WO2015005293A1 - Dispositif d'actionnement - Google Patents

Dispositif d'actionnement Download PDF

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Publication number
WO2015005293A1
WO2015005293A1 PCT/JP2014/068089 JP2014068089W WO2015005293A1 WO 2015005293 A1 WO2015005293 A1 WO 2015005293A1 JP 2014068089 W JP2014068089 W JP 2014068089W WO 2015005293 A1 WO2015005293 A1 WO 2015005293A1
Authority
WO
WIPO (PCT)
Prior art keywords
secondary battery
robot
portable
operating device
operation device
Prior art date
Application number
PCT/JP2014/068089
Other languages
English (en)
Japanese (ja)
Inventor
健介 吉山
Original Assignee
株式会社ダイヘン
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社ダイヘン filed Critical 株式会社ダイヘン
Priority to CN201480038805.3A priority Critical patent/CN105555488B/zh
Publication of WO2015005293A1 publication Critical patent/WO2015005293A1/fr

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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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for 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
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34073—Backup battery
    • 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
    • G05B2219/39443—Portable, adapted to handpalm, with joystick, function keys, display

Definitions

  • the present invention relates to an operation device that is connected to an operation target device by wireless communication and is operated when various types of data are transmitted to and received from the operation target device.
  • Patent Document 1 and Patent Document 2 disclose an information processing apparatus such as a desktop PC (personal computer) that operates when power is supplied from an external power source.
  • the information processing apparatuses disclosed in these documents are provided with an uninterruptible power supply for power failure countermeasures. For this reason, when the power supply from the external power supply is stopped, by switching to the power supply from the uninterruptible power supply device, the running application or operating system can be normally terminated. This prevents damage to memory data and hardware inside the information processing apparatus.
  • Patent Document 3 discloses an information processing apparatus such as a mobile phone or a notebook PC that is operated by a secondary battery incorporated in a casing. When the remaining amount of the secondary battery is reduced, the information processing device disclosed in this document normally terminates the system before the power supply from the secondary battery stops (hereinafter referred to as a shutdown process). It is configured to protect memory data.
  • Patent Documents 4 and 5 disclose a robot system including a robot control device that controls a robot and a portable operation device that can communicate with the robot control device.
  • communication between the robot control device and the portable operation device is made wireless by a network communication technology corresponding to the IEEE 802 standard.
  • the operator can remotely operate the robot control device, which is the operation target device, using the portable operation device.
  • the portable operating device is configured to operate by supplying power from the secondary battery. For this reason, when the remaining amount of the secondary battery is reduced, the memory data inside the portable operation device is protected by automatically performing the shutdown process as in the information processing device disclosed in Patent Document 3. Can do.
  • an operating device that is connected to an operation target device by wireless communication and is operated when data is transmitted to or received from the operation target device.
  • a secondary battery is incorporated inside the device, and an operating device that operates by supplying power from the secondary battery is provided.
  • the operating device includes a monitoring unit that monitors the remaining amount of the secondary battery and a boot control unit that executes a boot process based on a power-on operation of the operating device.
  • the boot control unit executes the boot process. When the request is made, the remaining amount of the secondary battery is confirmed. If it is determined that the remaining amount of the secondary battery is equal to or less than the predetermined value, the execution of the boot process is stopped.
  • the operation target device is preferably a manipulator or a robot control device that controls the manipulator.
  • the schematic diagram which shows the robot control system provided with the operating device of this invention The block diagram which shows the structure of a robot control system.
  • the robot control system 1 includes a robot R, a robot control device RC that controls the operation of the robot R, and a portable operation device TP that can communicate with the robot control device RC.
  • the robot R is an industrial robot that performs arc welding, spot welding, and the like.
  • the robot control system 1 is configured to be capable of wireless communication between the portable operation device TP and the robot control device RC. For this reason, the worker HM can perform the teaching work of the robot R by operating the portable operating device TP.
  • the wireless communication performed between the portable operation device TP and the robot control device RC is one-to-one opposing communication.
  • the robot R is installed inside the protective fence 2.
  • a work tool T such as an arc welding torch or a spot welding gun is attached to the tip of the wrist of the robot R.
  • the portable operating device TP includes a microcomputer in which an operating system such as Windows (registered trademark) is incorporated.
  • the portable operation device TP includes a display 5, a keyboard 6, an emergency stop switch 4, a power button 7, and a wireless changeover switch 8.
  • the display 5 functions as a display unit that displays various data.
  • the operator HM operates the keyboard 6 to execute the teaching work of the robot R. Further, the worker HM operates the emergency stop switch 4 to stop the robot R in an emergency.
  • a secondary battery (not shown) is incorporated in the portable operation device TP.
  • the secondary battery is charged from a commercial power source by connecting the portable operating device TP to a charging device (not shown).
  • the worker HM operates the wireless changeover switch 8 to establish or block wireless communication between the portable operation device TP and the robot control device RC.
  • the teaching operation signal output from the portable operation device TP is transmitted to the robot control device RC by wireless communication.
  • the teaching operation signal includes a jog feed signal for moving the robot R by manual operation, a teaching signal for storing the work position of the robot R, an emergency stop signal for emergency stopping the robot R in an emergency, and the like.
  • the robot controller RC performs various processes such as a jog feed operation of the robot R, creation of teaching data, and emergency stop.
  • the robot controller RC creates teaching data in accordance with a teaching operation signal from the portable operating device TP.
  • the robot control device RC stores the teaching data in a storage unit (not shown) inside the robot control device RC.
  • the robot controller RC reproduces the teaching data and executes the automatic operation of the robot R.
  • the robot control system 1 includes a charging device CU for charging the portable operating device TP in addition to the robot control device RC and the portable operating device TP.
  • the portable operation device TP includes a central processing unit CPU 33, a temporary calculation area RAM 34, a transceiver 32, A secondary battery 36, a storage unit 15, a ROM 35, and the like, which are drive sources of the portable operation device TP, are provided.
  • the storage unit 15 includes a hard disk and a semiconductor memory for storing various data. Various software programs are stored in the ROM 35.
  • the transceiver 32 has a wireless LAN interface.
  • the transceiver 32 performs wireless communication between the robot control device RC and the portable operation device TP.
  • the storage unit 15 includes a connection information storage unit 47.
  • the connection information storage unit 47 stores connection information for communication between the portable operation device TP and the robot control device RC. Examples of the connection information include an IP address, a subnet mask, a default gateway, and a MAC address.
  • the secondary battery 36 can be charged by the charging device CU. Specifically, when the portable operating device TP is mounted at a predetermined position of the charging device CU, a charging circuit (not shown) is electrically connected to the charging device CU, and charging of the secondary battery 36 is started.
  • the power supply of the charging device CU may be supplied from the robot control device RC or may be supplied from a commercial power source.
  • the portable operating device TP further includes a voltage monitoring circuit 51 as a monitoring unit and an LED 53 as a notification unit.
  • the voltage monitoring circuit 51 measures the remaining battery level of the secondary battery 36 at a predetermined cycle.
  • the LED 53 notifies that the remaining battery level detected by the voltage monitoring circuit 51 is not more than a predetermined value.
  • the ROM 35 stores a software program for comprehensively controlling the above parts on an operating system (not shown).
  • the ROM 35 includes a display control unit 45, a key input monitoring unit 46, a communication processing unit 41, a power supply control unit 49, and a boot control unit 52.
  • the display control unit 45 displays the display data on the display 5.
  • the key input monitoring unit 46 monitors key input from the keyboard 6.
  • the communication processing unit 41 performs communication establishment / shut-off processing with the robot control device RC and processing for controlling communication itself.
  • the communication processing unit 41 performs processing for storing the network connection information such as the identification number and IP address of the robot control device RC connected to the portable operation device TP in the storage unit 15 and the RAM 34.
  • Various data input by the keyboard 6 is transmitted in packet format to the robot controller RC via the communication processing unit 41 and the transceiver 32.
  • the power supply control unit 49 controls the power supply from the secondary battery 36 and the supply stop based on the pressing of the power button 7 in order to turn on or off the power of the portable operating device TP.
  • the boot control unit 52 as boot control means executes various hardware start-up processes and starts up an operating system (not shown). As a result, the portable operating device TP is ready for use.
  • the robot controller RC includes a CPU 13 that is a central processing unit, a RAM 14 that is a temporary calculation area, a ROM 16, a storage unit 19, an operation control unit 17, a drive command unit 18, a transceiver 12, and the like.
  • Various software programs are stored in the ROM 16.
  • the storage unit 19 includes a hard disk and a semiconductor memory for storing various data such as teaching data, constants, and the like.
  • the operation control unit 17 performs a trajectory calculation of the robot R and outputs the calculation result to the drive command unit 18 as a drive signal.
  • the drive command unit 18 outputs a servo control signal for controlling each servo motor of the robot R.
  • the transceiver 12 performs wireless communication between the robot control device RC and the portable operation device TP.
  • the CPU 13, the RAM 14, the ROM 16, the storage unit 19, the operation control unit 17, the drive command unit 18, and the transceiver 12 are connected to each other via the bus 9.
  • the transceiver 12 has a wireless LAN interface.
  • the transceiver 12 performs wireless communication between the robot control device RC and the portable operation device TP.
  • the storage unit 19 includes a connection information storage unit 27 and a teaching data storage unit 30.
  • the teaching data storage unit 30 stores teaching data created in response to an input from the portable operating device TP.
  • the connection information storage unit 27 stores connection information for communication between the portable operation device TP and the robot control device RC. Examples of the connection information include an IP address, a subnet mask, a default gateway, and a MAC address.
  • the ROM 16 stores a software program for comprehensively controlling the above parts on an operating system (not shown).
  • the ROM 16 includes a communication processing unit 21, a display processing unit 25, an interpretation execution unit 26, and the like.
  • the communication processing unit 21 performs communication processing with the portable operation device TP.
  • the display processing unit 25 generates display data to be displayed on the display 5 of the portable operating device TP.
  • the interpretation execution unit 26 interprets the teaching data stored in the teaching data storage unit 30 and outputs an operation control signal to the operation control unit 17.
  • the operation of the robot control system 1 will be described with reference to FIGS. 1 and 2.
  • the worker HM presses the power button 7 of the portable operating device TP whose power supply is stopped.
  • the boot control unit 52 executes various hardware activation processes and activates an operating system (not shown).
  • a predetermined application program is started by the operating system, and finally, the portable operating device TP becomes operable by the worker HM.
  • the operator HM operates the wireless changeover switch 8 to establish wireless communication with the robot control device RC, and then performs the teaching operation of the robot R.
  • the worker HM operates the wireless changeover switch 8 to end the wireless communication with the robot control device RC.
  • the voltage monitoring circuit 51 monitors the remaining amount of the secondary battery 36 (hereinafter referred to as the remaining battery amount) at a predetermined period.
  • the power control unit 49 requests the operating system to perform a shutdown process.
  • the first predetermined value is a remaining battery level necessary for executing the shutdown process.
  • the shutdown process is automatically performed when the remaining battery level becomes equal to or lower than the first predetermined value.
  • the boot control unit 52 determines that the execution of the boot process has been requested, and starts the boot process. However, the boot control unit 52 performs the following processing prior to the boot processing. That is, the boot control unit 52 checks the remaining battery level measured by the voltage monitoring circuit 51 and determines whether or not the remaining battery level is equal to or less than a second predetermined value.
  • the second predetermined value is a remaining battery level necessary for executing the boot process.
  • the boot control unit 52 stops the boot process.
  • the boot control unit 52 lights or blinks the LED 53 in order to notify that the boot process cannot be executed because the remaining battery level is equal to or less than the second predetermined value.
  • the portable operating device TP when the remaining battery level is equal to or lower than the predetermined value, the portable operating device TP cannot be activated, so that the power supply from the secondary battery 36 can be performed during the activation of the portable operating device TP. A complete stop can be prevented. Thereby, in the portable operating device TP, it is possible to prevent the memory data from being damaged due to the power supply from the secondary battery 36 being stopped.
  • the LED 53 can be turned on or blinked to notify that the remaining battery level is equal to or less than a predetermined value.
  • the worker HM can understand the reason why the portable operating device TP does not start by confirming that the LED 53 is turned on or blinking. As a result, it is possible to prompt the worker HM to charge the portable operating device TP.
  • the operating device of the present invention has been specifically described as a portable operating device incorporated in a robot control system, it should not be limited to this. That is, the operating device of the present invention may be applied to a portable device that operates with a secondary battery, specifically, an operating device that incorporates an operating system or firmware that performs a shutdown process. Examples of such an operation device include a remote operation device for a welding machine and a processing machine device.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

L'invention porte sur un dispositif d'actionnement portatif (TP) qui est connecté à un dispositif de commande de robot (RC) par une communication sans fil. Le dispositif d'actionnement portatif (TP) est actionné par une alimentation électrique fournie par une pile secondaire (36). Le dispositif d'actionnement portatif (TP) est pourvu d'un circuit de surveillance de tension (51) et d'une section de commande d'amorçage (52). Le circuit de surveillance de tension (51) surveille la charge résiduelle de la pile secondaire (36). Lorsque le bouton de source d'alimentation (7) est enfoncé et qu'une demande pour exécuter le processus d'amorçage est effectuée, la section de commande d'amorçage (52) vérifie la charge résiduelle de la pile secondaire (36) mesurée par le circuit de surveillance de tension (51). Lorsqu'il est déterminé que la charge résiduelle de la pile secondaire (36) est inférieure ou égale à une valeur spécifiée, la section de commande d'amorçage (52) interrompt le processus d'amorçage.
PCT/JP2014/068089 2013-07-12 2014-07-07 Dispositif d'actionnement WO2015005293A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201480038805.3A CN105555488B (zh) 2013-07-12 2014-07-07 操作装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013145934A JP2015016531A (ja) 2013-07-12 2013-07-12 操作装置
JP2013-145934 2013-07-12

Publications (1)

Publication Number Publication Date
WO2015005293A1 true WO2015005293A1 (fr) 2015-01-15

Family

ID=52279973

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2014/068089 WO2015005293A1 (fr) 2013-07-12 2014-07-07 Dispositif d'actionnement

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JP (1) JP2015016531A (fr)
CN (1) CN105555488B (fr)
TW (1) TWI638259B (fr)
WO (1) WO2015005293A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160228971A1 (en) * 2015-02-06 2016-08-11 Illinois Tool Works Wearable technology for interfacing with welding equipment and monitoring equipment using wireless technologies
JP7026495B2 (ja) * 2017-11-28 2022-02-28 株式会社ダイヘン 携帯式操作装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002252014A (ja) * 2000-12-21 2002-09-06 Casio Comput Co Ltd 電源システム
JP2011194504A (ja) * 2010-03-18 2011-10-06 Yaskawa Electric Corp ロボットシステム
JP2013068431A (ja) * 2011-09-20 2013-04-18 Jvc Kenwood Corp バッテリ残量表示装置、バッテリ残量表示方法及びプログラム

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4460411B2 (ja) * 2004-10-01 2010-05-12 本田技研工業株式会社 ロボット制御装置
JP2008029087A (ja) * 2006-07-19 2008-02-07 Matsushita Electric Ind Co Ltd 電子機器システム
JP5072800B2 (ja) * 2008-10-29 2012-11-14 京セラ株式会社 携帯電子機器
FR2946160B1 (fr) * 2009-05-26 2014-05-09 Aldebaran Robotics Systeme et procede pour editer et commander des comportements d'un robot mobile.
TWI429321B (zh) * 2011-01-04 2014-03-01 Generalplus Technology Inc 藉由工作電壓調整紅外線電流的遙控器及其方法
TWM416582U (en) * 2011-03-24 2011-11-21 Formosa Plastics Transp Corp Intelligence-type over-discharge protection device
TWI432759B (zh) * 2011-09-19 2014-04-01 Ship & Ocean Ind R & D Ct 具充電功能之二次電池性能分析系統
US9146280B2 (en) * 2011-10-26 2015-09-29 Industrial Technology Research Institute Method and system for estimating a capacity of a battery
JP5516563B2 (ja) * 2011-12-13 2014-06-11 株式会社安川電機 ロボットシステム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002252014A (ja) * 2000-12-21 2002-09-06 Casio Comput Co Ltd 電源システム
JP2011194504A (ja) * 2010-03-18 2011-10-06 Yaskawa Electric Corp ロボットシステム
JP2013068431A (ja) * 2011-09-20 2013-04-18 Jvc Kenwood Corp バッテリ残量表示装置、バッテリ残量表示方法及びプログラム

Also Published As

Publication number Publication date
TW201516642A (zh) 2015-05-01
CN105555488B (zh) 2017-09-15
TWI638259B (zh) 2018-10-11
CN105555488A (zh) 2016-05-04
JP2015016531A (ja) 2015-01-29

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