KR20120027934A - Robot system with robot controller combined with teach pedant - Google Patents

Abstract

PURPOSE: A robot system with a robot controller integrated with a control board is provided to reduce the number of components by simplifying the structure of a robot controller. CONSTITUTION: A robot system with a robot controller integrated with a control board comprises a robot controller(100), a robot body(200), and cables(300). The robot controller comprises a display panel(110), a button/dead man switch(120), an emergency stop switch(130), and a CPU(central processing unit)(140). The display panel displays the state information of a robot. Software for robot control and user interface is loaded on the CPU. The robot body comprises motors(210), motor drivers(220), an I/O module(230), and a power supply unit(240). The motors power each shaft of the robot. The motor drivers power the motors. The I/O module processes I/O signals of the robot. Communication between the robot controller and the robot body is performed through the cables.

Description

Robot system with control panel integrated robot controller {ROBOT SYSTEM WITH ROBOT CONTROLLER COMBINED WITH TEACH PEDANT}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot system, and more particularly, to a robot system having a control panel integrated robot controller configured to be used conveniently by integrally configuring a robot controller with a control panel.

As shown in FIG. 1, a typical robotic system includes a robot body 10, a robot controller 20 having a controller body and a teaching operation panel, and a communication system and a signal transmission device 10 for communication and signal transmission between them 10 and 20. ), Consisting of a cable 30 connecting the 20. The controller body of the robot controller 20 includes a CPU unit, a motor driver and an input / output device, and a user interface program is mounted on the teaching operation panel, and includes an operation button and a switch. The controller main body and the teaching operation panel are connected to the communication line and the switch signal line. The information to be displayed on the operator panel screen and the button operating status of the operator panel are transmitted via the communication line. As the switch signal line, electrical signals such as emergency stop, mode changeover and operation enable switch are connected to the controller.

On the other hand, due to the recent development of computer technology, the screen is becoming larger and colorful, and for this purpose, a high-performance computer is mounted on the teaching operation panel. Therefore, it is common for computers to be mounted on both the controller body and the teaching operation panel.

An object of the present invention is to provide a robot system having an operation panel-integrated robot controller integrated with a controller body and a teaching operation panel, which is more efficient than the conventional robot controller structure.

In order to achieve the above object, a robot system having a control panel integrated robot controller according to the present invention includes a display panel for providing a status information of a robot and a work file editing screen to control a robot operation and to process a user interface. A control panel integrated robot controller equipped with a button / deadman switch capable of receiving a command of the controller, an emergency stop switch, and a central processing unit having a communication port for communicating with the robot and equipped with software for robot control and user interface; A robot body having motors for driving each axis of the robot, motor drivers for driving the motor, I / O modules for processing input and output signals inside and outside the robot, and a power supply; It comprises a cable connecting them for communication and signal transmission between the robot controller and the robot body.

Here, the power supply device may include a controller power supply device and a robot power supply device.

The cable may also include a power line for supplying power from the controller power supply to the robot controller, an emergency stop signal line for connecting the emergency stop switch and the robot power supply, and a real time communication line for connecting the central processing unit and the motor driver. Can be.

In addition, the central processing unit operates an OS that guarantees hard real-time performance and may communicate with the robot body in a real-time fieldbus manner.

The motors and motor drives may also be connected by motor power, encoder position and HALL sensor signal lines.

In addition, the motor drivers and the I / O module may be connected in a daisy channel manner.

In addition, the robot control and user interface software includes a user interface module for interpreting user commands input through a button / deadman switch / emergency stop switch, a robot manager module for managing robot information, and a robot operation file to read each command. Robot language analysis / execution module that analyzes the meaning of commands by separating the tokens and converts the contents into motion codes, and executes robot commands one by one, and path generator module that calculates the position commands of each axis motor of the robot at every control cycle. After calculating and processing the final command value that the robot can operate, calculate the position command value of each axis motor in consideration of the motor gear ratio and the absolute value of the motor, and then measure the encoder pulse at the final motor gear level. It calculates the result and reads the input signal and the signal during robot operation. And a motion and I / O controller module for calculating a digital / analog output command value and a real time network communication module for real time communication between the controller and the robot body.

In addition, the real-time network communication module is a communication initialization setting unit for processing the initialization of the communication port of the central processing unit to use a real-time fieldbus, digital / analog input value and the current position of the motor from the current position of the robot body per control cycle Input buffer processing unit that reads the value and stores it in the buffer, Output buffer processing unit that stores the position command value and digital / analog output command value of the motor calculated by the motion and I / O controller module in the buffer and delivers the information through real-time communication It may be made of.

According to the present invention, there is an advantage that can be configured in an efficient structure by integrating the controller body and the teaching operation panel. In addition, since the structure of the robot controller is simplified, the number of parts used and the time required for manufacturing work are reduced, thereby reducing the manufacturing cost of the controller. In addition, since the robot controller is manufactured in a small size and light weight, there is an advantage in that it is easy to use, such as the operator holding the robot.

1 is a configuration diagram of a conventional general robot system.
Figure 2 is a robot system configuration having a control panel integrated robot controller according to the present invention.
Figure 3 is a connection diagram inside the robot system having a control panel integrated robot controller according to the present invention.
Figure 4 is a software configuration for the robot control and user interface mounted on the central processing unit of the robot controller according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, the following will describe a preferred embodiment of the present invention, but the technical idea of the present invention is not limited thereto and may be variously modified and modified by those skilled in the art.

2 is a schematic diagram of a robot system having a control panel integrated robot controller according to the present invention, FIG. 3 is a connection diagram of a robot system having a control panel integrated robot controller according to the present invention, and FIG. 4 is a central processing unit of the robot controller according to the present invention. Software configuration diagram for onboard robot control and user interface.

As shown in the figure, the robot system having a control panel integrated robot controller according to the present invention consists of a robot controller 100, a robot body 200 and a cable 300 of the type in which the controller body and the teaching operation panel are integrated.

The robot controller 100 controls a robot operation and simultaneously processes a user interface. The robot controller 100 may receive a user's command, a display panel 110 such as an LCD that provides a robot's status information and a work file editing screen. Equipped with a button / deadman switch 120, the emergency stop switch 130 and software for robot control and user interface, and a central processing unit 140 (CPU) having a communication port for communicating with the robot in real time.

The user may check the position information of the robot, the system parameter information, the progress state of the robot work file, etc. through the display panel 110, and the user may directly input on the screen by the touch panel method.

The button / deadman switch 120 is provided by a user interface method to select each menu of the robot controller, robot JOG operation, JOG operation speed, coordinate system change, number / alphabet input, cursor movement, welding wire control, welding voltage. Includes buttons and deadman switches for / current control, robot controller command list, robot controller main menu, and robot pause.

The emergency stop switch 130 is a switch for stopping the operation of the robot main body 200 in an emergency situation by controlling the robot power supply 242 to be described later provided in the robot main body 200 to be described later motor driver 220 Shut off the power supply to prevent dangerous situations.

In addition, the central processing unit 140 operates an OS that guarantees hard real-time performance and communicates with the robot body 200 in a real-time fieldbus manner.

The robot body 200 supplies motors 210 for driving each axis of the robot, motor drivers 220 for driving the motor, I / O modules 230 for input / output signal processing inside and outside the robot, and power supply. Apparatus 240 is provided. In this case, the motor drivers 220, the I / O module 230, and the power supply 240 are installed in the robot base to minimize the interference caused by the operation of the motors 210 to reduce disconnection / contact failure. It is good to be.

The motors 210 and the motor drives 220 are connected to a motor power source, an encoder position, and a HALL sensor signal line. At this time, since the motors 210 and the motor drives 220 are installed together in the robot body 200, it is possible to reduce an encoder signal defect due to long distance communication, and by connecting a plurality of signal lines and motor power lines, etc. It can reduce manufacturing cost and increase work efficiency when operating robot system.

The motor drivers 220 and the I / O module 230 are connected in a daisy channel manner. Specifically, the first motor driver 220 of the motor drivers 220 is connected to the real-time communication line 330 of the cable 300 to be described later. In addition, the second and third motor drivers 220 are connected to the front motor driver 220 in a daisy channel manner, and the I / O module 230 is also connected to the last motor driver 220 in a daisy channel manner. Therefore, since the robot controller 100 and the robot body 200 need only be connected to a pair of real-time communication lines 330, the signal lines are reduced.

In addition, the power supply device 240 supplies a controller power supply 241 for supplying power supplied by an external power supply to the robot controller 100 and a robot power supply 242 for supplying the robot main body 200. Equipped.

The cable 300 connects them 100 and 200 for communication and signal transmission between the robot controller 100 and the robot body 200. Specifically, the cable 300 is an emergency for connecting the power line 310, the emergency stop switch 130 and the robot power supply 240 for supplying power from the controller power supply 241 to the robot controller 100. A stop signal line 320 and a real time communication line 330 for connecting the central processing unit 140 and the motor drivers 220 are provided.

On the other hand, the robot control and user interface software mounted on the central processing unit 140 of the robot controller 100 is classified by function, the user interface module 141, the robot manager module 142, the robot language interpreter / executor Module 143, path generator module 144, motion and I / O controller module 145, and real-time network communication module 146.

The user interface module 141 interprets a user command input through the button / deadman switch / emergency stop switch 130. User commands include editing robot work files, modifying robot information, monitoring robot I / O status, and monitoring robot location information.

The robot manager module 142 manages robot information. The robot information includes welding start / main / end condition, weaving welding setting information, digital / analog input / output port information, robot controller system internal variable information, robot tool center position (Tool Cener Point: TCP), user coordinate system information, Robot home position information, robot operation time history information, arc sensor setting information, ray sensor setting information, and robot alarm history information are included.

The robot language interpreter / executor module 143 reads the robot work file stored by the user from the storage device, separates the token of each command, analyzes the meaning of the command, and converts the contents into the operation code, and converts the robot command into They are executed one by one, including the ability to process calculations just like math commands and the ability to wait for the robot to finish.

The path generator module 144 calculates a position command of each axis motor of the robot for each control period. After calculating the position of the end of robot tool by X, Y, Z, Rx, Ry, Rz value, it calculates the position value of each axis of robot through inverse matrix calculation. At this time, the position value of each axis of motor is calculated in radian unit.

The motion and I / O controller module 145 calculates and processes the final command value at which the robot can operate. After calculating the position command value of each shaft motor calculated by the path generator module 144 in consideration of the gear ratio of the gearbox and the absolute value of the motor, the result of the encoder pulse unit at the final motor gear level is calculated. Calculate by value

In addition, the digital / analog output command value is calculated by reading an input signal that the user arbitrarily requests and a signal during robot operation. Emergency stop signal and deadman signal are arbitrarily requested by the user.In addition, during arc operation, arc welding failure, welding wire shortage, welding gas shortage, welding member touch detection, robot collision detection sensor signal value, arc welding voltage / There is a current status signal. The output signal also includes arc welding voltage / current command value, welding wire operation control, motor brake control, welding start, gas supply start and touch operation start.

The real time network communication module 146 is responsible for real time communication between the robot controller 100 and the robot main body 200, and is composed of a communication initialization setting unit, an input buffer processing unit and an output buffer processing unit. The communication initialization setting unit is responsible for processing the initialization of the communication port of the central processing unit 140 to use the real-time fieldbus. The input buffer processor is responsible for reading the digital / analog input value and the current position value of the motor 210 from the current position of the robot body 200 for each control cycle and storing them in a buffer. The output buffer processing unit stores the position command value and the digital / analog output command value of the motor 210 calculated by the motion and I / O controller module 145 in a buffer and delivers the information through real time communication. In charge of.

On the other hand, while the robot system having a control panel integrated robot controller according to the present invention has been described according to a limited embodiment, the scope of the present invention is not limited to the specific embodiment, it will be apparent to those skilled in the art in connection with the present invention. Various alternatives, modifications, and changes can be made within the scope of this.

Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical spirit of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by the embodiments and the accompanying drawings. . The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

100: robot controller 110: display panel
120: button / deadman switch 130: emergency stop switch
140: central processing unit 141: user interface module
142: robot manager module 143: robot language interpreter / launcher module
144: path generator module 145: motion and I / O controller module
146: real time network communication module
200: robot body 210: motor
220: motor driver 230: I / O module
240: power supply 241: controller power supply
242: robot power supply device 300: cable
310: power line 320: emergency stop signal line
330: communication line

Claims (8)

A display panel 110 that provides robot status information and a work file editing screen to control robot operation and process a user interface, a button / deadman switch 120 and an emergency stop switch to receive a user's command. A control panel integrated robot controller (100) equipped with a central processing unit (140) having a communication port for communicating with a robot and equipped with software for robot control and user interface (130);
Motors 210 driving the respective axes of the robot, motor drivers 220 for driving the motor, I / O module 230 and the power supply 240 for the input and output signal processing of the inside and outside the robot A robot body 200;
Robot system having a control panel integrated robot controller comprising a cable 300 for connecting them 100, 200 for communication and signal transmission between the robot controller 100 and the robot main body 200 . The method according to claim 1,
The power supply device 240 is a robot system having a control panel integrated robot controller, characterized in that it comprises a controller power supply (241) and the robot power supply (242). The method according to claim 2,
The cable 300 is a power line 310 for supplying power from the controller power supply 241 to the robot controller 100, an emergency stop signal line for connecting the emergency stop switch 130 and the robot power supply 240 ( 320) and a robot system having a control panel integrated robot controller, characterized in that it comprises a real-time communication line (330) for connecting the central processing unit (140) and motor drivers (220). The method according to claim 1,
The central processing unit (140) is a robot system having a control panel integrated robot controller, characterized in that the OS operating the hard real-time performance is guaranteed and communicate with the robot body 200 in a real-time fieldbus method. The method according to claim 1,
The motors 210 and the motor drives 220 is a robot system having a control panel integrated robot controller, characterized in that connected to the motor power, encoder position and the HALL sensor signal line. The method according to claim 1,
The motor driver 220 and the I / O module 230 is a robot system having a control panel integrated robot controller, characterized in that connected to the daisy-channel method. The method according to claim 1,
The robot control and user interface software includes a user interface module 141 for interpreting a user command input through a button / deadman switch / emergency stop switch 130, a robot manager module 142 for managing robot information, and a robot. The robot language interpreter / executor module 143, which reads the work file, separates the tokens of each instruction, analyzes the meaning of the instructions, converts the contents into action codes, and executes the robot instructions one by one. The path generator module 144, which calculates a command for each control period, calculates and processes the final command value at which the robot can operate, and calculates the position command value of each axis motor in consideration of the motor gear ratio and the absolute value of the motor. After that, it calculates the result in the unit of encoder pulse at the final motor gear level, and during the input signal and robot operation arbitrarily requested by the user. A motion and I / O controller module 145 for reading a signal and calculating a digital / analog output command value, and a real-time network communication module 146 for real time communication between the controller 100 and the robot body 200. Robot system having a control panel integrated robot controller, characterized in that one. The method of claim 7, wherein
The real-time network communication module 146 is a communication initialization setting unit for processing the initialization of the communication port of the central processing unit 140 to use a real-time fieldbus, digital / analog from the current position of the robot body 200 per control cycle Input buffer processing unit for reading the input value and the current position value of the motor 210 and storing it in the buffer, the position command value of the motor 210 and the digital / analog output command value calculated by the motion and I / O controller module 145. The robot system having a control panel integrated robot controller, characterized in that consisting of an output buffer processing unit for transmitting information through a real-time communication after storing in a buffer.

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