WO2003036399A1 - Appareil de commande de robot, robot et installation de production - Google Patents
Appareil de commande de robot, robot et installation de production Download PDFInfo
- Publication number
- WO2003036399A1 WO2003036399A1 PCT/JP2002/010121 JP0210121W WO03036399A1 WO 2003036399 A1 WO2003036399 A1 WO 2003036399A1 JP 0210121 W JP0210121 W JP 0210121W WO 03036399 A1 WO03036399 A1 WO 03036399A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- unit
- robot
- input
- control device
- signal
- Prior art date
Links
- 238000004519 manufacturing process Methods 0.000 title claims description 15
- 230000002093 peripheral effect Effects 0.000 abstract description 47
- 238000000034 method Methods 0.000 description 6
- 238000003466 welding Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
-
- 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
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2207—Microcontroller combined with state sequencer
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39105—Manipulator cooperates with moving machine, like press brake
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the present invention relates to a mouth bot control device and a robot. Background art
- Robots used for industrial purposes are rarely used alone. Robots used for industrial purposes are usually equipped with work jigs for handling processed workpieces, tools for transport and welding, and tools such as torches, and are used in a series of production operations. Used for operations such as processing and welding. In this series of production operations, conveyors and the like move the heating equipment to perform operations such as processing and welding.
- the robot control device receives data indicating the work status of the peripheral device from the input / output device via the sequencer control device in order to recognize the operation status of the peripheral device. ing.
- FIG. 6 is a block diagram showing a configuration of an example of a conventional robot control device.
- the robot controller 52 includes a robot arm controller 53 and a sequencer controller 55.
- the robot arm controller 53 and the sequencer controller 55 exchange signals via a bus 58.
- the robot arm control section 53 controls the mouth robot main body 51.
- the sequencer controller 55 controls peripheral devices 54 that work in cooperation with the mouth bot body 51.
- the sequencer control device 55 includes a control unit 57 and an input / output unit 56.
- the control unit 57 transmits / receives a signal to / from the robot arm control unit 53 via the path 58.
- the input / output unit 56 receives a signal indicating the operation state of the peripheral device 54 from the peripheral device 54, and also sends a control signal to the peripheral device 54 according to the operation state of the robot body 51. Is output.
- the control unit 57 processes a signal from the peripheral device 54 and a signal from the robot arm control unit 53, and controls the input / output unit 56 and the peripheral device 54.
- the control unit 57 and the input / output unit 56 exchange signals via a path 59.
- the input / output unit 56 performs signal processing according to the input / output mode of the peripheral device 54.
- the input / output unit of the sequencer controller is adapted to cope with the input / output configuration.
- the output form of the power is changed to match the peripheral equipment.
- a peripheral device that matches the input / output configuration of the sequencer control device is prepared, or the input / output configuration of the peripheral device is checked and the sequencer that matches the configuration is checked.
- the control device is prepared.
- An object of the present invention is to provide a robot control device.
- this robot control device reduces the restrictions imposed by the input / output form of each device and flexibly configures the system. Further, this robot control device easily constitutes a robot control system with a small change of the robot control device.
- the robot control device of the present invention includes a robot arm control device that controls driving of a robot arm, and a sequencer control device that controls devices other than the robot arm.
- the sequencer control device includes a control unit that outputs a signal for controlling driving of the device, and an input / output unit that outputs the signal to the device.
- the input / output unit has an individual handling unit and a common processing unit that passes signals to the individual handling unit.
- the individual corresponding unit is detachably connected to the common processing unit and outputs a signal according to a preset output mode.
- the robot control device of the present invention can cope with the input / output mode of the peripheral device.
- the robot control device of the present invention has a configuration in which the display device is connected to the robot control device in the above-described configuration, and the individual correspondence unit has a recognition unit that indicates a type of a preset input / output mode.
- the user can check the input / output mode of the individual corresponding unit connected to the peripheral device on the display device, and can easily determine whether the connection is correctly established.
- the robot control device of the present invention in the above configuration, has an input unit in the display device, and the input unit selects which of the plurality of connected individual corresponding units to use. It has a selection unit to perform. As a result, an individual corresponding unit compatible with the input / output mode of the peripheral device is selected using the input unit of the display device. Further, the robot control device of the present invention can be used for a robot including a robot main body having a robot arm.
- the robot including the robot control device of the present invention can be used for production equipment including processes such as processing and welding.
- FIG. 1 shows a configuration of a mouth pot control system according to a first embodiment of the present invention.
- FIG. 2 is an explanatory diagram of the first embodiment of the present invention.
- FIG. 3 shows a configuration of a robot control system according to the second embodiment of the present invention.
- FIG. 4 is an explanatory diagram of the second embodiment of the present invention.
- FIG. 5 shows a configuration of a mouthpiece control system according to the third embodiment of the present invention.
- FIG. 6 shows a configuration of an example of a conventional robot control system.
- FIG. 1 is a block diagram showing the configuration of a robot control system including a robot, a robot control device, and robot peripheral devices.
- the robot control device 2 includes a robot arm control unit 3 and a sequence control device 5.
- the mouth pot arm control unit 3 controls the mouth bot main body 1.
- the mouth pot body 1 is composed of a robot arm 101 and a robot (not shown). Includes a set arm drive.
- the sequence controller 5 controls the peripheral devices 4 that work in cooperation with the robot body 1.
- the robot arm controller 3 and the sequence controller 5 exchange signals via the bus 20.
- the sequence control device 5 includes an input / output unit 6 and a control unit 7.
- the control unit 7 transmits and receives signals to and from the robot arm control unit 53 via the path 20.
- the input / output unit 6 receives a signal indicating the operation state of the peripheral device 4 from the peripheral device 54, and outputs a control signal to the peripheral device 4 according to the operation state of the robot body 1.
- the control unit 7 processes the signal from the peripheral device 4 and the signal from the robot arm control unit 3, and controls the input / output unit 6 and the peripheral device 4. Control unit
- the control unit 7 and the input / output unit 6 exchange signals via the bus 21.
- the input / output unit 6 includes an individual correspondence unit 8 and a common processing unit 9.
- the individual correspondence unit 8 performs signal input / output processing according to the input / output mode of the peripheral device 4.
- the common processing unit 9 processes information from the control unit 7 and a signal from the individual correspondence unit 8.
- the individual corresponding unit 8 is detachably connected to the common processing unit 9.
- the configuration of the individual correspondence unit 8 and the common processing unit 9 will be described with reference to FIG. 2, taking the case of one circuit configuration as an example.
- FIG. 2A the output of the general-purpose logic 22 is connected to the photodiode node of the photocoupler 24, and its force source is connected to ground (GND).
- the collector of the phototransistor of the photocoupler 24 is connected to the power supply, and the emitter is connected to the base of the transistor 26.
- the collector of transistor 26 is used as the output to the outside, and the emitter is connected to frame GND (FG).
- the output node of the general-purpose logic 32 is connected to the node of the photo diode of the photo power plug 34, and the power source is connected to GND.
- the collector of the phototransistor of the photocoupler 34 is connected to the power supply, and its emitter is connected to the base of the transistor 34. In the case of Figure 2B, the collector of the transistor is connected to the power supply, and the emitter is the output to the outside.
- a part that outputs a signal to the general-purpose logics 22 and 32 in a stage preceding the general-purpose logics 22 and 32 is included in the control unit 7.
- the parts of the general-purpose logics 22 and 32 and the photocouplers 24 and 34 are included in the common processing unit 9.
- Transistors 26, 36 and after are included in the individual corresponding unit 8.
- the output form can be changed only by changing the individual corresponding unit 8 (the transistors 26 and 36 in the above case).
- each of the common processing unit and the individual corresponding unit may be replaced with another circuit configuration.
- the connection between the robot control device and the peripheral device can be easily and with few changes.
- the individual correspondence unit 8 further includes a recognition unit 10 indicating its input / output mode.
- the information of the recognition unit 10 is input to the common processing unit 9. Further, the information of the recognition unit 10 is output to the display device 11 through the control unit 7, the bus line 20, and the robot arm control unit 3.
- a value indicating the input / output mode of the individual corresponding unit is set in advance by a dip switch 40 or the like.
- the set value is read into the control unit 7 via the common processing unit 9 and the data bus 21.
- data corresponding to the set value is transmitted from the robot arm control unit 3 to the display device 11 via the data bus 20.
- the data transmitted from the common processing unit 9 may be either parallel or serial.
- the values set by the dip switches 40 correspond to the predetermined input / output forms of the individual corresponding unit 8, respectively. Therefore, the control unit transmits data indicating the input / output mode corresponding to the set value of the dip switch 40 for display on the display device 11.
- the display device 11 can display the input / output form of the individual corresponding unit. Can be.
- the value set in advance by the dip switch or the like may indicate not only the input / output form of the peripheral device, but also the connection state of the peripheral device or the type of the peripheral device.
- the input / output unit 6 includes a plurality of individual corresponding units 8.
- the plurality of individual corresponding units 8 are connected to the common processing unit 9.
- the individual correspondence unit 8 includes the recognition unit 10 shown in FIG. Further, in FIG. 5, two individual corresponding units 8 are shown, but the number of the individual corresponding units 8 may be two or more.
- the display unit 11 includes an input unit 12 for the user to operate.
- the user selects, in the input unit 12, the individual corresponding unit 8 that matches the input / output configuration of the connected peripheral device 4.
- the common processing unit 9 switches the connection between the individual correspondence unit 8 and the control unit 7.
- control unit 7 in response to a signal from the input unit 12 for selecting the individual corresponding unit 8, the control unit 7 sends a signal indicating connection switching to the common processing unit 9 via the bus 21.
- the control unit 7 switches the connection between the individual correspondence unit for inputting / outputting a signal for controlling the peripheral device 4 and the control unit 7 by a selector which is general-purpose logic.
- the individual corresponding unit 8 compatible with the input / output form of the peripheral device 4 is transmitted from the input unit 12 of the display device 11 to the input unit 12 of the display device 11. Selected.
- the robot control device has been mainly described.
- the robot control device of the above embodiment can be used for a robot including a robot main body having a robot arm.
- the robot including the robot control device of the above embodiment can be used for a production facility including processes such as wire welding.
- the robot control device of the present invention can respond to the input / output form of the peripheral device with a small change, and can easily make the change.
- the robot control device of the present invention can easily confirm the input / output form and connection state of the peripheral device, the type of the peripheral device, and the like on the display device. Furthermore, when the peripheral device is connected to the robot control device, the robot control device of the present invention can select an individual corresponding unit corresponding to the input / output mode of the peripheral device from the input unit of the display device, and can flexibly select the corresponding unit. Connection to peripheral devices and change of connection can be performed easily and easily.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/416,455 US20040054439A1 (en) | 2001-09-28 | 2002-09-27 | Robot control apparatus, robot, and production facility |
EP02768130A EP1435550A4 (en) | 2001-09-28 | 2002-09-27 | ROBOT CONTROL APPARATUS, ROBOT AND PRODUCTION PLANT |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001301712A JP2003108208A (ja) | 2001-09-28 | 2001-09-28 | ロボット制御装置およびロボットと生産設備 |
JP2001/301712 | 2001-09-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003036399A1 true WO2003036399A1 (fr) | 2003-05-01 |
Family
ID=19122077
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2002/010121 WO2003036399A1 (fr) | 2001-09-28 | 2002-09-27 | Appareil de commande de robot, robot et installation de production |
Country Status (4)
Country | Link |
---|---|
US (1) | US20040054439A1 (ja) |
EP (1) | EP1435550A4 (ja) |
JP (1) | JP2003108208A (ja) |
WO (1) | WO2003036399A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4504228B2 (ja) * | 2005-03-01 | 2010-07-14 | 川崎重工業株式会社 | ロボットの制御装置および制御方法 |
JP4676544B2 (ja) * | 2009-05-29 | 2011-04-27 | ファナック株式会社 | 工作機械に対してワークの供給及び取り出しを行うロボットを制御するロボット制御装置 |
JP5609046B2 (ja) * | 2009-09-07 | 2014-10-22 | パナソニック株式会社 | 溶接ロボット |
JPWO2013051200A1 (ja) * | 2011-10-06 | 2015-03-30 | パナソニックIpマネジメント株式会社 | 電気機器システム |
CN107942958B (zh) * | 2017-10-13 | 2019-06-14 | 北京邮电大学 | 一种面向物联网的工业控制系统及方法 |
WO2019234999A1 (ja) | 2018-06-05 | 2019-12-12 | パナソニックIpマネジメント株式会社 | 入出力回路 |
JP2020010295A (ja) * | 2018-07-12 | 2020-01-16 | パナソニックIpマネジメント株式会社 | 入出力装置 |
WO2020252666A1 (zh) * | 2019-06-18 | 2020-12-24 | 西门子股份公司 | 工业物联网的边缘计算设备、方法和计算机可读存储介质 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS62232006A (ja) * | 1986-04-02 | 1987-10-12 | Yokogawa Electric Corp | ロボツト・システム |
JPS62236005A (ja) * | 1986-04-07 | 1987-10-16 | Hitachi Seiko Ltd | 数値制御装置 |
JPS63181008A (ja) * | 1987-01-22 | 1988-07-26 | Mori Seiki Seisakusho:Kk | 数値制御装置の遠隔制御システム |
JPH03282703A (ja) * | 1990-03-30 | 1991-12-12 | Toshiba Corp | 汎用ロボット制御装置 |
JPH04134501A (ja) * | 1990-09-27 | 1992-05-08 | Toshiba Corp | ロボット制御装置 |
JPH10228307A (ja) * | 1997-02-13 | 1998-08-25 | Tokyo Seimitsu Co Ltd | 数値制御装置用測定信号処理装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
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US4613269A (en) * | 1984-02-28 | 1986-09-23 | Object Recognition Systems, Inc. | Robotic acquisition of objects by means including histogram techniques |
US5761390A (en) * | 1991-12-12 | 1998-06-02 | Hitachi, Ltd. | Robot for removing unnecessary portion on workpiece |
US6362813B1 (en) * | 1995-07-22 | 2002-03-26 | Kuka Roboter Gmbh | Control and programming unit |
DE19624929C2 (de) * | 1996-06-21 | 2001-08-02 | Siemens Ag | Prozeßautomatisierungssystem |
DE19857436A1 (de) * | 1998-12-12 | 2000-06-21 | Kuka Roboter Gmbh | Verfahren zum Behandeln des Spannungsabfalls in der Steuerung eines Roboters und zum Wiederanfahren eines Roboters nach Spannungsabfall |
US6505097B1 (en) * | 1999-01-13 | 2003-01-07 | Sony Corporation | Arithmetic processing device, inter-object communication method, and robot |
JP3424631B2 (ja) * | 1999-01-13 | 2003-07-07 | ソニー株式会社 | ロボット装置及びソフトウエアの更新方法 |
JP3956574B2 (ja) * | 2000-03-28 | 2007-08-08 | 松下電器産業株式会社 | 産業用ロボット |
JP2001269884A (ja) * | 2000-03-28 | 2001-10-02 | Matsushita Electric Ind Co Ltd | 産業用ロボット |
JP3491156B2 (ja) * | 2001-01-22 | 2004-01-26 | セイコーエプソン株式会社 | 液晶装置及びその製造方法並びに電子機器 |
JP2004184977A (ja) * | 2002-11-22 | 2004-07-02 | Seiko Epson Corp | カラーフィルタ及びその製造方法及び表示装置並びに電子機器 |
-
2001
- 2001-09-28 JP JP2001301712A patent/JP2003108208A/ja not_active Withdrawn
-
2002
- 2002-09-27 EP EP02768130A patent/EP1435550A4/en not_active Withdrawn
- 2002-09-27 US US10/416,455 patent/US20040054439A1/en not_active Abandoned
- 2002-09-27 WO PCT/JP2002/010121 patent/WO2003036399A1/ja not_active Application Discontinuation
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62232006A (ja) * | 1986-04-02 | 1987-10-12 | Yokogawa Electric Corp | ロボツト・システム |
JPS62236005A (ja) * | 1986-04-07 | 1987-10-16 | Hitachi Seiko Ltd | 数値制御装置 |
JPS63181008A (ja) * | 1987-01-22 | 1988-07-26 | Mori Seiki Seisakusho:Kk | 数値制御装置の遠隔制御システム |
JPH03282703A (ja) * | 1990-03-30 | 1991-12-12 | Toshiba Corp | 汎用ロボット制御装置 |
JPH04134501A (ja) * | 1990-09-27 | 1992-05-08 | Toshiba Corp | ロボット制御装置 |
JPH10228307A (ja) * | 1997-02-13 | 1998-08-25 | Tokyo Seimitsu Co Ltd | 数値制御装置用測定信号処理装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1435550A4 * |
Also Published As
Publication number | Publication date |
---|---|
JP2003108208A (ja) | 2003-04-11 |
EP1435550A4 (en) | 2006-09-27 |
EP1435550A1 (en) | 2004-07-07 |
US20040054439A1 (en) | 2004-03-18 |
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