TW559586B - Robot control device - Google Patents
Robot control device Download PDFInfo
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- TW559586B TW559586B TW091115675A TW91115675A TW559586B TW 559586 B TW559586 B TW 559586B TW 091115675 A TW091115675 A TW 091115675A TW 91115675 A TW91115675 A TW 91115675A TW 559586 B TW559586 B TW 559586B
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- robot
- arm
- machine
- stop
- control
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Braking Arrangements (AREA)
Abstract
Description
559586 五、發明說明（】） 〈發明所屬技術領域> 本發明係關於機器人 於臂型等之機器人的^制4置。右更加詳述本發明係 為控制機器人的緊各’特別是關於要求緊急停止時 置的改良。 ’了止動作裝置所適用之機器人控 <先前之技術> 作為在要求緊夸彳古 器人控制裴置，先‘使臂型等之機器人緊急停止之機 裝置。另夕卜，近；精機械制動器使其停止Ϊ 逐漸採用了藉伺服控制機器人使其在短時化，也 順利的停止之方法。 t 3且知：制動距離 先刖之飼服控制係如圖8所示進行。也就 器人之動作中發生緊急停止事態緊在’型機 在其時點切斷(圖8(c))伺服電源(k = ’ 荷词服控制馬達制動機器人(圖8⑻）。此時，留電 二加二度後停止(圖8(A))。與此同時；止^ /(圖（B))，&者終止伺服控制（圖8(d))使機械 作用保持機器人之停止狀態（圖8 (E ))。 口 口 若依據進行如此伺服控制之習知之機器人控制妒 要求緊急停止時到終止停止時使制動力積極的作用，可 使機器人如圖8 ( A )所示在短時間緊急停止。 <發明所欲解決之問題> 但是，今後機器人的大型化與高速化更發展的場合，僅 第4頁 559586 五'發明說明— 氦與先前相同之伺服控制押制 :是，藉伺服控制制動㈣管乃:子在著-些問題。 過若能維持大型化 =負:加於機器人， ;力，給予過度之負荷；間或產生需要增加制 來破壞。從而，對於大型“月況有可能對機器人帶 之飼服控制縮短減速時間有化之機器人，進行先前 系之-次電流的場合，進-步，在切斷伺服 另-方面，與此相反4;:;此長時間控制之問題。 增力……所分的達到，發生危險度 當困難。 進仃词服控制，.在目前可以說相 在此，本發明以提供一種 確實的使其緊急停止之機器人；制：=過度之負荷可以 <解決問題之手段 > 工制茗置為目的。 本案發明者們進行種種檢i社 =人中，達到見識緩和對伺服 衝擊，且可以同時達成所謂枝。。人之負何 力之相反課題之控制裝置。 ”心τ石保必要之制動 本發明係依據種種之見識者， =機器人控制裝置，係、用以控之二 3有：伺服系緊急停止控制裝置，係 ς:被在於包 伺服控制上述機器人制動；及機械‘夺俾卜、停止時藉 妨害上述機器人的動作之方向’ '二〜Τ裝置，係對 α予負何，又藉上述伺服系 η C:\2D-C0DE\91-10\91115675.ptd 559586 、發明說明（3) __ 上述機器人必要制動距離，在 :错上述機械系緊急停止裝置用 ：其 必要制動距離内緊急停止。、 ；L機益人 與t i : L人控制裝置’要求緊急停止時如圖1 (c)所干， ，、==信號同時切斷伺服馬達之伺服電源(一次斤不 :後:i用殘留電荷伺服控制機器人開源) 此：：機器人接受-定之制動負荷減速(圖！(A)) (D))。 之；：il ί機器人之速度達到安全速度Vs之時點，使以上 極終严(圖1(A))，解除速度指令對機器人停止ί 械· =))，Γ藉機械系緊急停止裝置使： 其二;：：()）。在此，所謂安全速度Vs，係指在 僅持有P 5;; 2服控制藉其後之機械系緊急停止裝置， 圍Hi;必要制動距離内可以使機器人停止之範 抵抗、由^ 卜，^胃機械系緊急停止|置，係指機械 之伺服$遠r與螺線管所形成之電磁制動、藉驅動機器人 包二j 生電路制動之-種或組合此等*，也可以 止止以後1器人之制動主體僅“服緊急停 :以之制動器作用以一定比例減速(圖“△))。 停：爾2來之速度指令終止時點(圖1⑻)機器人還不 止為止更需要TS之時間(圖ΚΑ)、(Β”， '、〜τ 恕發生到完全停止為止需要之制動距離被納 五 、發明說明（4) 入必要制動距離内。 — 圖1 (A)所示平滑 且，稭機器人制動裝置減速曲線如 和’所以機器人順；==器，停止時的速度比先前者緩 械制動器之作伴於^速且如止。停止後，機器人藉機 如以上，停止位置（圖1⑻）。 止信號發生二寺〇機器人控制裝置的場合，由緊急停 度。之時點終止空：開始制•’在下降至安全速 為止，所以進行二:1。，器人不進行到完全停止 給予過度之負荷盥衝‘日守間較短。為&，對機器人不 以確保機器人動;乍之安全：於伺服控制時間也縮短所以可 另外’藉機器人控制裝置控制， 亦可以同樣的進行。 即使在一次電源切斷時 <發明之實施形態> =下’依據顯示圖式詳細說明本發明之熊。 圖2〜圖6為表示可以適用本發明 心 型機器人1。f亥臂型機器人丨係藉關節部二^:二二之數臂 可以旋轉連結之臂5、6，同時藉旋轉驅 遠;： 旋轉力至臂5、6作所望之動作者。在太ί源之馬達7傳達 臂型機器人丨作為多關節機器人，々^ 件8，在匡與帶膜裝置等之步驟 ::型機器人!具有如圖2及圖3所示相互 ，基台9與第！臂5與第2臂6與曲柄10。而且， 機器 人1係作為使載置工件8之曲柄10經常邊向—定方向直 線上移動者。559586 V. Description of the invention ()) <Technical Field to which the Invention belongs> The present invention relates to a system of robots such as a robot and a robot. On the right, the present invention is described in more detail. The present invention relates to the improvement of control of robots, and in particular, it relates to the improvement of the emergency stop timing. The robot control applied to the stop motion device < previous technology > is a device for urgently stopping a robot such as an arm type, in order to control the Pei Zhi by an ancient artist. In addition, it is near; the stop is stopped by a precision mechanical brake. The method of servo-controlling the robot to make it shorter in time and stopping smoothly is gradually adopted. At t 3, it is known that the braking distance is controlled as shown in Figure 8. That is to say, the emergency stop situation occurred during the action of the robot. The type machine was cut off at that time (Figure 8 (c)). The servo power supply (k = 'Dutch servo control motor brakes the robot (Figure 8⑻). At this time, stay The electric power will stop after adding two degrees (Figure 8 (A)). At the same time; stop ^ / (Figure (B)), & terminate the servo control (Figure 8 (d)) to keep the mechanical action to stop the robot (Fig. 8 (E)). If the robot controls according to the known robot control that performs such servo control, the braking force will be positively effected from the emergency stop to the end of the stop, which can make the robot in a short time as shown in Fig. 8 (A). Time is urgently stopped. ≪ Problems to be Solved by the Invention > However, in the future, if the size and speed of the robot are to be further developed, only page 4 559586 5 'Description of the Invention-Helium is the same as the servo control of the previous one: Yes The servo control brake tube is: some problems. If you can maintain large size = negative: add to the robot, force, give an excessive load; occasionally need to increase the system to destroy. Therefore, for large "Monthly conditions may reduce the control of robotic belt feeding when decelerating In the case of a robot with time, it performs the step of the current of the previous system, and the step is to cut off the other side of the servo, in contrast to this 4;:; the problem of long-term control. It ’s difficult to have a dangerous degree. It ’s fair to say that at present, the present invention provides a reliable emergency stop robot; system: = Excessive load can be a means to solve the problem> The construction of the system is for the purpose. The inventors of this case carried out various inspections, i.e., people, to achieve insights and mitigate the impact on servo, and can achieve the so-called branch at the same time. The control device of the opposite problem of human power. "Heart τ Shibao necessary braking The present invention is based on various insights, = robot control device, the two used to control 3 are: the servo is an emergency stop control device, is: is included in the servo control of the robot brake; and The machine 'takes the direction of the robot and stops the movement of the above-mentioned robot when it stops.' 'The 2 ~ T device is responsible for α, and the above-mentioned servo system η C: \ 2D-C0DE \ 91-10 \ 91115675.ptd 559586, description of invention 3) __ The necessary braking distance of the above-mentioned robot is wrong: the above-mentioned mechanical system emergency stop device is used for emergency stopping within its necessary braking distance.,; L machine beneficial person and ti: L-person control device when emergency stop is required, as shown in Figure 1 ( c) All the signals of the servo motor are cut off at the same time, (=, signal =) (one time: no: after: i open source with residual charge servo control robot) This :: The robot accepts-fixed braking load deceleration (Figure! (A) ) (D)). :; Il When the speed of the robot reaches the safe speed Vs, the above will be finalized (Figure 1 (A)), and the speed command will be released to stop the robot. () =)), Γ uses the emergency stop device of the mechanical department to make: The second;: :()). Here, the so-called safe speed Vs refers to an emergency stop device that holds only P 5; 2 service control, followed by Hi; the range of resistance that can stop the robot within the necessary braking distance. ^ Stomach machinery is an emergency stop device, which refers to the electromagnetic brake formed by the servo of the machine and the solenoid, and the type or combination of the brake by driving the robot package and the circuit *, which can also be stopped later. 1 The main body of the brake is only "servicing emergency stop: the brake decelerates by a certain proportion (Figure" △ ")). Stop: At the time when the speed command comes to an end (Figure 1⑻), the robot needs TS more time (Figure κA), (B ", 'B', ~ τ, and the braking distance required until it stops completely will be accepted. Explanation of the invention (4) Within the necessary braking distance. — Figure 1 (A) shows a smooth and decelerating curve of the robot's braking device, such as' So the robot is smooth; ==, the speed at stop is slower than that of the previous slow brake. The operation is accompanied by ^ speed and as soon as possible. After stopping, the robot takes the opportunity to stop the position as shown above (Figure 1。). When the stop signal occurs to the Temple 2 robot control device, the emergency stop will be performed. The time will end when the time is empty: start the system • 'Before descending to a safe speed, so two: 1. The robot does not proceed until it completely stops giving excessive load.' The day guard is shorter. For &, the robot is not to ensure that the robot moves; it is safe at first glance : The servo control time is also shortened, so it can be controlled by the robot control device, and the same can be done. Even when the power is cut off once, < the embodiment of the invention > = down ', it is detailed according to the display diagram The bear of the present invention will be illustrated. Figures 2 to 6 show that the heart-shaped robot 1 to which the present invention can be applied. F Hai arm type robot 丨 is borrowed from the joint part 2 ^: The number of two arms can be rotated to connect the arms 5, 6 at the same time Drive away by rotation ;: Rotate the force to the arms 5 and 6 to do the desired action. The motor 7 in the Taiyuan source conveys the arm-type robot 丨 as a multi-joint robot, 件 ^ 8, in the steps of Kuang and the film device ::-type robot! As shown in Fig. 2 and Fig. 3, the base 9 and the first! The arm 5 and the second arm 6 and the crank 10. The robot 1 is often used as the crank 10 for placing the workpiece 8 — A person moving on a straight line in a fixed direction.
559586 五、發明說明（5) 第1臂5與第2臂6為 同步滑輪11、12、 側滑輪1 2之直徑（齒 之基台側滑輪1 3與曲 為 1 ·· 2 〇 如圖2及圖4所示， 設置著為了旋轉連結 11、1 2之共通之齒部 條發生張力之同步齒 型帶15、16之皮帶寬 示，即使中心軸11 a、 的場合，亦可以使同 如圖7所示均一化。 目的，度，在分別之兩端部設置著 。第1臂5之基台側滑輪1 1與曲柄 文）之比係作為2 ·· 1。另外，第2臂6 柄側滑輪1 4之直徑（齒數）之比係作 在第1臂5之2個同步滑輪1 1、1 2間， 此等齒合於形成在2個之同步滑輪 (未圖示）並列於軸方向所掛上之2 型帶1 5、1 6。為此由於可以使同步齒 狹小’所以同步滑輪丨丨、1 2如圖4所 1 2a在傾斜成比平行伸展於例如上側 步齒型帶15、16之寬方向之張力分布 另外，2條同步齒型帶1 5、1 6係作成如將1條同步齒型帶 分割於軸方向者。為此，可以作成使2條同步齒型帶1 5、 1 6具有相同之皮帶長度，同時具有形狀及大小與節距相同 之齒部。進一步，此等2條同步齒型帶1 5、1 6在分割前錯 開相同之齒作成架設於同步滑輪1 1、1 2。藉此’ 2條同步 齒型帶1 5、1 6可以作成錯開齒部之節距架設於2個同步滑 輪1 1 、1 2者 0 進一步，如圖5所示，在基台9與第1臂5之關節部2，第1 臂5之基台側滑輪1 1藉連結筒1 7被固定於基台9。另外’黏 著於第1臂5之驅動轴1 8可以旋轉的被設置於該連：筒”的 内部。而且，對於基台9第1臂5可以旋轉的被支撐。驅動559586 V. Description of the invention (5) The first arm 5 and the second arm 6 are the diameters of the synchronous pulleys 11, 12, and the side pulleys 12 (toothed abutment side pulleys 13 and 1 = 2). Figure 2 As shown in FIG. 4, the belt widths of the synchronous toothed belts 15 and 16 which are tensioned for rotating the common toothed bars 11, 12 are shown. Even in the case of the central axis 11 a, the same can be achieved. The uniformity is shown in Fig. 7. The purpose and degree are provided at the two ends of each. The ratio between the abutment side pulley 11 and the crank of the first arm 5 is 2 ·· 1. In addition, the ratio of the diameter (the number of teeth) of the second arm 6 shank side pulley 14 is between the two synchronous pulleys 1 1 and 12 of the first arm 5, and these teeth are engaged with the two synchronous pulleys ( (Not shown) are juxtaposed on the 2 type belts 1 and 16 hanging in the axial direction. For this reason, because the synchronization teeth can be narrowed, the synchronization pulleys 丨, 1 and 2 are stretched in parallel to the tension distribution in the width direction of the upper step toothed belts 15 and 16 as shown in FIG. 4. The toothed belts 15 and 16 are made by dividing one synchronous toothed belt in the axial direction. For this reason, the two synchronous toothed belts 15 and 16 can be made to have the same belt length, and at the same time have tooth portions with the same shape and size as the pitch. Further, the two synchronous toothed belts 15 and 16 are staggered and formed on the synchronous pulleys 11 and 12 before being divided. In this way, the two synchronous toothed belts 15 and 16 can be pitched with staggered teeth and set on two synchronous pulleys 1 1 and 1 2. Further, as shown in FIG. 5, the base 9 and the first 1 The joint portion 2 of the arm 5 and the abutment-side pulley 11 of the first arm 5 are fixed to the abutment 9 by a connecting cylinder 17. In addition, a driving shaft 18 attached to the first arm 5 is rotatably provided inside the coupling cylinder. Moreover, the first arm 5 is rotatably supported for the base 9. The driving
咖586 五、發明說明（6) 車由18藉同步滑 9之馬達7。4此，藉馬達二步齒型帶21連結於内藏在基台 5對基台g旋轉。g、、、 勺驅動，驅動軸18旋轉，第1臂 另夕卜’如圖6所示，太笛] 臂5與第2臂6之關節部3，篦1 η之曲柄側滑輪12藉連結 關即心弟1 步，第1臂5狃、壶处红同22固疋連結於第2臂6。進一 ”。而且，Κ:2 了，連結於第2臂6之基台側滑輪 部。為此上= 旋轉。 α輪1 2說轉後第2臂6對第1臂5 在此由於第1臂5之基台側滑輪1 1盥曲；^側、^彳9 # 經（齒數）之比為2 :1，同日夺第?柄側滑輪12之直 側滑輪14之直徑（齒數）之二^ ”之基口側滑輪13與曲柄 滑輪與曲柄^滑輪1 之基㈣ "6之曲柄側滑輪14之旋二=广= 、、4〗夕:加如，所示，在第2臂6之基台側滑輪13與曲柄側 广4力木設者同步齒型帶24。更在第2臂6之曲柄側滑輪14 4設著曲柄10。曲柄10之構造並沒有特別的限帝卜例如可 以作成具有平行之2個之平行支撐框丨〇a可以支撐工件8 者0 該臂型機器人1係藉基台9可以升降及旋轉的設置於機哭 人本體25支撐著。依此’藉臂5、6的屈伸可以使曲柄1〇; 直線運動變更高度及方向。 另外，本實施形態之臂型機器人1具有機器人控制裝 置，該機器人控制裝置包含有伺服系緊急停止控制裝置與Coffee 586 V. Description of the invention (6) The car is driven by 18 by the synchronous motor 9 by the 9. 4 Therefore, the two-step toothed belt 21 by the motor is connected to the built-in abutment 5 and the abutment g rotates. g ,,, spoon drive, the drive shaft 18 rotates, the first arm is shown in Fig. 6, the whistle] the joint 5 of the arm 5 and the second arm 6, the crank side pulley 12 of 篦 1 η is connected by Guan Jixindi made 1 step, the first arm 5 狃, the pot place Hongtong 22, and the second arm 6 were connected to the second arm 6. Further one ". Furthermore, Κ: 2 is connected to the abutment side pulley part of the second arm 6. For this purpose = rotation. Α wheel 1 2 After the turn, the second arm 6 vs. the first arm 5 is here because of the first Arm 5's abutment side pulley 1 1 盥 曲; ^ 侧 、 ^ 彳 9 # The ratio of warp (number of teeth) is 2: 1, the same day, the diameter (number of teeth) of the pulley 14 of the handle side pulley 12 is two ^ "The base side pulley 13 and the crank pulley and the crank ^ the base of pulley 1 " 6 of the two sides of the crank side pulley 14 = 广 = 、, 4〗 Xi: as shown, in the second arm 6 The abutment-side pulley 13 synchronizes the toothed belt 24 with the crank-side gear 4 setter. Further, a crank 10 is provided on the crank-side pulley 14 4 of the second arm 6. The structure of the crank 10 is not particularly limited. For example, it can be made into two parallel support frames that are parallel. 〇a can support the workpiece 8 and 0. The arm robot 1 is installed on the machine by the base 9 and can be raised and lowered. The crying body 25 is supported. According to this', the flexion and extension of the arms 5 and 6 can make the crank 10; the linear movement changes the height and direction. In addition, the arm-type robot 1 of this embodiment includes a robot control device including an emergency stop control device of a servo system and
五 發明說明（7) 機械系緊急停止裒置，★亥 ^ ^ 要求緊急停止時藉伺服x。服系緊急停止控制装置，係在 裝置，係對妨害臂=彳臂等制動；該機械系緊急停止 外，合併設置著伺服^ 1的動作之方向給予負荷。另 裝置，與驅動控制機緊急停止控制裝置之控制 外之控制裝置。本^二ί急停止裝置之全部或一部之另 系緊急停止控制裝置之撫=的場合，雖然馬達7作為伺服 之伺服馬達單獨配置於臂=* =過例如將與該馬達7不同 緊急停止控制裝置之機能。力系，亦玎以使其作為伺服系 機械系緊急停止裝置 臂驅動系之機Η扣^ ，又有特別的圖示，不過具有在 動、Is· ^ Α几 線圈與螺線管所形成之電磁制 I日驅動臂型機器人1之 制動之-種或组入此箄。j馬達（馬達7 )之再生電流 抗、、、問#糾μ，。 另外，即使將零件間之摩擦抵 亦可。a Θ寻之黏性抵抗等包含於該機械系緊急停止裝置 、含、上本貝施形恶之機器人控制裝置雖可以以伺服馬 人電磁制動器等眾知之零件和控制此等零件之控制裝置 #成Y不過，至少在要求緊急停止時，構成在伺服控制時 可以緩和對臂型機|§人給予之負荷•衝擊同時可以控制使 其在必要制動距離内緊急停止。 以下δ兒明上述之臂型機器人1之動作。使臂56屈伸使 曲柄1 0對基台9移動之際，藉驅動馬達7使第1臂5對基台9 旋轉。而且，由於第1臂5對基台9及基台側滑輪11旋轉， 所以曲柄側滑輪1 2對第1臂5旋轉。藉對該曲柄側滑輪1 2之V. Description of the invention (7) The emergency stop setting of the mechanical department, ★ ★ ^ ^ Servo x is required for emergency stop. The service is an emergency stop control device, which is used to brake the obstructing arm = arm, etc. In addition to the emergency stop, the machine is combined with a load in the direction of the servo ^ 1 operation. Another device, and the control device other than the control of the emergency stop control device of the drive controller. In the case where all or a part of the emergency stop device is an emergency stop control device, although the motor 7 is separately arranged on the arm as a servo motor of the servo = * = too, for example, an emergency stop will be different from the motor 7 Function of control device. The force system is also used as the mechanism of the servo system's emergency stop device arm drive system. It also has a special illustration, but it has a moving, Is · ^ Α coil and a solenoid formed by The type or combination of the brakes of the electromagnetic I-driven arm-type robot 1 is incorporated here. The regenerative current of motor j (motor 7) is anti-,,, and ##. In addition, even if the friction between parts is offset. a Θ Xun's viscous resistance is included in the mechanical system emergency stop device, including the robot control device of the above-behaved evil spirits, although it can use known parts such as servo electromagnetic brakes and control devices to control these parts # Cheng Y However, at least when an emergency stop is required, the configuration can relieve the load and impact on the arm-type machine during servo control at the same time, and can control the emergency stop within the necessary braking distance. The operation of the above-mentioned arm-type robot 1 will be described by δ. When the arm 56 is flexed and extended to move the crank 10 to the base 9, the drive motor 7 is used to rotate the first arm 5 to the base 9. Since the first arm 5 rotates about the base 9 and the base-side pulley 11, the crank-side pulley 12 rotates about the first arm 5. By the crank side pulley 1 2 of
C:\2D-CODH\91-10\91115675.ptd 第10頁 559586C: \ 2D-CODH \ 91-10 \ 91115675.ptd Page 10 559586
五、發明說明（8) 第1臂之旋轉，第2臂6對第1臂5旋轉，同時基台側滑輪】3 對第2臂6旋轉。藉基台側滑輪1 3對第2臂6旋轉，曲柄1則滑 輪1 4對第2臂6旋轉，曲柄1 〇旋轉。 彳月 而且’由於第1臂5及第2臂6具有相同長度，同時第1臂^ 之基台側滑輪1 1與曲柄側滑輪1 2 (亦即第2臂6之基台側、、典 輪1 3 )與第2臂6之曲柄側滑輪1 4之旋轉角度比為i α 1 ，所以藉使第1臂5旋轉，第1臂5與第2臂6之角度變化\ 曲柄1 0 —面一定方向一面移動在連結第！臂5之基台側滑輪 1 1的中心與第2臂6之曲柄側滑輪1 4的中心之直線上。α⑽ 在此，本實施形態由於使用大型之晶圓作為工件8，所 以將臂型機器人1之臂5、6與曲柄1 0作成高大化。為此， 在第1臂5的先端如圖4所示，第1臂5的各同步滑鈐！ ] 1〇 的各中心如a、12a加上朝下方之較大… 成比平行伸展上側。而且，由於藉臂5、6與曲柄丨〇之高大 化，各關節部2、3、4之軸承等之抵抗與臂5、6等之慣^生 力變大，所以用以驅動臂5、6之動力變大。 貝 對於此，在該臂型機器人！由於將2條同步齒型帶15、 並列掛於各同步滑輪Π、12之軸方向，所以與使用i :步齒型帶之習知之臂型機器人相比，可以將各同步' 帶15、16之皮帶寬作成狹小’可以使同步滑如、12 時之皮帶的寬方向之張力分布如圖7所示均一化。·、’ 另外，2條之同步齒型帶15、16由於具有相同之皮帶 度且形狀及大小與節距相同之齒部同時錯開著節距， 抵銷各同步齒型帶15、16之齒部之節距的誤差，可以吸收5. Description of the invention (8) The rotation of the first arm, the second arm 6 rotates on the first arm 5, and the abutment side pulley] 3 rotates on the second arm 6. The abutment side pulley 13 rotates the second arm 6 by 3, the crank 1 rotates the pulley 14 by the second arm 6, and the crank 10 rotates.彳 月 and 'Because the first arm 5 and the second arm 6 have the same length, and the abutment side pulley 11 of the first arm ^ and the crank side pulley 1 2 (that is, the abutment side of the second arm 6, The rotation angle ratio of the wheel 1 3) to the crank side pulley 14 of the second arm 6 is i α 1, so if the first arm 5 rotates, the angle of the first arm 5 and the second arm 6 changes \ crank 1 0 — Move in the direction of the link while moving in a certain direction! The center of the abutment-side pulley 11 of the arm 5 and the center of the crank-side pulley 14 of the second arm 6 are on a straight line. α⑽ Here, since a large wafer is used as the work 8 in this embodiment, the arms 5 and 6 of the arm-type robot 1 and the crank 10 are made larger. For this reason, at the tip of the first arm 5, as shown in FIG. 4, each of the first arms 5 slides in sync! ] Each center of 1〇 such as a, 12a plus downwards is larger ... Extend the upper side in parallel. In addition, since the height of the arms 5, 6 and the crank is increased, the resistance of the bearings of the joints 2, 3, and 4 and the inertia force of the arms 5, 6 and the like increase, so they are used to drive the arms 5, The power of 6 becomes larger. For this, in this arm-type robot! Since two synchronous toothed belts 15 are juxtaposed on the axis directions of the synchronous pulleys Π and 12, it is possible to align each of the synchronous' belts 15 and 16 compared with a conventional arm-type robot using an i: step toothed belt. The narrow skin width can make the tension distribution in the width direction of the belt synchronously smooth at 12 o'clock, as shown in Figure 7. ·, 'In addition, because the two synchronous toothed belts 15 and 16 have the same belt degree and the same shape and size as the pitch, the tooth portions are staggered at the same time, offsetting the teeth of each synchronous toothed belt 15 and 16 The error of the pitch can be absorbed
559586 發明說明（9) 在各同步滑輪1丨、12之游移。 又’上述之實施形態為本發明之最佳 但並不限定於此只要不逸脫本發 旨: 之大型之工件8移動之多關節機器人，月使二圓等 適用機器人控制裝置之形態，不過關：已表二 機器人控制裝[亦可以適用於使之發明之 之機器人之被伺服控制者之任一之機=重！物高速移動 <發明之效果> 由以上的說明可以了解，若依據本申喑專利^閉笼彳$ 之機器人控制步晉，可以一品士 y T月專利乾圍第1項 之機器人緊急停止之制動力nm型⑶·高速化 之制動？間緩和對機器人的負荷·==== =::。而I’由於至少機器人的速度在降落到安全‘ 隹保要木I、急停止時之機器人的安全性。 另外，由於藉機器人控制奘罢、士土 器人停止時的速度比先前者=減速曲線f成平滑’且機 減速且停止。 〇，所以機益人形成平順的 器安裝於全軸的場合之 獨立由於發生危險需要 改造所以即使為成本低 第2項之機器人控制裝 另外，並無如將適當扭矩之制動 不利點，例如停止後夾入無法形成 改造等之不利點，由於硬體不需要 廉之先前機種亦可以簡單適用。 進一步，若依據本申請專利範圍559586 Description of the invention (9) The movement of each synchronous pulley 1 丨, 12. Also, the above-mentioned embodiment is the best of the present invention, but it is not limited to this, as long as it does not escape the purpose of the present invention: a large-scale multi-joint robot with a large workpiece 8 moving, a moon-shaped second circle, and other suitable robot control devices. Clearance: The robot control device has been shown in Table 2. [It can also be applied to any of the robots invented by the servo controller = heavy! High-speed movement of objects < Effects of invention > From the above description, it can be understood that if the robot is controlled according to the patent application ^ Closed Cage, the robot can be stopped by a penny y patent. Braking force nm type ⑶ · High-speed braking? Reduce the load on the robot between times: ==== = ::. And I ’because at least the speed of the robot has landed to safety. In addition, due to robot control, the speed at which the scholar and the robot stop is smoother than the former = the deceleration curve f is smoothed 'and the machine decelerates and stops. 〇, so the machine benefits people to form a smooth device for installation on all axes. Because of danger, it needs to be modified. Even if it is a low-cost robot control, the second item is not as bad as braking with proper torque, such as stopping. The back-clamping can not form disadvantages such as modification. Since the hardware does not require cheap previous models, it can be easily applied. Further, if according to the patent scope of this application
559586 五、發明說明（ίο) 置，由於可以以機械抵抗、由線圈與螺線管所形成之電磁 制動、藉驅動機器人之伺服馬達之再生電流制動之一種或 組合此等者構成機械系緊急停止裝置所以容易。 <元件編號之說明> 1 臂形機器人（機器人） 2 關節部 3 關節部 4 關節部 5 臂 6 臂 7 馬達 8 工件 9 基台 10 曲柄 10a 支撐框 11 同步滑輪 12 同步滑輪 13 同步滑輪 14 同步滑輪 15 同步齒型帶 16 同步齒型帶 17 連結筒 18 驅動軸 19 同步滑輪559586 Fifth, the invention description (ίο), because the mechanical resistance, the electromagnetic brake formed by the coil and the solenoid, the regenerative current braking by the servo motor driving the robot or a combination of these constitute a mechanical system emergency stop So easy to install. < Description of component numbers > 1 Arm-shaped robot (robot) 2 Joint 3 Joint 4 Joint 5 Arm 6 Arm 7 Motor 8 Work piece 9 Abutment 10 Crank 10a Support frame 11 Synchronous pulley 12 Synchronous pulley 13 Synchronous pulley 14 Synchronous pulley 15 Synchronous toothed belt 16 Synchronous toothed belt 17 Connecting cylinder 18 Drive shaft 19 Synchronous pulley
C:\2D-CODE\91-10\9ni5675.pld 第13頁 559586 五、發明說明（11) 20 同 步 滑 輪 21 同 步 齒 型 帶 22 連 結 筒 23 連 結 軸 24 同 步 齒 型 帶 25 機 器 人 本 體C: \ 2D-CODE \ 91-10 \ 9ni5675.pld Page 13 559586 V. Description of the invention (11) 20 Synchronous pulley 21 Synchronous toothed belt 22 Coupling tube 23 Coupling shaft 24 Synchronous toothed belt 25 Machine human body
C:\2D-CODE\9】·10\9]115675.ptd 第14頁 559586 圖式簡單說明 圖1為表示本發明之機器人控制裝置之一實施形態之圖 ，（A)為實際的速度、（B)為速度指令、（C)為伺服電源、 (D )為伺服控制範圍、（E)為機械制動器（機械系緊急停止 裝置）之各動作之定時。 圖2為表示可以適用本發明之臂型機器人之一實施形態 之中央縱剖面圖。 圖3為表示臂型機器人之斜視圖。 圖4為表示第1臂之同步滑輪與同步齒型帶之側視圖。 圖5為表示臂型機器人之基台與第1臂之關節部之詳細之 中央縱剖面圖。 圖6為表示臂型機器人之第1臂與第2臂之關節部之詳細 之中央縱剖面圖。 圖7為表示第1臂之同步齒型帶之皮帶之寬與張力之關係 之圖。 圖8為表示藉習知之機器人控制裝置控制動作之一例之 圖，（A)為實際的速度、（B)為速度指令、（C)為伺服電 源、（D)為伺服控制範圍、（E)為機械制動器（機械系緊急 停止裝置）之定時。C: \ 2D-CODE \ 9】 · 10 \ 9] 115675.ptd Page 14 559586 Brief description of the drawing Figure 1 is a diagram showing one embodiment of the robot control device of the present invention, (A) is the actual speed, (B) is the speed command, (C) is the servo power, (D) is the servo control range, and (E) is the timing of each action of the mechanical brake (mechanical emergency stop device). Fig. 2 is a central longitudinal sectional view showing an embodiment of an arm-type robot to which the present invention can be applied. Fig. 3 is a perspective view showing an arm-type robot. Fig. 4 is a side view showing a timing pulley and a timing belt of the first arm. Fig. 5 is a detailed central longitudinal sectional view showing the base of the arm-type robot and the joint portion of the first arm. Fig. 6 is a detailed central longitudinal sectional view showing the joints of the first arm and the second arm of the arm-type robot. Fig. 7 is a graph showing the relationship between the belt width and tension of the timing belt of the first arm. Fig. 8 is a diagram showing an example of a control operation of a conventional robot control device, (A) is an actual speed, (B) is a speed command, (C) is a servo power source, (D) is a servo control range, and (E) Timing of the mechanical brake (mechanical system emergency stop device).
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Claims (1)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001215321A JP2003025271A (en) | 2001-07-16 | 2001-07-16 | Robot control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW559586B true TW559586B (en) | 2003-11-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW091115675A TW559586B (en) | 2001-07-16 | 2002-07-15 | Robot control device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2003025271A (en) |
| KR (1) | KR100499717B1 (en) |
| CN (1) | CN100389938C (en) |
| TW (1) | TW559586B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1800809A1 (en) * | 2005-12-19 | 2007-06-27 | ABB Technology AG | Braking device for a robot actuator and method for monitoring the state of a brake |
| JP5280132B2 (en) * | 2008-08-26 | 2013-09-04 | 日本電産サンキョー株式会社 | Industrial robot |
| KR101457642B1 (en) * | 2010-11-01 | 2014-11-06 | 현대중공업 주식회사 | Emergency stop method of industrial robot |
| KR101868849B1 (en) * | 2011-11-21 | 2018-06-20 | 엘지디스플레이 주식회사 | Apparatus for Transferring Substrate and Method for Controlling the same |
| KR101362230B1 (en) * | 2012-03-27 | 2014-02-13 | 현대로템 주식회사 | Robot Detecting Mine |
| DE102015001203A1 (en) * | 2015-01-30 | 2016-08-04 | Kuka Roboter Gmbh | Method and system for operating and / or monitoring a multi-axis machine |
| JP6226914B2 (en) * | 2015-06-12 | 2017-11-08 | ファナック株式会社 | Servo motor stop control device that controls and stops the servo motor during an emergency stop |
| JP6661910B2 (en) * | 2015-07-27 | 2020-03-11 | セイコーエプソン株式会社 | Control method |
| JP6145153B2 (en) * | 2015-11-30 | 2017-06-07 | ファナック株式会社 | Robot controller that records the occurrence of emergency stop of robot |
| DE102016005366B4 (en) | 2016-04-25 | 2022-05-25 | Franka Emika Gmbh | Robot with a controller protected in the event of a power failure |
| JP6786291B2 (en) * | 2016-07-28 | 2020-11-18 | 日本電産サンキョー株式会社 | Industrial robot |
| JP6923581B2 (en) * | 2019-03-07 | 2021-08-18 | ファナック株式会社 | Control system for industrial robots |
| JP7335103B2 (en) * | 2019-07-09 | 2023-08-29 | ニデックインスツルメンツ株式会社 | INDUSTRIAL ROBOT AND CONTROL METHOD FOR INDUSTRIAL ROBOT |
| US11981517B2 (en) * | 2021-03-30 | 2024-05-14 | Dexterity, Inc. | Robotic line kitting system safety features |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0116396Y2 (en) * | 1980-11-25 | 1989-05-15 | ||
| JPS61177504A (en) * | 1985-02-01 | 1986-08-09 | Hitachi Ltd | Emergency stop device |
| JPS62172581U (en) * | 1986-04-22 | 1987-11-02 | ||
| JPS6416396A (en) * | 1987-07-10 | 1989-01-19 | Fujitsu Ltd | Method of controlling acceleration at time of emergency stoppage |
| JPS6487174A (en) * | 1987-09-22 | 1989-03-31 | Fanuc Ltd | Controller for industrial robot |
| JPH02284899A (en) * | 1989-04-25 | 1990-11-22 | Citizen Watch Co Ltd | Control method for robot and control device thereof |
| JPH0449881A (en) * | 1990-06-14 | 1992-02-19 | Shibaura Eng Works Co Ltd | Servo-motor emergency stop device |
| US5327055A (en) * | 1993-03-08 | 1994-07-05 | International Business Machines Corporation | Mechanical brake hold circuit for an electric motor |
| JPH07124888A (en) * | 1993-10-29 | 1995-05-16 | Fanuc Ltd | Emergency suspension circuit for robot |
| JPH0911181A (en) * | 1995-06-26 | 1997-01-14 | Kobe Steel Ltd | Emergency stop method of robot |
| JP3508522B2 (en) * | 1997-12-19 | 2004-03-22 | 三菱電機株式会社 | Robot control device |
| JP2001088080A (en) * | 1999-09-16 | 2001-04-03 | Denso Corp | Mobile robot system |
-
2001
- 2001-07-16 JP JP2001215321A patent/JP2003025271A/en active Pending
-
2002
- 2002-07-15 TW TW091115675A patent/TW559586B/en not_active IP Right Cessation
- 2002-07-15 KR KR10-2002-0041095A patent/KR100499717B1/en active IP Right Grant
- 2002-07-16 CN CNB021268649A patent/CN100389938C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| KR100499717B1 (en) | 2005-07-07 |
| CN100389938C (en) | 2008-05-28 |
| JP2003025271A (en) | 2003-01-29 |
| CN1397412A (en) | 2003-02-19 |
| KR20030007182A (en) | 2003-01-23 |
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