び第２のモータの回転位置が等しくなる。そのため、可動部の一端部と他端部とのＺ軸方向成分の位置が等しくなる。したがって、保守時などにおいて可動部が円滑に移動できる。
さらに、第１の位置検出信号と第２の位置検出信号との差を求め、該差が予め定められた閾値よりも大きいか否かを判断する判断手段と、該判断手段が大きいと判断すると、ブレーキ調整手段を実行する制御手段と、備えることが好ましい。
本発明によれば、第１の位置検出信号と第２の位置検出信号との差が閾値よりも大きい場合のみ制御手段がブレーキ調整手段を実行する。このため、ブレーキ調整手段の制御が簡易になる。
また、第１の位置検出信号と第２の位置検出信号とを比較する比較手段を備え、ブレーキ調整手段は、該比較によりＺ軸方向の上方に位置するモータに対応する第１又は第２のブレーキのみの拘束時間又は開放時間の少なくともいずれか一方を変更することが好ましい。
本発明によれば、ブレーキ調整手段は、該比較によりＺ軸方向の上方に位置するモータに対応するブレーキのみの拘束時間等を変更する。つまり上方に位置するモータに対応するブレーキの拘束時間等を変更する。これにより、可動部の位置が急激に低くなることを防止できる。このため、安全性がより一層確保される。
さらに、第１、第２の位置検出信号により可動部の一端部の第１移動量と前記他端部の第２移動量を求めると共に、第１移動量と第２移動量とを比較する移動量比較手段と、ブレーキ調整手段は、該比較により移動量の少ないモータに対応するブレーキのみの拘束時間又は開放時間の少なくともいずれか一方を変更する、ことが好ましい。
本発明によれば、ブレーキ調整手段は、該比較により移動量の少ないモータに対応するブレーキのみの拘束時間等を変更する。つまり上方に位置するモータに対応するブレーキの拘束時間等を変更する。これにより、可動部の位置が急激に低くなることを防止できる。このため、安全性がより一層確保される。The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a robot control apparatus that can control the brake so that the movement amounts of the respective motors are equal.
The robot control device according to the present invention includes a movable unit that moves in the Z-axis direction, and first and second driving units that respectively drive one end and the other end of the movable unit via first and second moving mechanisms. Two motors, first and second position detection means for detecting the rotational positions of the first and second motors and generating first and second position detection signals, respectively, and the first and second First and second brakes for restraining and releasing the rotation of the two motors, first and second control units for driving the first and second motors, respectively, and the first and second control units. The first and second position detection signals coincide with each other by disabling the command means for releasing and restraining the first and second brakes for a predetermined time and the operation of the command means. Brake adjustment means for changing at least one of the restraint time and release time of the second brake , It is characterized in that it comprises a.
According to the present invention, the brake adjusting means changes at least one of the restraining time and the releasing time of the first and second brakes so that the first and second position detection signals coincide with each other by the operation of the command means. To do. Thereby, the rotation position of the 1st and 2nd motor which drives the one end part and other end part of a movable part becomes equal. Therefore, the positions of the Z-axis direction components at the one end and the other end of the movable portion are equal. Therefore, the movable part can move smoothly during maintenance.
Further, a difference between the first position detection signal and the second position detection signal is obtained, a determination means for determining whether the difference is larger than a predetermined threshold value, and a determination that the determination means is large. And a control means for executing the brake adjusting means.
According to the present invention, the control means executes the brake adjustment means only when the difference between the first position detection signal and the second position detection signal is larger than the threshold value. For this reason, the control of the brake adjusting means is simplified.
In addition, a comparison unit that compares the first position detection signal and the second position detection signal is provided, and the brake adjustment unit is configured to compare the first or second motor corresponding to the motor positioned above in the Z-axis direction. It is preferable to change at least one of the restraint time and the release time of only the brake.
According to the present invention, the brake adjusting means changes the restraint time or the like of only the brake corresponding to the motor positioned above in the Z-axis direction by the comparison. That is, the brake restraint time corresponding to the motor positioned above is changed. Thereby, it can prevent that the position of a movable part falls rapidly. For this reason, safety is further ensured.
Further, the first and second position detection signals are used to determine the first movement amount of the one end portion of the movable portion and the second movement amount of the other end portion, and to compare the first movement amount and the second movement amount. It is preferable that the amount comparison means and the brake adjustment means change at least one of the restraint time and the release time of only the brake corresponding to the motor having a small movement amount by the comparison.
According to the present invention, the brake adjusting means changes the restraint time or the like of only the brake corresponding to the motor with a small movement amount by the comparison. That is, the brake restraint time corresponding to the motor positioned above is changed. Thereby, it can prevent that the position of a movable part falls rapidly. For this reason, safety is further ensured.

図１は本発明の一実施例を示す液晶搬送ロボットの斜視図である。
図２は本発明の一実施例を示す液晶搬送ロボットの全体ブロック図である。
図３は図２に示すロボットの制御装置のブロック図である。
図４は図２に示すロボットの制御装置の動作を示すフローチャートである。
図５は図２に示すロボットの制御装置の動作を示すタイムチャートである。
図６は図２に示すロボットの制御装置の動作を示すタイムチャートである。FIG. 1 is a perspective view of a liquid crystal transfer robot showing an embodiment of the present invention.
FIG. 2 is an overall block diagram of a liquid crystal transfer robot showing an embodiment of the present invention.
FIG. 3 is a block diagram of the robot control apparatus shown in FIG.
FIG. 4 is a flowchart showing the operation of the robot control apparatus shown in FIG.
FIG. 5 is a time chart showing the operation of the robot control apparatus shown in FIG.
FIG. 6 is a time chart showing the operation of the robot control apparatus shown in FIG.

本発明を具現化したロボットの制御装置の一実施例を図１乃至図３によって説明する。図１は本発明の一実施例を示す液晶ガラス基板搬送ロボット（以下、「液晶搬送ロボット」という）の斜視図、図２は一実例を示す液晶搬送ロボットの全体構成図、図３は図２に示す液晶搬送ロボットの電気系統を示すブロック図である。
図１乃至図３において、液晶搬送ロボット１は、第１側面部２，第２側面部４と、第１側面部２，第２側面部４のそれぞれの上端に固定された天板９とを備え、第１側面部２の内部には、第１モータ１１に直結されると共に、立設したボール螺子としての第１軸３を有し、第２側面部４の内部には第２モータ１１１に直結されると共に、立設したボール螺子としての第２軸５を有しており、一端部７ａが第１軸３に螺合し（第１の移動機構）、他端部７ｃが第２軸５に螺合（第２の移動機構）すると共に、第１軸３及び第２軸５の回転によりＺ軸方向、つまり図１に示す上下方向に移動する平板状の板材から成ると共に、液晶ガラス基板を載せる可動部７を備え、該可動部７は図１に示す矢印Ａ方向と回転とが可能のように構成されている。
また、第１モータ１１、第２モータ１１１には、それぞれ第１ブレーキ１３、第２ブレーキ１１３が結合され、第１ブレーキ１３、第２ブレーキ１１３にはそれぞれ第１位置検出器１２、第２位置検出器１１２が結合されていて、第１ブレーキ１３、第２ブレーキ１１３がそれぞれ第１モータ１１、第２モータ１１１の回転を拘束・開放し、第１の位置検出手段としての第１位置検出器１２、第２の位置検出手段としての第２位置検出器１１２がそれぞれ第１モータ１１、第２モータ１１１の回転位置を検出して第１、第２の位置検出信号Ｐ１，Ｐ２を発生するように形成されている。
液晶搬送ロボット１は、上記第１、第２の位置検出信号Ｐ１，Ｐ２を取込んで第１及び第２モータ１１，１１１と第１及び第２ブレーキ１３、１１３を制御する制御装置３０と、第１サーボ制御部３３及び第２サーボ制御部１３３をオン・オフさせると共に、指令手段としての解除操作スイッチ４２をオンさせることにより第１及び第２サーボ制御部３３，１３３をオフにして第１及び第２ブレーキ１３、１１３をオン・オフさせる手動操作装置４０とを備えている。
制御装置３０には、可動部７を動作させる動作プログラムを解析して処理すると共に、各ブレーキ１３，１１３のオン（開放）・オフ（拘束）制御等を実行する中央処理部３１と、動作プログラムなどを記憶する記憶部３２とを有する共通部と、第１モータ１１を制御する第１制御部，第２モータ１１１を制御する第２制御部とを備えている。
第１制御部は第１モータ１１、第１ブレーキ１３を制御する制御部としてのサーボ制御部３３と、第１モータ１１をサーボ制御部３３からの駆動指令により駆動するサーボアンプ部３５と、第１ブレーキ１３をオン・オフ制御するためにオン・オフの第１ブレーキ信号を発生する第１のブレーキ制御手段としての第１ブレーキ制御部３７と、該第１ブレーキ信号により第１ブレーキ１３を駆動するブレーキ駆動部３９とを備えている。
第２制御部は第２モータ１１１、第２ブレーキ１１３を制御するサーボ制御部１３３と、第２モータ１１１をサーボ制御部１３３からの駆動指令により駆動するサーボアンプ部１３５と、第２ブレーキ１１３をオン・オフ制御するためにオン・オフの第２ブレーキ信号を発生する第２のブレーキ制御手段としてのブレーキ制御部１３７と、該第２ブレーキ信号により第２ブレーキ１１１を駆動するブレーキ駆動部１３９とを備えている。ここで、各ブレーキ信号をオンすると、各ブレーキ１３，１１３がオン（開放）し、各ブレーキ信号をオフすると、各ブレーキ１３，１１３がオフ（拘束）するように構成されている。
上記のように構成されたロボットの制御装置の動作を図４乃至図６によって説明する。図４はロボットの制御装置の動作を示すフローチャート、図５及び図６はブレーキ関係の動作を示すタイムチャートである。
まず、保守時などにおいて作業者が手動にて手動操作装置４０の解除操作スイッチ４２をオンしたことを中央処理部３１が判断する（ステップＳ１０１）。ここで、時間ｔｓで解除操作スイッチ４２がオンされると、中央処理部３１は、第１サーボ制御部３３，第２サーボ制御部１３３からの第１及び第２サーボアンプ３５，１３５への信号をオフにして第１モータ１１、第２モータ１１１を無給電にし（ステップＳ１０３）、第１ブレーキ制御部３７は第１サーボ制御部３３を介して第１位置検出器１２から第１の位置検出信号Ｐ１を取り込み、第２ブレーキ制御部１３７は第２サーボ制御部１３３を介して第２位置検出器１１２から第２の位置検出信号Ｐ２を取り込み（ステップＳ１０５）、第１，第２ブレーキ制御部３７，１３７はそれぞれ第１，第２ブレーキ信号をブレーキ１３，１１３に与えてブレーキ１３，１１３をオン・オフ制御する。これにより可動部７が除々にＺ軸方向の下方に移動する（ステップＳ１０７）。つまり、第１及び第２ブレーキ信号は周期をＴとし、オン時間ｔａとオフ時間ｔｂとを同一にしている。ここで、第１ブレーキ信号と第２ブレーキ信号が同一でも、各ブレーキ１３，１１３が発生するブレーキトルク、ブレーキ信号をオンにしてから各ブレーキ１３，１１３が開放するまでの開放時間、ブレーキ信号１３，１１３をオフにしてから拘束するまでの拘束時間が各ブレーキ１３，１１３によって異なる。このため、各ブレーキ１３，１１３が開放時間・拘束時間が異なり各モータ１１，１１１の移動量が異なる。これによりＺ軸方向に下降する可動部７の一端部７ａと他端部７ｃとの位置がずれることになる。
中央処理部３１は、第１の位置検出信号Ｐ１と第２の位置検出信号Ｐ２との差を絶対値Ｐｅとして求め、予め定められた位置偏差Ｐｒとを比較して｜Ｐｅ｜＞Ｐｒを判断する（ステップＳ１０９）。このステップＳ１０９が判断手段及び制御手段となる。中央処理部３１がＰ１＞Ｐ２であれば、時間ｔ１で調整信号を第１及び第２ブレーキ制御部３７，１３７に入力し、第２ブレーキ制御部１３７が第２ブレーキ信号のオン・オフ（時間ｔａ＝時間ｔｂ）のデュテイを一定に維持し、第１ブレーキ制御部３７が第１ブレーキ信号のオン・オフのデュテイを上げる（ステップＳ１１３）。つまり、第１ブレーキ信号の周期Ｔを一定にしたまま、オン時間ｔｃを長くする。これによりオフ時間ｔｄが短くなる。ここで、位置検出信号値Ｐ１，Ｐ２は大きさが大きいと高い位置に可動部７が位置するように設定されている。これにより、第１ブレーキ１３により制御される第１モータ１１の速度が第２モータ１１１の速度よりも僅かに上昇して、それぞれのモータ１１，１１１の回転位置が一致するように制御される。つまり可動部７の一端部７ａと他端部７ｃとの位置が一致して水平になる。
一方、Ｐ２＞Ｐ１であれば、中央処理部３１が時間ｔ１で調整信号を第１及び第２ブレーキ制御部３７，１３７に入力し、第１ブレーキ制御部３７が第１ブレーキ信号のオン・オフ（時間ｔａ＝時間ｔｂ）のデュテイを一定に維持し、第２ブレーキ制御部１３７が第２ブレーキ信号のオン・オフのデュテイを上げる（ステップＳ１１５）。ここで、ステップＳ１１３又はＳ１１５がブレーキ調整手段となる。
つまり、第２ブレーキ信号の周期Ｔを一定にしたまま、時間ｔ１以前のオン時間ｔａよりもオン時間ｔｃを長くする。これにより時間ｔ１以前のオン時間ｔｂよりもオフ時間ｔｄが短くなる。これにより、第２ブレーキ１１３により制御される第２モータ１１１の速度が第１モータ１３の速度よりも僅かに上昇して、それぞれの各モータ１１，１１３の回転位置が一致するように制御される。このため、可動部７の一端部７ａと他端部７ｃとが傾くことなく平行な状態でＺ軸方向に下降する。
このようにして手動操作装置４０の解除操作スイッチ４２がオフされるまで、ステップＳ１０３〜Ｓ１１５を実行する。やがて、手動操作装置４０の解除操作スイッチ４２がオフされることによりブレーキ１３，１１３のオン・オフ制御が終了される。
なお、上記実施例のステップＳ１０９において、位置検出信号Ｐ１，Ｐ２を用いて可動部７の一端部７ａと他端部７ｃとの位置を判断したが位置検出信号Ｐ１，Ｐ２を積算した第１の位置検出信号Ｐ１に基く第１移動量Ｐ１Ｌ、第２の位置検出信号Ｐ２を積算した第２移動量Ｐ２Ｌを求め、第１移動量Ｐ１Ｌと第２移動量Ｐ２Ｌとの差の絶対値ＰｅＬを以下のようにして求めて予め定められたＰｒＬと比較しても良い。これが移動量比較手段を成す。
｜Ｐ１Ｌ−Ｐ２Ｌ｜＝ＰｅＬ＞ＰｒＬ
そして、ステップＳ１１１において、Ｐ１Ｌ＞Ｐ２Ｌを比較して「Ｙ」ならステップＳ１１３を実行し、「Ｎ」ならステップＳ１１５を実行しても良い。An embodiment of a robot control apparatus embodying the present invention will be described with reference to FIGS. FIG. 1 is a perspective view of a liquid crystal glass substrate transfer robot (hereinafter referred to as “liquid crystal transfer robot”) showing an embodiment of the present invention, FIG. 2 is an overall configuration diagram of the liquid crystal transfer robot showing an example, and FIG. It is a block diagram which shows the electric system of the liquid-crystal conveyance robot shown in FIG.
1 to 3, the liquid crystal transfer robot 1 includes a first side surface portion 2, a second side surface portion 4, and a top plate 9 fixed to the upper ends of the first side surface portion 2 and the second side surface portion 4. The first side surface portion 2 is directly connected to the first motor 11 and has a first shaft 3 as a standing ball screw. The second side surface portion 4 has a second motor 111 inside. And has a second shaft 5 as an upright ball screw, one end 7a is screwed to the first shaft 3 (first moving mechanism), and the other end 7c is second. It is made of a flat plate material that is screwed into the shaft 5 (second moving mechanism) and moves in the Z-axis direction, that is, the vertical direction shown in FIG. 1 by the rotation of the first shaft 3 and the second shaft 5. A movable portion 7 on which a glass substrate is placed is provided, and the movable portion 7 is configured to be capable of rotating in the direction of arrow A shown in FIG.
A first brake 13 and a second brake 113 are coupled to the first motor 11 and the second motor 111, respectively. A first position detector 12 and a second position are coupled to the first brake 13 and the second brake 113, respectively. A detector 112 is coupled, and the first brake 13 and the second brake 113 restrain and release the rotation of the first motor 11 and the second motor 111, respectively, and a first position detector as a first position detecting means. 12. The second position detector 112 as the second position detecting means detects the rotational positions of the first motor 11 and the second motor 111, respectively, and generates the first and second position detection signals P1, P2. Is formed.
The liquid crystal transfer robot 1 takes in the first and second position detection signals P1 and P2 and controls the first and second motors 11 and 111 and the first and second brakes 13 and 113, and The first servo control unit 33 and the second servo control unit 133 are turned on / off, and the release operation switch 42 as a command unit is turned on to turn off the first and second servo control units 33 and 133 to turn the first servo control unit 33 and the second servo control unit 133 on and off. And a manual operation device 40 for turning the second brakes 13 and 113 on and off.
The control device 30 analyzes and processes an operation program for operating the movable unit 7, and also executes a central processing unit 31 that performs on (release) and off (restraint) control of the brakes 13 and 113, and the operation program. The common part which has the memory | storage part 32 which memorize | stores etc., the 1st control part which controls the 1st motor 11, and the 2nd control part which controls the 2nd motor 111 are provided.
The first control unit includes a servo control unit 33 as a control unit that controls the first motor 11 and the first brake 13, a servo amplifier unit 35 that drives the first motor 11 according to a drive command from the servo control unit 33, and a first control unit. A first brake control unit 37 serving as a first brake control means for generating a first brake signal that is turned on / off to control on / off of the one brake 13, and the first brake 13 is driven by the first brake signal And a brake drive unit 39.
The second control unit includes a servo control unit 133 that controls the second motor 111 and the second brake 113, a servo amplifier unit 135 that drives the second motor 111 according to a drive command from the servo control unit 133, and a second brake 113. A brake control unit 137 as a second brake control unit that generates a second brake signal for on / off control for on / off control, and a brake drive unit 139 for driving the second brake 111 by the second brake signal, It has. Here, the brakes 13 and 113 are turned on (released) when the brake signals are turned on, and the brakes 13 and 113 are turned off (restrained) when the brake signals are turned off.
The operation of the robot control apparatus configured as described above will be described with reference to FIGS. FIG. 4 is a flowchart showing the operation of the robot controller, and FIGS. 5 and 6 are time charts showing the brake-related operations.
First, the central processing unit 31 determines that the operator manually turns on the release operation switch 42 of the manual operation device 40 during maintenance or the like (step S101). Here, when the release operation switch 42 is turned on at time ts, the central processing unit 31 sends signals from the first servo control unit 33 and the second servo control unit 133 to the first and second servo amplifiers 35 and 135. Is turned off, the first motor 11 and the second motor 111 are de-energized (step S103), and the first brake control unit 37 detects the first position from the first position detector 12 via the first servo control unit 33. The second brake control unit 137 receives the second position detection signal P2 from the second position detector 112 via the second servo control unit 133 (step S105), and the first and second brake control units. 37 and 137 give the first and second brake signals to the brakes 13 and 113, respectively, to control the brakes 13 and 113 on and off. Thereby, the movable part 7 gradually moves downward in the Z-axis direction (step S107). That is, the period of the first and second brake signals is T, and the ON time ta and the OFF time tb are the same. Here, even if the first brake signal and the second brake signal are the same, the brake torque generated by each brake 13, 113, the release time from when the brake signal is turned on until each brake 13, 113 is released, the brake signal 13 , 113 is turned off after being turned off, and the restraint time varies depending on the brakes 13, 113. Therefore, the brakes 13 and 113 have different release times and restraint times, and the movement amounts of the motors 11 and 111 are different. Thereby, the position of the one end part 7a and the other end part 7c of the movable part 7 descend | falling to a Z-axis direction will shift | deviate.
The central processing unit 31 obtains the difference between the first position detection signal P1 and the second position detection signal P2 as an absolute value Pe, and compares | Pe |> Pr with a predetermined position deviation Pr. (Step S109). Step S109 serves as a determination unit and a control unit. If the central processing unit 31 is P1> P2, an adjustment signal is input to the first and second brake control units 37 and 137 at time t1, and the second brake control unit 137 turns on / off the second brake signal (time The duty of ta = time tb) is maintained constant, and the first brake control unit 37 increases the ON / OFF duty of the first brake signal (step S113). That is, the on-time tc is lengthened while the period T of the first brake signal is kept constant. This shortens the off time td. Here, the position detection signal values P1 and P2 are set so that the movable portion 7 is positioned at a high position when the magnitude is large. As a result, the speed of the first motor 11 controlled by the first brake 13 is controlled to be slightly higher than the speed of the second motor 111 so that the rotational positions of the motors 11 and 111 coincide. That is, the positions of the one end portion 7a and the other end portion 7c of the movable portion 7 coincide with each other and become horizontal.
On the other hand, if P2> P1, the central processing unit 31 inputs an adjustment signal to the first and second brake control units 37 and 137 at time t1, and the first brake control unit 37 turns on / off the first brake signal. The duty of (time ta = time tb) is kept constant, and the second brake control unit 137 increases the ON / OFF duty of the second brake signal (step S115). Here, step S113 or S115 serves as a brake adjusting means.
That is, the on-time tc is made longer than the on-time ta before the time t1, while the period T of the second brake signal is kept constant. As a result, the off time td becomes shorter than the on time tb before the time t1. As a result, the speed of the second motor 111 controlled by the second brake 113 is slightly increased from the speed of the first motor 13, and the rotational positions of the motors 11 and 113 are controlled to coincide with each other. . For this reason, the one end part 7a and the other end part 7c of the movable part 7 descend | fall in a Z-axis direction in a parallel state, without inclining.
In this way, steps S103 to S115 are executed until the release operation switch 42 of the manual operation device 40 is turned off. Eventually, when the release operation switch 42 of the manual operation device 40 is turned off, the on / off control of the brakes 13 and 113 is finished.
In step S109 of the above embodiment, the positions of the one end portion 7a and the other end portion 7c of the movable portion 7 are determined using the position detection signals P1 and P2, but the first detection result obtained by integrating the position detection signals P1 and P2 is used. A first movement amount P1L based on the position detection signal P1 and a second movement amount P2L obtained by integrating the second position detection signal P2 are obtained, and the absolute value PeL of the difference between the first movement amount P1L and the second movement amount P2L is set to be below. It may be obtained as described above and compared with PrL determined in advance. This constitutes a movement amount comparison means.
| P1L-P2L | = PeL> PrL
In step S111, P1L> P2L is compared. If “Y”, step S113 may be executed, and if “N”, step S115 may be executed.

以上のように本発明に係るロボットの制御装置は、ロボット制御に適用している。  As described above, the robot control apparatus according to the present invention is applied to robot control.

Claims (4)

Ｚ軸方向に移動する可動部と、
該可動部の一端部と他端部とをそれぞれ第１、第２の移動機構を介して駆動する第１、第２のモータと、
該第１、第２のモータの回転位置を、それぞれ検出して第１、第２の位置検出信号を発生する第１、第２の位置検出手段と、
前記第１、第２のモータの回転をそれぞれ拘束及び開放する第１、第２のブレーキと、
前記第１、第２のモータをそれぞれ駆動する第１、第２制御部と、
該第１、第２制御部を無効にする共に、前記第１、第２のブレーキを所定時間開放・拘束する指令手段と、
該指令手段の動作により、前記第１、第２の位置検出信号が一致するように前記第１、第２のブレーキの拘束時間又は開放時間の少なくともいずれか一方を変更するブレーキ調整手段と、
を備えたことを特徴とするロボットの制御装置。A movable part that moves in the Z-axis direction;
A first motor and a second motor for driving one end and the other end of the movable part via first and second moving mechanisms, respectively;
First and second position detecting means for detecting the rotational positions of the first and second motors and generating first and second position detection signals, respectively;
First and second brakes for restraining and releasing rotation of the first and second motors, respectively;
First and second control units for driving the first and second motors, respectively;
Command means for disabling the first and second control units and releasing and restraining the first and second brakes for a predetermined time;
Brake adjusting means for changing at least one of the restraining time and the releasing time of the first and second brakes so that the first and second position detection signals coincide with each other by the operation of the command means;
A robot control device comprising: 前記第１の位置検出信号と前記第２の位置検出信号との差を求め、該差が予め定められた閾値よりも大きいか否かを判断する判断手段と、
該判断手段が大きいと判断すると、前記ブレーキ調整手段を実行する制御手段と、
を備えたことを特徴とする請求の範囲１に記載のロボットの制御装置。Determining means for determining a difference between the first position detection signal and the second position detection signal and determining whether the difference is greater than a predetermined threshold;
When the determination means is determined to be large, control means for executing the brake adjustment means;
The robot control device according to claim 1, further comprising: 前記第１の位置検出信号と前記第２の位置検出信号とを比較する比較手段を備え、
前記ブレーキ調整手段は、該比較により前記Ｚ軸方向の上方に位置する前記モータに対応する前記第１又は第２のブレーキのみの拘束時間又は開放時間の少なくともいずれか一方を変更する、
ことを特徴とする請求の範囲１に記載のロボットの制御装置。Comparing means for comparing the first position detection signal and the second position detection signal,
The brake adjusting means changes at least one of the restraint time or the release time of only the first or second brake corresponding to the motor positioned above in the Z-axis direction by the comparison.
The robot control device according to claim 1, wherein: 前記第１、第２の位置検出信号により前記可動部の一端部の第１移動量と前記他端部の第２移動量を求めると共に、第１移動量と第２移動量とを比較する移動量比較手段と、
前記ブレーキ調整手段は、該比較により移動量の少ない前記モータに対応する前記ブレーキのみの拘束時間又は開放時間の少なくともいずれか一方を変更する、
ことを特徴とする請求の範囲１又は２に記載のロボットの制御装置。The first and second position detection signals are used to obtain a first movement amount at one end of the movable portion and a second movement amount at the other end, and to compare the first movement amount and the second movement amount. A quantity comparison means;
The brake adjusting means changes at least one of the restraint time or the release time of only the brake corresponding to the motor with a small movement amount by the comparison.
3. The robot control device according to claim 1, wherein the robot control device is a robot.
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