WO2005102599A1 - ロボットの制御装置 - Google Patents
ロボットの制御装置 Download PDFInfo
- Publication number
- WO2005102599A1 WO2005102599A1 PCT/JP2004/004518 JP2004004518W WO2005102599A1 WO 2005102599 A1 WO2005102599 A1 WO 2005102599A1 JP 2004004518 W JP2004004518 W JP 2004004518W WO 2005102599 A1 WO2005102599 A1 WO 2005102599A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- brake
- time
- position detection
- motors
- motor
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50228—Synchronize two slides, portal gantry, raising, moving
Definitions
- a conventional robot control device will be described with reference to Japanese Patent Application Laid-Open No. 11-179691.
- a brake control device that controls the position of an arm of a mouth port by the operation of a service control unit and has a brake that brakes the arm when the service control unit is not operating is provided with a brake.
- a lock time setting section that locks the time and a release time setting section that releases the brake for a predetermined time are provided, and when a brake release command is received from the operation section, according to the set times of the lock time setting section and the release time setting section. It is described that a brake control unit that alternately locks and releases the brake is provided.
- the conventional robot control apparatus does not assume a tandem control in which a plurality of motors are provided and one movable unit is operated by the motor. For this reason, even if the on / off timing of the brake signal is the same, the movement amount of the motor differs depending on the variation of the generated torque, on time, and off time of each brake. As a result, there is a problem that the moving amount of the movable part is different.
- the present invention has been made in order to solve the above-described problems. It is an object of the present invention to provide a robot control device capable of controlling a brake so that the motor movement amounts are equal.
- a control device for a robot includes: a movable unit that moves in the Z-axis direction; and a first and a second unit that drive one end and the other end of the movable unit via first and second moving mechanisms, respectively.
- a second motor i; first and second position detecting means for detecting the rotational positions of the first and second motors to generate first and second position detection signals, respectively; First and second brakes for restraining and releasing the rotation of the second motor and the first motor, first and second control units for driving the first and second motors, respectively, Command means for disabling the control unit, releasing and restraining the first and second brakes for a predetermined time, and operating the command means so that the first and second position detection signals match.
- Brake adjustment for changing at least one of the restraining time and the releasing time of the first and second brakes Ru der which is characterized by comprising a stage, a. .
- the brake adjusting means changes at least one of the restraining time and the releasing time of the first and second brakes by the operation of the command means so that the first and second position detection signals match. I do.
- the rotational positions of the first and second motors that drive the one end and the other end of the movable unit become equal. Therefore, the position of the component in the Z-axis direction at the one end and the other end of the movable portion becomes equal. Therefore, the movable part can move smoothly during maintenance or the like.
- the difference between the first position detection signal and the second position detection signal is The control means executes the brake adjusting means only when the value is larger than the threshold value. Therefore, the control of the brake adjusting means is simplified.
- a comparison means for comparing the first position detection signal and the second position detection signal is provided, and the brake adjusting means is configured to determine whether the first or second motor corresponding to the motor located above in the Z-axis direction by the comparison. It is preferable to change at least one of the restraining time and the releasing time of only the second brake.
- the brake adjusting means changes the restraint time or the like of only the brake corresponding to the motor located above in the Z-axis direction by the comparison. That is, the restraint time of the brake corresponding to the motor located above is changed. Thereby, it is possible to prevent the position of the movable part from suddenly lowering. For this reason, safety is further ensured.
- a first movement amount of one end of the movable portion and a second movement amount of the other end portion are obtained based on the first and second position detection signals, and the first movement amount is compared with the second movement amount. It is preferable that the amount comparing means and the brake adjusting means change at least one of the restraining time and the releasing time of only the brake corresponding to the motor having a small moving amount by the comparison.
- the brake adjusting means changes the restraint time or the like of only the brake corresponding to the motor having a small movement amount by the comparison. That is, the restraint time of the brake corresponding to the motor mode located above is changed. Thereby, it is possible to prevent the position of the movable part from suddenly lowering. For this reason, safety is further ensured.
- FIG. 1 is a perspective view of a liquid crystal transport robot showing one embodiment of the present invention.
- FIG. 2 is an overall block diagram of a liquid crystal transfer robot showing one embodiment of the present invention.
- FIG. 3 is a block diagram of the control device of the robot shown in FIG.
- FIG. 4 is a flowchart showing the operation of the robot control device shown in FIG.
- FIG. 5 is a time chart showing the operation of the control device of the port shown in FIG.
- FIG. 6 is a time chart showing the operation of the robot control device shown in FIG.
- FIGS. 1 is a perspective view of a liquid crystal glass substrate transfer port pot (hereinafter, referred to as a “liquid crystal transfer port pot”) showing one embodiment of the present invention.
- FIG. 2 is an overall configuration diagram of a liquid crystal transfer port showing one example.
- FIG. 3 is a block diagram showing an electric system of the liquid crystal transport robot shown in FIG.
- the liquid crystal transfer port pot 1 includes a first side portion 2, a second side portion 4, and a top plate 9 fixed to each upper end of the first side portion 2 and the second side portion 4.
- first shaft 3 as a pole screw, which is directly connected to the first motor 11, and is provided inside the second side portion 4.
- second shaft 5 as a pole screw that is directly connected to the motor 11 and has an upright pole screw.
- One end 7a is screwed into the first shaft 3 (first moving mechanism), and the other.
- the end 7c is screwed into the second shaft 5 (second moving mechanism), and moves in the Z-axis direction, that is, in the upward and downward direction shown in FIG.
- the movable part 7 is configured to be rotatable in the direction of arrow A shown in FIG.
- a first brake 13 and a second brake 113 are respectively connected to the first motor 11 and the second motor 11 so that the first brake 13 and the second brake 11 are respectively connected.
- the first position detector 1 2 and the second position detector 1 1 2 are connected to the key 1 1 3 respectively, and the first brake 1 3 and the second brake 1 1 3 are respectively connected to the first motor 1 1
- the rotation of the second motor 11 is restrained and released, and the first position detector 12 as the first position detection means and the second position detector 112 as the second position detection means It is formed so as to detect the rotational positions of the first and second motors 11 and 11, respectively, and generate the first and second position detection signals Pl and P2. .
- the liquid crystal transfer robot 1 receives the first and second position detection signals P 1 and P 2, and outputs the first and second motors 11 and 11 to the first and second brakes 13 and 11.
- the control device 30 for controlling the control unit 3, the first and second servo control units 33 and 133, and turning on the release operation switch 42 as command means
- a manual operation device 40 for turning off the first and second brakes 13 and 113 by turning off the first and second support control units 33 and 133 is provided.
- the control unit 30 analyzes and processes an operation program for operating the movable unit 7, and also executes a central processing unit 3 for executing ON (release) and OFF (restriction) control of each of the brakes 13 and 113.
- a common unit having a storage unit 32 for storing an operation program and the like, a first control unit for controlling the first motor 11 and a second control unit for controlling the second motor 11 1 I have.
- the first control section drives the first motor 11 and the first brake 13 as a control section for controlling the first motor 11 and the first motor 11 according to a drive command from the servo control section 33.
- a brake drive unit 39 that drives the first brake 13 by one brake signal.
- the second control unit controls the second motor 1 1 1 and the second brake 1 1 3 by the service control unit 1 3 3 and the second motor 1 1 1 by the drive command from the support control unit 1 3 3
- a brake control unit 13 as a second brake control means for generating a second brake signal for turning on and off the second brake 113 for controlling the second brake 113 to turn on and off.
- a brake drive unit 1339 that drives the second brake 11 1 with the second brake signal.
- FIG. 4 is a flow chart showing the operation of the control device of the robot
- FIGS. 5 and 6 are time charts showing the operation related to the brake.
- the central processing unit 31 determines that the operator has manually turned on the operation switch 42 at the time of maintenance or the like at the time of maintenance or the like (Step S10 Do where the time ts is used).
- the central processing unit 31 transmits the first and second support amplifiers 35, 1 from the first support control unit 33 and the second support control unit 13 3.
- the signal to 3 5 is turned off, and the first motor 11 and the second motor 1 1 1 are turned off (step S 103), and the first brake control unit 37 is connected via the first servo control unit 33. Fetches the first position detection signal P 1 from the first position detector 12, and the second brake control unit 13 7 receives the first position detection signal P 1 from the second position detector 11 2 via the second servo control unit 13 3.
- the second position detection signal P 2 is fetched (Step S105), and the first and second brake control sections 37 and 13 apply the first and second brake signals to the brakes 13 and 1 13 respectively.
- the brakes 13 and 1 13 are controlled to turn on and off, thereby moving the movable part 7 gradually downward in the Z-axis direction (step S107).
- the cycle is T, the on time ta and the off time
- the interval tb is the same.
- the brake torque generated by each of the brakes 1, 3, 1 13 and the time from when the brake signal is turned on to when the brakes 13, 13 are released
- the release time and the restraint time from when the brake signals 13 and 13 are turned off to when the brakes are locked differ for each brake 13 and 13. Therefore, the brakes 13 and 113 have different opening times and restraining times, and the moving amounts of the motors 11 and 11 are different.
- the positions of the one end 7a and the other end 7c of the movable portion 7 descending in the Z-axis direction are shifted.
- the central processing unit 31 calculates the difference between the first position detection signal P1 and the second position detection signal P2 as an absolute value Pe, compares the absolute value Pe with a predetermined position deviation Pr, and calculates the IP. e
- > Pr is determined (step S109). This step S109 becomes the judgment means and the control means. If the central processing unit 31 has P1> P2, the adjustment signal is input to the first and second brake control units 37 and 137 at time t1, and the second brake control unit 137 The first brake control unit 3.7 increases the on / off duty of the first brake signal while keeping the duty of the brake signal on / off (time ta time tb) constant (step S113). That is, the on-time tc is lengthened while keeping the period T of the first brake signal constant.
- the position detection signal values P1 and P2 are set such that the larger the magnitude, the higher the position of the movable section 7.
- the speed of the first motor 11 controlled by the first brake 13 slightly increases from the speed of the second motor 11 1, and the rotation of each motor 11 1, 11 1 Control is performed so that the positions match.
- the positions of the one end 7a and the other end 7c of the movable portion 7 coincide with each other and become horizontal.
- step S113 or S115 is the brake adjusting means.
- the ON time tc is made longer than the ON time ta before the time t1.
- the speed of the second motor 11 1 controlled by the second brake 11 13 slightly increases from the speed of the first motor 13, and the speed of each motor 1 1, 1 1 3
- the rotation positions are controlled so as to match. Therefore, the one end 7a and the other end 7c of the movable portion 7 descend in the Z-axis direction in a state of being parallel without being inclined.
- Steps S103 to S115 are executed until the release operation switch 42 of the manual operation device 40 is turned off in this way. Eventually, when the release operation switch 42 of the manual operation device 40 is turned off, the on / off control of the brakes 13 and 11 is ended.
- step S109 of the above embodiment the positions of the one end 7a and the other end 7c of the movable portion 7 were determined using the position detection signals P1 and P2.
- the first movement amount P 1L based on the first position detection signal P 1 obtained by integrating 1, 1 and P 2 and the second movement amount P 2L obtained by integrating the second position detection signal P 2 are obtained.
- the absolute value PeL of the difference between 1L and the second movement amount P2L may be obtained as follows, and may be compared with a predetermined PrL. This forms the moving amount comparison means.
- step S111 P1L> P2L may be compared. If “Y”, step S113 may be executed, and if " ⁇ ”, step S115 may be executed.
- control apparatus for a port is applied to the control of the port.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006512422A JP4544248B2 (ja) | 2004-03-30 | 2004-03-30 | ロボットの制御装置 |
PCT/JP2004/004518 WO2005102599A1 (ja) | 2004-03-30 | 2004-03-30 | ロボットの制御装置 |
TW093109859A TWI311281B (en) | 2004-03-30 | 2004-04-09 | Control device for robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2004/004518 WO2005102599A1 (ja) | 2004-03-30 | 2004-03-30 | ロボットの制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005102599A1 true WO2005102599A1 (ja) | 2005-11-03 |
Family
ID=35196805
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/004518 WO2005102599A1 (ja) | 2004-03-30 | 2004-03-30 | ロボットの制御装置 |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP4544248B2 (ja) |
TW (1) | TWI311281B (ja) |
WO (1) | WO2005102599A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010052055A (ja) * | 2008-08-26 | 2010-03-11 | Nidec Sankyo Corp | 産業用ロボット |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104334322B (zh) * | 2012-06-07 | 2016-05-04 | 三菱电机株式会社 | 机器人控制装置 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0424807A (ja) * | 1990-05-21 | 1992-01-28 | S G:Kk | 位置決め制御システム |
JPH04177510A (ja) * | 1990-11-13 | 1992-06-24 | Mitsubishi Heavy Ind Ltd | 物体の移送装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS605517B2 (ja) * | 1978-05-23 | 1985-02-12 | 三菱電機株式会社 | クレ−ンの位置決め制御装置 |
JPH10157847A (ja) * | 1996-11-29 | 1998-06-16 | Canon Sales Co Inc | 基板搬送ロボット装置およびこれを用いた基板処理装置ならびに半導体製造装置 |
JP3508522B2 (ja) * | 1997-12-19 | 2004-03-22 | 三菱電機株式会社 | ロボットの制御装置 |
-
2004
- 2004-03-30 JP JP2006512422A patent/JP4544248B2/ja not_active Expired - Fee Related
- 2004-03-30 WO PCT/JP2004/004518 patent/WO2005102599A1/ja active Application Filing
- 2004-04-09 TW TW093109859A patent/TWI311281B/zh not_active IP Right Cessation
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0424807A (ja) * | 1990-05-21 | 1992-01-28 | S G:Kk | 位置決め制御システム |
JPH04177510A (ja) * | 1990-11-13 | 1992-06-24 | Mitsubishi Heavy Ind Ltd | 物体の移送装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010052055A (ja) * | 2008-08-26 | 2010-03-11 | Nidec Sankyo Corp | 産業用ロボット |
CN101670579A (zh) * | 2008-08-26 | 2010-03-17 | 日本电产三协株式会社 | 工业用机器人 |
Also Published As
Publication number | Publication date |
---|---|
TW200532547A (en) | 2005-10-01 |
JP4544248B2 (ja) | 2010-09-15 |
TWI311281B (en) | 2009-06-21 |
JPWO2005102599A1 (ja) | 2008-03-13 |
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