1277496 玖、發明說明： 【發明所屬之技術領域】 本發明係有關一種防止機器人的 止動件等的技術改良者。 〇於保養時接觸到 【先前技術】 襄置是藉由細空制部的動作對置’此 制，同時具備在侧空制部處於非動作日= 器者，i中，呈借古·始m 》了制動臂部的制動 〜β 制動器預定時間的鎖固時門1 備在出現來自操作部的制動器解定部；並具 定部及解除時間設定部的設定=依鎖固時間設 固及解除的制動器控制部。Β X互進行制動器的鎖 根據此機器人控制裝置，由於在作 除指令時’可根據制動器的解 二 ' …“解 設定值，斷續地進行制動器的解除及仙動作= 2刮因機器人臂部的本身重量而發生之過大移動，同日士 戶'現戎臂部的微調整或平穩移動。 ° 7 旦Τ過，由於如上述構成的機器人控制裝置因臂部的重 二載條件等’解除制動器時的移動速度:: : 作編一面監視臂部的移動，-面調整= 。。的鎖固及解除的時間設定的問題。 制動 再者，產生有現在停止伺服控制部同時，臂部等的作 3】5】59 1277496 T點有接觸止動件、機器人本體、周邊 【發明内容】 于心屡的問碭。 1本卷月疋為解決上述問題而研創者，#目的在於提佴 重於保養時臂部等的作業 I /、 機器人控制裝置。 易”止動件、本體接觸的 弟1樣態的機器人控制農置的特徵在於 =移動構件；媒動該移動構件的馬達二：：動 置，而吝吐#里认， 似列出^馬達的位 構件的移動的止動構件.^ 料構，限制W述移動 動器；驅動m、告°束及解除丽述馬達的旋轉的制 除前、"I#/处’、、的控制部；使該控制部無效，同時解 二=動器的指令機構；以及藉由該指 二 =…動構件與前述移動構件間之 = 動益的拘束或解除的時間的 又更則述制 &。 間的罘1制動器控制機構。 "爾器人控制裝置的 =動該臂部的馬達;檢測出該馬達的::置= 置檢測信號的位置檢測機構；產 止動構件；拘束及解除前述 Ή π的旋轉的 述馬達白hh借〜旋轉的制動器；驅動前 V的彳工制邛，使該控制部盔 的指令機構；以及藉由該指令機槿广讀前述制動器 構件與前述臂部間之角度，動作’對應前述止動 的時間的第1制動器控：機：/述制動器的拘束或解除 第3樣態的機器人控制裝 作業點，且設於第1關節部的可"二广、備:連結於 2關節部連結固定於第i臂部疋寸的# 1臂部；藉由第 、弟2臂部；分別驅動第1、 315159 6 1277496 第2臂部的第i、〜 同時可接觸前述：2馬達’·連結於前述第卜第2臂部， 第2馬達的旋轉位置的本體部；分別檢測出前述第1、 第！、第2位置檢^生* 1、第2位置檢測信號的 馬達的旋轉的第 :’为別拘束及開放前述第1、第2 的控制部；指 帛2制動态；驅動前述第1、第2馬達 <日不亚辨却 ^ ^ 機構，·使該控制 /月丨处"豆部的本體位置的位置辨識 的指令機構，·以同時解除前述第卜第2制動器 無效，並根據前述第 j 7機構的動作，使前述控制部 點與前述本體位置 7 2位置檢測信號求出前述作業 铪0丘丨& B之距離’對應該距離，變f俞、+、斤 弟2制動器的拘束或解除的時間的第二更“弟〗、 第4樣態的機器1J力讀制機構。 3樣態的位置辨J衣置的特徵在於具備：取代第 夏辨4機構，而於第2臂部 以X，Y , Z值設定-A — 牙夕動的乾圍内， 疋一-人兀空間的設定機構 樣態的第2制動器> 薄，以及取代第3 口。？工d妆構，錯由該指令 前述控制部益效，π β ^動作，使 ‘、、'灰同％根據第1、第2位置檢測幹味+、山 作業點與則述二次元空間之丨 莹1、穿0立丨去。。 対應该距離’變更 • “制動為的拘束或解除的時間的 機構。 h 3制動器控制 第5樣態的機器人控制裝置的特徵 、吳備：根據位 置檢測信號並根據馬達的旋轉速度檢測 ^ °卩的動作速度 的動作速度運算機構；以及比較預設的最古 @動作速度與前 述動作速度，當前述動作速度超過前述最古 ^取问動作速度時， 即拘束制動器的拘束機構。 315)59 7 ^/7496 弟6樣態的機器人控制 拘束機構預定時間後解動的：徵在於具備：於執行 根據第1樣態，由於作;;：除機構。 指令機構作動，對應料點虚、1J如於保養之際，藉由使 動器的拘束或解除時間，^且=構件間的距離，變更制 止動構件的效果。 /、有可預先防止作業點碰撞 根據第2樣態，由於作 指令機構作動，對應臂部盘:動樵口於保養之際，藉由使 器的拘束或解除時間，因:匕具有可# =的角度，變更制動 構件的效果。 員先防止臂部碰撞止動 根據弟3樣態，由於作 指令機構作動，對應作業點 器的拘束或解除時間m豆預 =的距離，變更制動 體部的效果。 ^ 了預先防止作業點碰撞本 々八根據第4樣態’由於作業員例如於伴養之p與由# 心令機構作動，對應作業點與例如1::，’错由使 三次元空間之間的距離，織更制# Γ 邊機器附近的 果，、有可預先防止作業點進入上述三次元空間内的效 動作速二'5 :::，由於比較預設的最高動作速度與前述 臂,Γ 拘束機構拘束制動器，因此進-步呈有 月4不易接觸本體等的效果。 ，、 根據第6樣熊，且古1 Α 部的效果。 〜有可在# σΜ亭止後，依狀況移動臂 315)59 1277496 【實施方式】 (實施例1) 茲藉由第1至第4闻…、 圖是@干明本發明之-實施形態。第】 ^ ^ m , R _ 。。人糸統的整體構造圖，第2圖力 择員不弟1圖所不之機器人 示由臂部及馬達所構成、 先的方塊圖’第3圖是1j 負載扭1節的模式圖，第4®是臂” 負載扭矩與角度的對應圖。 於第1圖中，機哭 的祠服控制器33，且;^ 具備：包括控制機器人3 業點）的位置辨識機構的引機器人3的前端Ts(作 杆擔、哭A 。 知引功旎的控制裝置3 0 ;以及執 订機。。人3的操作，同 的指令機構的解除操 4導通關斷㈣&制為3. 於機器人3中呈備關42的手動操作裝置4〇。1277496 发明Invention Description: [Technical Field] The present invention relates to a technical improvement of a stopper for preventing a robot or the like.接触 接触 保养 保养 先前 先前 先前 先前 先前 先前 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 m 》 Brake arm brakes~β Brakes for the predetermined time of the lock, the door 1 is equipped with the brake release unit from the operation unit; the setting of the fixed part and the release time setting unit is set according to the lock time and Released brake control unit. Β X locks the brakes of each other. According to the robot control device, the brake can be released intermittently according to the solution of the brakes. The excessive movement of the weight of the same day, the same day Shishi's slight adjustment or smooth movement of the arm. ° 7 Once the robot control device constructed as described above, the brake is released due to the heavy load condition of the arm, etc. Movement speed at the time: : : The movement of the arm is monitored, and the adjustment of the lock and the time of the release is performed. The brake is generated again, and the servo control unit is stopped at the same time, the arm, etc. 3] 5] 59 1277496 T point has contact stopper, robot body, peripheral [invention content] Yu Xin repeatedly asked. 1 This month is the researcher to solve the above problems, # aims to focus on Operation I/, robot control device for arm and so on during maintenance. The robot control device for the "easy" stopper and the body contact is characterized by = moving member; the motor of the moving member : Moved, and vomited, it seems to list the movement of the moving member of the motor. The material structure limits the movement of the moving body; drives the m, reports the beam, and dissipates the rotation of the motor. a control unit before the elimination, "I#/where;; the command unit that invalidates the control unit and simultaneously solves the two = actuator; and the movable member between the movable member and the moving member = The time of restraint or release of the benefit is more about the &罘1 brake control mechanism. "After the control device of the device; the motor that detects the arm; the position detecting mechanism that detects the setting of the motor; the production stop member; the motor white that restrains and releases the rotation of the aforementioned π Hh borrowing a rotating brake; driving the front V to complete the command mechanism of the helmet; and reading the angle between the brake member and the arm by the command machine, the action 'corresponding to the foregoing The first brake control of the time of the movement: the machine: the restraint of the brake or the release of the third robot control installation work point, and the second joint part can be connected to the second joint. The #1 arm portion fixed to the i-th arm portion is connected; the second arm portion of the second arm portion is driven by the first and second arm portions; respectively, the first and the second arm portions of the first arm portion are simultaneously contacted with: 2 motor '· a body portion connected to the second arm portion of the second arm and a rotational position of the second motor; and detecting the first and the first! The second position detection *1, the rotation of the motor of the second position detection signal: 'to restrain and open the first and second control units; the movement of the finger 2; drive the first and the first 2 motor < day is not recognized ^ ^ mechanism, the command mechanism for the position of the main body position of the bean control unit, and the second brake is disabled at the same time, and according to the above In the operation of the j7th mechanism, the position of the control unit and the position of the main body position 7 2 is determined as the distance between the operation 铪0丨丨&B, and the distance is changed to become the brake of the Yu, +, and 2 brakes. The second "more" of the time of the restraint or the release, the machine 1J force reading mechanism of the fourth state. The position of the three-piece position is characterized by the fact that it is equipped with the following: The arm is set with X, Y, and Z values -A - the inner circumference of the tooth movement, the second brake of the setting mechanism of the first-person space, and the third port. The error is caused by the control unit of the instruction, π β ^ action, so that ',, 'gray the same according to the first and second bits + Measuring dry flavor, and the working point of said mountain Shu Ying space of a second element, Shu Li through 0 should go from Dui .. 'changes • "or releasing the brake of the restraint mechanism of time. h 3 Brake control The characteristics of the fifth robot control device, Wu Bei: an operation speed calculation mechanism that detects the movement speed of the motor based on the position detection signal and the rotation speed of the motor; and compares the preset oldest @ action The speed and the above-described operating speed are the restraining mechanisms for restraining the brake when the operating speed exceeds the speed of the most recent action. 315) 59 7 ^/7496 The 6-mode robot control The restraint mechanism is activated after the scheduled time: the enquiry is: in the execution According to the first aspect, because of; When the command mechanism is actuated, the material is imaginary, and 1J is used to maintain the effect of the brake member by the restraint or release time of the actuator, and the distance between the members. /, It is possible to prevent the collision of the work point in advance according to the second aspect. Because the command mechanism is actuated, the corresponding arm disk: when the mouth is in the maintenance state, the restraint or release time of the device is caused by: The angle of = changes the effect of the brake member. First, the arm is prevented from colliding and stopping. According to the 3rd state, the effect of the brake body is changed by the action of the command mechanism and the distance of the restraint or release time of the operating point. ^ In advance, the work point collision is prevented. According to the fourth state, 'because the operator, for example, the companion p and the #心令机构, the corresponding work point and the example 1::, 'missing the three-dimensional space The distance between the two sides, the weaving system # Γ the fruit near the machine, there is a speed action 2':: that can prevent the working point from entering the above three-dimensional space in advance, because the preset maximum speed and the aforementioned arm are compared , Γ The restraint mechanism restrains the brakes, so the progress is not easy to touch the body, etc. , according to the sixth bear, and the effect of the ancient 1 Α. 〜 有 # # # # # # 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 315 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 The first] ^ ^ m , R _. . The overall structure of the human system, the second picture of the force of the staff is not the brother of the figure, the robot is composed of the arm and the motor, the first block diagram 'the third picture is the 1j load twist 1 section mode diagram, the first 4® is the map of the arm's load torque and angle. In Fig. 1, the machine is crying, and the front end of the robot 3 is equipped with a position recognition mechanism including a control robot 3). Ts (for the rod, cry A. Know the power of the control device 30; and the binding machine. The operation of the person 3, the same command mechanism to cancel the operation 4 turn off (four) & 3. for the robot 3 In the middle, it is a manual operation device 4 of the customs.
於其間介右楚，一立設的本體5;連結於本體.5, J 部？〇 士關即部10的第1臂部15 ;隔著第2關節 以及二结固定具有前端Ts的工具]9的第2臂部17; 以及限制第1臂部15 作為止動構件的止動。。4動，同時設於關節部10的 構件，於臂部]7呈:23°而且，#部15,17構成移動 於第2圖中，乂 丨馬達u;檢在：節部丨。中具備：驅動臂部15的第 測信號Θ Sl的作為/ U的旋轉位置’而產生第1位置核 於馬達u _ ’’、、立置檢測機構的位置檢測器' 12;以及設 移動的第1制動二在切斷電源之情形下，阻止臂部15的 DO J °於控制裝詈3 0中I備：M t & 用以使機器人3竹番， 纟置』中，備解析處理 -动的動作程式，以執行第]臂部]5等的 315]59 9 1277496 安勢控制、制動器〗3沾言、 記憶臂部i 5盘μ ¥通關斷控制等的中央處理部3 1 ; 制部Μ的驅動指令;I::空制部I藉由來自卿 : 達的作為第！制動。。、U的伺服放大器35;控制馬 及驅動制動1"控制機構的制動器控制部3 7 ;以 助制動益13的制動器驅動部 而且，於第2圖中念々》 • 若關節部10使馬、衾弟2關節部關係的電氣系統圖。 部15的第3圖所示之：的軸旋轉成為藉由齒輪驅動臂 -矩為几，馬達η的角=^則制動器13發生的制動器扭 TL-Tb=(Jm+J度為〇 ’後述運動方程式即成立。 • 盆中 r )(dw/dt) ···( 〆、 Ώ •馬達的慣性力矩，ja :劈# 速比，丁L :負載扭矩。 °的十貝性力矩，η :減 上4(1)式係表不於制動器扭矩了 + 13解除時，臂部】5受到臂部 為冬，亦即制動器 引而旋轉。整理上述（〗）式，得下式 >、有的負載杻矩TL牽 J〇d ω = (TL - Tb)dt 其中 J〇 ·· J m + J a/n2 ··· (2)In the meantime, the right body, a standing body 5; connected to the body. 5, J? The first arm portion 15 of the gentleman closing portion 10; the second arm portion 17 that fixes the tool 9 having the distal end Ts via the second joint and the second joint; and the stopper for restricting the first arm portion 15 as the stopper member . . The member which is provided in the joint portion 10 at the same time is at 23° in the arm portion 7 and the #15, 17 structure is moved in Fig. 2, the motor u is detected in the second figure; The positional detector '12 of the vertical detection signal is generated by the rotation position ' of the second measurement signal Θ Sl of the drive arm unit 15 as the motor u ′ '', and the position detector '12 of the vertical detection mechanism; In the case where the first brake 2 is turned off, the DO J ° of the arm portion 15 is prevented from being in the control device 3 0: M t & used to make the robot 3, and the device is analyzed and processed. - an action program to execute the 335] 59 9 1277496 of the arm section]5, etc., the central processing unit 3 1 such as the control of the ampoule, the brakes, the memory arm i 5 disk μ, and the turn-off control; The driving command of the Ministry of Industry; I:: The Ministry of Air Affairs I is the first from the Qing: Da! brake. . , U servo amplifier 35; control horse and drive brake 1 " control mechanism brake control unit 37; to help the brake benefit 13 brake drive unit, and in the second picture 々 々 • If the joint part 10 makes the horse, Electrical system diagram of the relationship between the two brothers. The rotation of the shaft shown in Fig. 3 of the portion 15 is such that the arm-moment is driven by the gear, and the angle of the motor η = ^, the brake twist TL-Tb of the brake 13 is generated (Jm + J degree is 〇 ' The equation of motion is established. • In the basin r)(dw/dt) ···( 〆, Ώ • Moment of inertia of the motor, ja: 劈# speed ratio, D: load torque. Ten tenth moment of torque, η: If the 4(1) type is not the brake torque + 13 release, the arm part 5 is subjected to the winter by the arm, that is, the brake is rotated and rotated. The above formula (〗) is obtained, and the following formula is obtained. The load moment TL is J 〇d ω = (TL - Tb)dt where J〇·· J m + J a/n2 ··· (2)
{(TL-Tb)/J〇) t+A 由方、在㈣下。= 〇，故積分常數A= 〇。 丁乙 一 Tb = 2 π N · j〇 · t 此時’導通關斷控制制動器u時，制動:(:） 平均即如下式變化。 釗動态扭矩Tb的 了 be 二丁卜 H on / “。( (t 〇Π + 1 〇f〇 ) ... (5) ιο 315159 1277496 制動裔控制部3 7 蛛 卩透過伺服控制部33從位置檢測器12 $取位置檢 俾” 、Μ5^θδ〗（步驟S105)，並運算臂部15與止動 卞2 3間的角声至 ㊀已 a 又 0 e(步驟S〗07)，對應作為距離的角度差 至制疋制動益13的導通關斷時間，將制動器信號輸入 制重^。。驅動邛39。制動器驅動部3 9係於時間ta内解除 預定日守間，鎖固（拘束）預定時間，以控制臂部 的移動速度（步驟S109)。 央處理.p。判斷角度差$ L是否達到預定值，若未 則進行上述步驟S1G5、⑽、_，若角度差Μ 達到職值（步驟Sl2】），則拘束制動器13而結束處理。 ^由於如上所述，於手動操作時，對應臂部1 5與止動件 23間的角度差變更制動器13的導通關斷控制時間，因此 可預先防止臂部15碰撞止動件23。 _且灰上述貫施例中，雖就馬達1 1為旋轉型的例子加以 :兄明’但亦可為線型馬達。於線型馬達之情形下，位置檢 則]2 w測出線型馬達的移動件的直線位置，中央處理部 3 1求出該直線位置與止動件23間的距離，可對應所求得 之距磷’根據來自制動器控制部37的制動器信號驅動 器13。 (實施例2) 上述貫施例雖係根據臂部]5與止動件23間的角度差 變更制動器η的導通關斷使用率，不過，以下係說明：考 慮臂部]5的速度而變更制動器]3的導通關斷使用率的例 子0 12 1277496 再揭示上述（3)式如後述。 對〔（TL—Tb)/J0〕t式的兩邊施以積 分，而成為下式。 ^ -(TL-Tb)tV(2 Jo)+B …⑺ 由於在t = 〇下，0 = 〇，故積分常數B = 〇。 ^ =(TL-Tb)tV(2 J0) …(8) 於上述（8)式中，若不管上述角度差，假定負載扭矩 TL為-定，當臂部ls超過最高旋轉速度心而時，即藉 ::束制動器13,使臂部15的減速度成為一定。由於減 、度為-定，故減速時間與角度差成正比。最好與角度差 成正：二來設定臂部15的最高旋轉速度ω max。 :藉由第7圖及第8圖說明如上述構成的機器人的控 、的動作。第m示機器人的控制裝置動作的、、六 =示有關制動器的動作的時序圖。於第; 說明。 鹿』不相问或相當部份，賓略其 如實施例丨進行步驟至si〇 邱 揮動作速度運算機槿μ^ 甲夹處理部31發 部15的角；; f 置檢測信號^求出臂 勺角速度6JS，並與預先設定的 較（步驟S1U)，若角遠产糸 | 、又為0max相比 則作為拘束機構㈣於最高角速度為一 X， 刺動L唬，亚關斷制動器]3,拘 W貝U) 驟Sl]3)。 1 Μτ止臂部15(步 另一方面，於步驟Sl11中，若角速度為叫於最高 315159 13 1277496 所示，進行步驟S 1 2 1。 解除機構的伺服控制部3 3 1 5之後，解除制動器ι 3， 角速度為ω max，即如實施例ι 又，於步驟Sli3中，作為 亦可在拘束馬達1 1並停止臂部 而使臂動15自由作動。 由於如以上所述，於主 方；手動彳呆作時，對應臂部1 5金止私 件17間的角度差，變f制叙％， 、. 動 動為1 3的導通關斷控制時間， 同時對應角度差限制臂邱 利$邛15的移動速度，因此可進—{(TL-Tb)/J〇) t+A by the party, under (4). = 〇, so the integral constant A = 〇. Dingyi I Tb = 2 π N · j〇 · t At this time, when the control brake u is turned off, the brake: (:) average changes as follows.钊 Dynamic torque Tb of be dibuts H on / ". ( (t 〇Π + 1 〇f〇) ... (5) ιο 315159 1277496 Brakeman control unit 3 7 spiders are transmitted from the servo control unit 33 The position detector 12 $ takes the position check 俾, Μ 5 ^ θ δ (step S105), and calculates the angular sound between the arm portion 15 and the stop 卞 2 3 to a and 0 e (step S 07), corresponding to As the angle difference of the distance to the turn-on and turn-off time of the braking force benefit 13, the brake signal is input to the weight 。 39. The brake drive unit 39 is released within a predetermined time of the time ta, and is locked (constrained a predetermined time to control the moving speed of the arm (step S109). The central processing.p determines whether the angular difference $L has reached a predetermined value, and if not, performs the above steps S1G5, (10), _, if the angular difference Μ reaches the job value (Step S12), the brake 13 is restrained and the processing is terminated. ^ As described above, the angle difference between the corresponding arm portion 15 and the stopper 23 changes the conduction-off control time of the brake 13 during manual operation. It is possible to prevent the arm portion 15 from colliding with the stopper 23 in advance. _ and in the above embodiment, although the motor 1 1 For the example of the rotary type: Brother Ming' but it can also be a linear motor. In the case of a linear motor, position detection] 2 w measures the linear position of the moving member of the linear motor, and the central processing unit 3 1 finds the straight line. The distance between the position and the stopper 23 can be determined according to the obtained distance P from the brake signal driver 13 from the brake control unit 37. (Embodiment 2) The above embodiment is based on the arm portion 5 and the stop. The angle difference between the pieces 23 changes the conduction-off usage rate of the brake η. However, the following describes an example of changing the conduction-off usage rate of the brakes 3 in consideration of the speed of the arm portion 5 0 12 1277496 The formula is as follows. The integral is applied to both sides of the [(TL-Tb)/J0]t formula, and becomes the following formula. ^ -(TL-Tb)tV(2 Jo)+B (7) Since t = 〇 , 0 = 〇, so the integral constant B = 〇. ^ = (TL - Tb) tV (2 J0) (8) In the above formula (8), if the angle difference is not satisfied, the load torque TL is assumed to be -, When the arm portion ls exceeds the maximum rotational speed center, that is, the beam brake 13 is used to make the deceleration of the arm portion 15 constant. Therefore, the deceleration time is proportional to the angular difference. It is preferable to be positive with the angular difference: secondly, the maximum rotational speed ω max of the arm portion 15 is set. The control of the robot configured as described above will be described with reference to FIGS. 7 and 8 . The mth shows the operation of the control device of the robot, and the figure 6 shows the timing chart of the operation of the brake. In the description of the deer, the deer does not ask or is quite a part, and the example of the deer is as follows: Qiu swings the speed calculation machine 槿μ^ the corner of the hairpin processing unit 31 hairpiece 15; f sets the detection signal ^ to find the armrest angular velocity 6JS, and compares with the preset (step S1U), if the angle is far-reaching 糸| In addition, it is a restraint mechanism for the 0max ratio (4) at the highest angular velocity of one X, puncturing L唬, sub-brake brake]3, and W (U), S1]3). 1 Μτ arm portion 15 (step, on the other hand, in step S11, if the angular velocity is as shown in the highest 315159 13 1277496, step S 1 2 1 is performed. After the servo control unit 3 3 1 5 of the mechanism is released, the brake is released. ι 3, the angular velocity is ω max, that is, as in the embodiment ι, in step Sli3, the arm 15 can be freely actuated as the motor 11 is restrained and the arm 15 is stopped. As described above, the main side; When the manual squatting is performed, the angle difference between the arm and the arm of the arm is changed to f, and the change is f, and the movement is the turn-on and turn-off control time of 1 3, and the angle difference is limited to the arm.邛15's moving speed, so you can enter -
先防止臂部1 5碰撞止動件丨7。 頂 實施例3 八㈣月口卜^的硬轉的止動 ，不1，本實施例係就於本體5與作為作業點的第2 的前端As可接觸的機器…，避免臂部”的 两端As與本體5接觸的制動器13的控制加以說明。 本實施例的機器人系統與第】圖所示者相同，直 謂節部20’且構成第9圖所示之電氣系統。於第 中與第2圖相同的符號表示相 圖 斤，门 丨刀 巫名略其說明。於 二達…圖中，機器人3具有二關節1。、2。，藉由第 馬達11驅動第!關節]0，於第2關節2〇 驅動臂部]7的第2馬達⑴;檢測出馬達⑴的旋轉： 立置檢測信號“2的作為第2位置檢測機 2 = 及㈣馬達⑴的轴，同時在切斷電 源^形下阻止臂部17的移動的第2制動器丨13。 具備控制馬達]"的飼服控制部]33;根據來 控制部133的驅動指令驅動馬達U1的词服放大部⑺； 315159 14 1277496 制馬達πι的作為第2制 137 ; jv Ά w - ^工制機構的制動器控制 以及驅動制動器〗i〗的 到邛 哭批生•丨★ 動裔驅動部I 3 5。且以制^ “工制部37, 137構成第 乂制動 冰 昂3制動裔控制機構。 在此，如弟6圖所示，將 的前端八19的前端Ts與臂邹17 而As的位置設定為相 P(x，30，Μ Μ 1 - 〇 ^ 孚則糕As的位置設定為 Μ將罘1、第2臂部15 將第1臂部j 5金 勺長度設定為L· 1、L2， 穿口P 1 5 14 X轴間的角声抓 與第1臂部15門,… 將第2臂部17 P”二,Γ 為Θ2時，臂部〗7的_， PX:L1.C〇S01 + L2.C〇s(01+02)…(9)First, the arm portion 15 is prevented from colliding with the stopper 丨7. Top Embodiment 3 Eight (four) month mouth mouth ^ hard turn stop, no 1, this embodiment is on the body 5 and the second front end as the working point As can contact the machine ..., avoid the arm" The control of the brake 13 in which the end As is in contact with the main body 5 will be described. The robot system of the present embodiment is the same as that shown in the first drawing, and is directly connected to the node portion 20' and constitutes the electric system shown in Fig. 9. The same symbol in Fig. 2 indicates the phase diagram, and the name of the door knife is slightly explained. In the figure of Fig. 2, the robot 3 has two joints 1, 2, and the first joint is driven by the motor 11; The second motor (1) of the second joint 2 〇 drive arm portion 7; the rotation of the motor (1) is detected: the axis of the second position detecting machine 2 = and (4) the motor (1) of the standing detection signal "2" is simultaneously cut off The second brake port 13 that prevents the movement of the arm portion 17 under the power supply. a feeding control unit 33 having a control motor]; driving the word amplifier amplifying unit (7) of the motor U1 according to a driving command from the control unit 133; 315159 14 1277496 a motor πι as a second system 137; jv Ά w - ^ The brake control of the industrial system and the drive brake 〗 〖I 邛 批 批 丨 丨 动 动 动 动 动 动 动 动 动 动 动 动 动In addition, the "manufacturing department 37, 137 constitutes the third brake brake ang 3 braker control mechanism. Here, as shown in the figure of the younger brother, the front end Ts of the front end eight 19 and the position of the arm 19 and As are set. The position of the phase P (x, 30, Μ Μ 1 - 〇 ^ Fussue As is set to Μ1, and the second arm portion 15 sets the length of the first arm portion j 5 to L·1, L2, Through the mouth P 1 5 14 The angle between the X-axis and the first arm 15 is grasped.... When the second arm 17 is P"2, Γ is Θ2, the arm _7 is _, PX: L1.C〇 S01 + L2.C〇s(01+02)...(9)
Py=Li.sin,1 + L2.sin(0i+02) (1〇) p2= (P X2+ P y2 )1/2 闵， ··.⑴） U此，藉由以上式檢測出位置 檢測俨％ 立置松測裔12，112的位置 pz。 “，“2,可求出臂部]7前端的位置Px，Py， M /藉由第1圖、第4圖、第9圖、第η圖說明如以上 、的機器人的控制裝置的動作。第丨丨圖是 控制裝置的動作的流程圖。 的 作業員預先測定上述每一角度差的負載扭矩TL，對應 角又差將第4圖所示之表格儲存於記憶部3 2。作業員進一 =藉由&制裝置3 0指引臂部1 7的前端As與本體5接觸， ' L才曰弓I位置’將指引位置儲存於記憶部32。 中央處理部3 1係與實施例1的步驟s 1 〇 1同樣地，判 斷疋否自手動操作裝置4〇產生伺服控制部23，] 33的關斷 315159 15 1277496 指令（步驟S20l)。若產生關斷指令，中央處理部η即關 斷伺服控制部23，133(步驟S2〇3)’並從位置檢測器η， ⑴讀取位置檢測信號μ，0s2(步驟s2叫，以求出臂 部17的前端位置卜，士’運算臂部17的前端盘本體 5間的距離Le(步驟S207)，對應該距離Le決定制動器13， ⑴的導通關斷時間，控制制動器13，叫步驟咖 中央處理部31判斷距離。是否達到預設值（步驟 MH)，若未達到，即進行步驟S2〇5、步驟s2〇7、步驟， :角度差達到預設值，即拘束制動器13,⑴ 處理。 』、、、口不 由於如以上所述，在手動操作時對應臂部I?與 間的距離變更制動哭13，1 1 q 、首 、月丘 113的導通關斷控制時間，故可 預先防止臂部1 7碰撞本體5。 且上述實施例耗藉由控㈣置3q使臂部Py=Li.sin,1 + L2.sin(0i+02) (1〇) p2= (P X2+ P y2 )1/2 闵, ···(1)) U, the position detection is detected by the above formula俨% Stand up to the position of the 12,112 pz. "2" The position Px, Py, M of the front end of the arm portion 7 can be obtained. The operation of the control device of the robot as described above will be described with reference to Fig. 1, Fig. 4, Fig. 9, and Fig. The figure is a flow chart of the operation of the control device. The operator preliminarily measures the load torque TL for each angle difference described above, and stores the table shown in Fig. 4 in the memory unit 32 in correspondence with the difference in angle. The operator enters a = the front end As of the arm portion 17 is in contact with the body 5 by the & system device 30, and the 'L is the bow position I' stores the guidance position in the memory portion 32. In the same manner as the step s 1 〇 1 of the first embodiment, the central processing unit 3 1 determines whether or not the servo control unit 23, 33, 315159 15 1277496 is commanded from the manual operation device 4 (step S20l). When the shutdown command is generated, the central processing unit η turns off the servo control units 23, 133 (step S2〇3)' and reads the position detection signals μ, 0s2 from the position detectors η, (1) (step s2 is called to obtain The front end position of the arm portion 17 is the distance Le between the front end disc main bodies 5 of the operation arm portion 17 (step S207), and the distance Le determines the on-off time of the brake 13, (1), and the brake 13 is controlled. The central processing unit 31 determines the distance. Whether the preset value is reached (step MH), if not, steps S2〇5, s2〇7, and steps are performed, the angle difference reaches a preset value, that is, the brake 13 is restrained, (1) processing 』, , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The arm portion 17 collides with the body 5. The above embodiment consumes the arm by the control (four) setting 3q
As接觸太_ ς π、風‘ 3月1j $而 关扪本月豆5，不過，亦可於臂部丨7可 根據X，Y，Z值μ中二A — 祀圍内具有 值。又、二久兀空間的設定機構，取代并沪 :7 :根據位置檢測信號“1，“2,求出臂部17二 面的距離（第2距離運算機構），對應該距離^決定= -13,⑴的導通關斷時間，控制制動器"，⑴制力 不、/’於上述實施例中雖係以臂部-的前端為作翠點， 不過，作業點亦可為臂部]7的適當位置。而：點’ 連結於第2臂部]7，同時言叮* 業點可 部的前端等。 亦可為具有第3關節部的第3臂 [產業上可利用性] 315159 16 1277496 如上述’本發明趟， 哭人·# 栈态人之控制裝置適於手動日士 口口人#部的用途。 動日可移動機 【圖式簡單說明】 21圖是顯示-實施例的機器人系統的整 昂2圖是第1圖所示之機器人系統的電氣；卜。 圖。 兒虱糸統方塊 弟3圖疋弟1圖所示之機器人的關節模式圖。 、，第4圖是顯㈣丨圖之機器人㈣部與止動 度差與臂部的拉伸扭矩之關係的表格。 之角 第5圖是顯示第1圖所示機器人的動作流程圖。 第6圖是顯示第1圖所示機器人的動作時序圖。 第7圖是頰示另一實施例的機器人回 第8圖是顯示另一實施例的制動哭 流程圖。 J勒。。的動作時序圖。 第9圖是另一實施例的機器人的命* 乂 s es 电虱糸統方塊圖。 第1 0圖疋嘁不另一實施例的機哭人 〃 置的X，Y曲線圖。 ——弟2臂部前端位 第π 圖是顯示另一 實施例的機 器人的 動作流程 機器人系統 3 機 1 本體 10 器人 第 5 馬達 1關節部 11、 1" 器 1 2、1 12位 置檢測器 1 1 3 制動 15 第 13、 J上J 第2 臂部 19 1臂部 X 17 關節部 23 具 第2 止 2〇 動件 315159 17 1277496 30 ^ 130 控制裝置 32 記憶部 35 ^ 135 4司服放大 39、 139 制動器驅動部 42 解除操作開關 Ts 前端（作業點） 3 1 中 央 處 理 部 33 > 133 伺 服控 制 部 37 > 137 制 動 器 控 制 部 40 手 動 操作 裝 置 As 前 端As contact is too _ ς π, wind ‘ March 1j $ and about this month Bean 5, however, it can also be in the arm 丨7 according to X, Y, Z value μ in the second A — 祀 circumference has a value. In addition, the setting mechanism of the second long space is replaced by Shanghai: 7: According to the position detection signal "1, "2, the distance between the two sides of the arm portion 17 (the second distance calculation mechanism) is determined, and the corresponding distance ^ is determined = - 13, (1) turn-on and turn-off time, control brake ", (1) force is not, / 'in the above embodiment, although the front end of the arm - is the point of use, but the working point can also be the arm]7 The proper location. On the other hand, the point " is connected to the second arm portion]7, and the front end of the business point can be said. It can also be the third arm having the third joint portion [Industrial Applicability] 315159 16 1277496 As described above, the invention is suitable for the manual Japanese Shikoukou people. use. Moving machine (Simplified description of the drawing) Fig. 21 is a diagram showing that the robot 2 of the embodiment is an electric system of the robot system shown in Fig. 1. Figure. Daughter-in-law block 3 Figure 3 shows the joint pattern of the robot shown in Figure 1. Fig. 4 is a table showing the relationship between the difference between the stop degree and the tensile torque of the arm of the robot (four) in the fourth figure. Corner Figure 5 is a flow chart showing the operation of the robot shown in Fig. 1. Fig. 6 is a timing chart showing the operation of the robot shown in Fig. 1. Fig. 7 is a view showing the robot back to another embodiment. Fig. 8 is a flow chart showing the braking of another embodiment. J Le. . Action timing diagram. Figure 9 is a block diagram of the life of the robot of another embodiment. Figure 10 shows an X, Y graph of the machine crying of another embodiment. - The 2nd arm front end position π is a motion flow of the robot showing another embodiment. The robot 1 body 10 the human body 5th motor 1 joint part 11, 1 " 1, 2, 1 12 position detector 1 1 3 Brake 15 13th, J up J 2nd arm 19 1 Arm X 17 Joint 23 with 2nd stop 2 315159 17 1277496 30 ^ 130 Control unit 32 Memory 35 ^ 135 4 39, 139 Brake drive unit 42 Release operation switch Ts Front end (work point) 3 1 Central processing unit 33 > 133 Servo control unit 37 > 137 Brake control unit 40 Manual operation device As Front end
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