WO2023037418A1 - インタロック機能を有する制御装置及び制御方法 - Google Patents

インタロック機能を有する制御装置及び制御方法 Download PDF

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Publication number
WO2023037418A1
WO2023037418A1 PCT/JP2021/032899 JP2021032899W WO2023037418A1 WO 2023037418 A1 WO2023037418 A1 WO 2023037418A1 JP 2021032899 W JP2021032899 W JP 2021032899W WO 2023037418 A1 WO2023037418 A1 WO 2023037418A1
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WO
WIPO (PCT)
Prior art keywords
robot
program
interlock
execution
signal
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2021/032899
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English (en)
French (fr)
Japanese (ja)
Inventor
陽一 頼
玲旺 来海
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Priority to US18/682,436 priority Critical patent/US20250128417A1/en
Priority to DE112021007883.6T priority patent/DE112021007883T5/de
Priority to JP2023546601A priority patent/JP7691507B2/ja
Priority to PCT/JP2021/032899 priority patent/WO2023037418A1/ja
Priority to CN202180101990.6A priority patent/CN117882018A/zh
Priority to TW111129686A priority patent/TW202319849A/zh
Publication of WO2023037418A1 publication Critical patent/WO2023037418A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • 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
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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
    • G05B2219/39099—Interlocks inserted in movement process if necessary to avoid collision
    • 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
    • G05B2219/39135—For multiple manipulators operating at same time, avoid collision

Definitions

  • the present invention relates to a control device and control method having an interlock function for avoiding interference with robots.
  • Execution of a robot program may include not only forward execution, in which the program is executed from the lowest line number to the highest, but also backward execution, in which the program is executed from the highest line number to the lowest line number.
  • it may be set to ignore logic statements in the program.
  • the ignored logic statement includes a process related to an interlock signal
  • the interlock signal may not be switched appropriately, causing problems such as robots colliding with each other. In order to avoid such a problem, an operator or the like may manually switch the interlock signal or modify the program.
  • One aspect of the present disclosure is a control device that prevents interference between a plurality of industrial machines based on an interlock signal transmitted between the plurality of industrial machines including at least one industrial robot, wherein the robot a program execution unit for executing a robot program that operates the robot, and ignoring at least one logic statement related to the interlock signal included in the robot program while the robot program is backwardly executed; and an interlock setting unit for automatically enabling an interlock related to a pre-registered interlock signal during backward execution of a robot program that operates an industrial robot.
  • Another aspect of the present disclosure is a control method for preventing interference between a plurality of industrial machines based on an interlock signal transmitted between the plurality of industrial machines including at least one industrial robot, comprising: executing a robot program for operating a robot and ignoring at least one of logic statements included in the robot program and relating to the interlock signal during backward execution of the robot program; and automatically enabling an interlock with respect to a pre-registered interlock signal during backward execution of a robot program to operate.
  • an interlock related to a pre-registered interlock signal is automatically enabled. Interference can be reliably prevented.
  • FIG. 1 is a diagram illustrating a configuration example of a system including a control device and a plurality of robots according to an embodiment
  • FIG. It is a figure which shows an example of a robot program. It is a schematic diagram which illustrates the stop position or passing position of each robot.
  • FIG. 3 is a diagram showing an example of backward execution of the robot program of FIG. 2 ;
  • FIG. 2 is a flowchart showing an example of processing in the control device of FIG. 1;
  • FIG. 1 shows an example configuration of a system 10 including a plurality of industrial machines including at least one robot controlled by a control device according to a preferred embodiment.
  • the system 10 has a first robot 12 and a second robot 14 as industrial robots, the first robot 12 and the second robot 14 respectively having movable parts 16 and 18 such as robot arms.
  • the motion of the first robot 12 is controlled by a first controller 20 connected to the first robot 12, and likewise the motion of the second robot 14 is controlled by a second controller 22 connected to the second robot 14. be done.
  • the first control device 20 and the second control device 22 (the first control device 20 in the illustrated example) is arbitrarily provided with a storage unit for storing calculation results of the program execution unit 24 and the interlock setting unit 26, programs, and the like. 28, and an input unit 30 in which the operator can register and input various settings.
  • the program execution unit 24 and the interlock setting unit 26 are processors
  • the storage unit 28 is memory such as ROM and RAM
  • the input unit 30 is a numeric keypad, touch panel, or the like.
  • the first control device 20 and the second control device 22 may be substantially integrated control devices.
  • Reference numeral 32 indicates a portion of the first program for controlling the motion of the first robot 12 and reference numeral 34 indicates a portion of the second program for controlling the motion of the second robot 14 .
  • the first robot 12 is configured so that representative points such as its hand (tip of the arm 16) can move between positions P[1], P[2] and P[3] indicated by triangles in FIG.
  • the second robot 14 is configured so that representative points such as its hand (tip of the arm 18) can move between positions P[1], P[2] and P[3] indicated by circles in FIG.
  • the second program 34 By executing the second program 34 forward, it is positioned at position P[1], linearly moved to position P[2], and then linearly moved to position P[3].
  • the symbol "J” in the programs 32 and 34 means the operation of rotating each axis of the robot to the target value, and the symbol “L” means the operation of linearly moving the hand of the robot at a predetermined speed.
  • forward execution of a program means executing each program from the smallest line number to the largest line number, as indicated by arrows 36 and 38 in FIG. , means that the program is executed in ascending order of line numbers, as indicated by an arrow 40 in FIG. Therefore, the forward/backward execution of the program has nothing to do with the forward/backward movement of the robot arm. For example, if the robot arm is instructed to move backward (that is, the tip of the arm approaches the center of the robot), the forward execution of the program causes the robot arm to move backward, while the backward execution of the program causes the robot arm to move forward (that is, the arm tip moves away from robot center).
  • the first program 32 and the second program 34 include settings related to interlocks between the first robot 12 and the second robot 14.
  • the position P[3] (triangle mark) of the first robot 12 and the position P[3] (circle mark) of the second robot 14 are substantially the same or relatively close. are positioned at the position P[3] at the same time, the two robots contact and interfere with each other.
  • the interlock signal DO[1] is set to "OFF" (line number 3).
  • the second program 34 after the second robot 14 moves to the position P[2] (line number 2), it waits until the interlock signal turns "ON" (line number 3). , the second robot 14 cannot move to position P[3].
  • the first program 32 is executed forward to line number 7 and then backward from line number 7.
  • logic statements such as signal switching processing are ignored and not executed, and conversely, action statements for moving the robot are executed.
  • the reason for such setting is that it is difficult to judge whether or not logic statements may be executed during backward execution, and that logic statements should not be processed in many cases. For example, if the logic statement is a process that counts the number of cycles, it is often inappropriate to change the number of cycles (register value) even during backward execution. Therefore, in many cases, all logic statements are ignored during backward execution.
  • FIG. 4 shows an example of processing when the first program 32 is backwardly executed. As described above, logic statements are ignored during backward execution, so the signal setting/switching process (line numbers 3 and 6) is not executed. Then, when the first robot 12 moves to position P[3] by executing the first program 32 backward, DO[1] remains set to "ON" by executing the first program 32 forward. 2 robot 14 is in a state where it can access position P[3]. Therefore, during the backward execution of the first program 32, both the first robot 12 and the second robot 14 may move or approach the position P[3] and interfere with each other.
  • step S1 the user or operator of the robot in advance via the input unit 30 or the like, among the interlock signals included in the logic statements of at least one of the programs 32 and 34, is inverted (switched) when the program is executed backward.
  • a desired interlock signal is set and registered in the first controller 20, the second controller 22, or the like. For example, when it is expected that an interlock that should be enabled will remain disabled due to logic statements being ignored during backward execution of the program, the interlock signal related to this interlock is registered. be done.
  • the registered interlock signal is stored in the storage unit 28 or the like.
  • interlock signals there are several ways to register interlock signals.
  • an operator who is creating/editing a program by teaching or the like can manually register an interlock signal in the program to be reversed when the vehicle is reversed from the input unit 30 or the like.
  • all interlock signals in the program may be automatically registered when the control device reads the program. In that case, the operator can also delete from the registered interlock signals those interlock signals that should not be reversed when reversing is executed.
  • the program execution unit 24 executes the first program 32 and determines whether or not the first program 32 is being backwardly executed (step S2). It is determined whether or not the line to be executed contains a logic statement regarding an interlock signal (step S3). As described above, if the execution line during backward execution contains a logic statement, the logic statement is ignored.
  • the interlock setting unit 26 determines whether or not the ignored logic statement includes processing of the interlock signal registered (specifically, stored in the storage unit 28 or the like) in step S1 (step S4). ), if the ignored logic statement includes processing of the registered interlock signal, then during backward execution of the first program 32, invert the interlock signal with respect to the registered interlock signal (here, ON to OFF) (step S5). In other words, the interlock setting unit 26 automatically enables an invalid interlock related to the pre-registered interlock signal when the program is backwardly executed. Through such processing, the interlock between the first robot 12 and the second robot 14 is appropriately set even when the program is reversed, and interference between the two robots is prevented.
  • the processing of steps S2 to S5 can be automatically performed by the program execution unit 24, the interlock setting unit 26, or the like.
  • the processing for enabling the interlock is not performed by instruction by an operator or by a statement written in a program, but by a control device (such as a processor).
  • a control device such as a processor
  • an interlock signal registered in advance is switched (for example, turned from ON to OFF, or turned from OFF to ON) by internal processing that is automatically performed. Therefore, the operator only needs to set and register in advance the signal to be reversed when the vehicle is to be reversed, and does not need to perform troublesome work such as teaching or program change.
  • the operator cannot modify the specific contents of such internal processing as a specification of the control device.
  • an operator or the like registers in advance an interlock signal to be reversed when reversing, so that only the registered interlock signal can be switched when reversing, and an appropriate interlock is set. can do.
  • the present disclosure can also be applied to two industrial machines such as a robot and a machine tool.
  • the number of industrial machines is not limited to two, and may be three or more.
  • the program execution unit 24 has a function of forward execution of a program including at least one operation command and at least one signal output command, and a function of backward execution of the program.
  • the interlock setting unit 26 performs the processing opposite to the signal output command during forward execution with respect to a signal registered in advance during backward execution (for example, if ON ⁇ OFF during forward execution, it is turned OFF during reverse execution). ⁇ ON).
  • the signal processing during backward execution was performed based on the history data of the signal to be processed. Regardless, when the vehicle is moving backward, it is possible to perform processing (reversal processing, etc.) opposite to the signal output command when the vehicle is moving forward. Therefore, in the present embodiment, there is no need to store history data or perform arithmetic processing.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
PCT/JP2021/032899 2021-09-07 2021-09-07 インタロック機能を有する制御装置及び制御方法 Ceased WO2023037418A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
US18/682,436 US20250128417A1 (en) 2021-09-07 2021-09-07 Control device and control method having interlock function
DE112021007883.6T DE112021007883T5 (de) 2021-09-07 2021-09-07 Steuervorrichtung und steuerungsverfahren mit verriegelungsfunktion
JP2023546601A JP7691507B2 (ja) 2021-09-07 2021-09-07 インタロック機能を有する制御装置及び制御方法
PCT/JP2021/032899 WO2023037418A1 (ja) 2021-09-07 2021-09-07 インタロック機能を有する制御装置及び制御方法
CN202180101990.6A CN117882018A (zh) 2021-09-07 2021-09-07 具有联锁功能的控制装置及控制方法
TW111129686A TW202319849A (zh) 2021-09-07 2022-08-08 具有互鎖功能之產業用機器人之控制裝置及產業用機器人之控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/032899 WO2023037418A1 (ja) 2021-09-07 2021-09-07 インタロック機能を有する制御装置及び制御方法

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WO2023037418A1 true WO2023037418A1 (ja) 2023-03-16

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PCT/JP2021/032899 Ceased WO2023037418A1 (ja) 2021-09-07 2021-09-07 インタロック機能を有する制御装置及び制御方法

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US (1) US20250128417A1 (https=)
JP (1) JP7691507B2 (https=)
CN (1) CN117882018A (https=)
DE (1) DE112021007883T5 (https=)
TW (1) TW202319849A (https=)
WO (1) WO2023037418A1 (https=)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5769312A (en) * 1980-10-13 1982-04-28 Fanuc Ltd Numerical controller incorporating optional block skipping function
JPH02250104A (ja) * 1989-03-23 1990-10-05 Fanuc Ltd 数値制御装置
JPH0325509A (ja) * 1989-06-22 1991-02-04 Fanuc Ltd 数値制御装置の逆行運転制御方法
JPH047709A (ja) * 1990-04-26 1992-01-13 Fanuc Ltd 加工ヘッドの干渉防止方式
JPH1011124A (ja) * 1996-06-20 1998-01-16 Fanuc Ltd ロボットの後退実行機能を備えたロボット制御装置
JP2000137514A (ja) * 1998-10-30 2000-05-16 Ube Ind Ltd ロボット制御方法
JP2012166290A (ja) * 2011-02-14 2012-09-06 Jtekt Corp ロボット搬送装置
WO2019111413A1 (ja) * 2017-12-08 2019-06-13 株式会社Ｆｕｊｉ 制御装置、ワーク作業装置、ワーク作業システム及び制御方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0871979A (ja) 1994-09-09 1996-03-19 Nissan Motor Co Ltd ロボットコントローラ
JPH10260714A (ja) 1997-03-21 1998-09-29 Nissan Motor Co Ltd ロボット干渉域設定プログラム作成方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5769312A (en) * 1980-10-13 1982-04-28 Fanuc Ltd Numerical controller incorporating optional block skipping function
JPH02250104A (ja) * 1989-03-23 1990-10-05 Fanuc Ltd 数値制御装置
JPH0325509A (ja) * 1989-06-22 1991-02-04 Fanuc Ltd 数値制御装置の逆行運転制御方法
JPH047709A (ja) * 1990-04-26 1992-01-13 Fanuc Ltd 加工ヘッドの干渉防止方式
JPH1011124A (ja) * 1996-06-20 1998-01-16 Fanuc Ltd ロボットの後退実行機能を備えたロボット制御装置
JP2000137514A (ja) * 1998-10-30 2000-05-16 Ube Ind Ltd ロボット制御方法
JP2012166290A (ja) * 2011-02-14 2012-09-06 Jtekt Corp ロボット搬送装置
WO2019111413A1 (ja) * 2017-12-08 2019-06-13 株式会社Ｆｕｊｉ 制御装置、ワーク作業装置、ワーク作業システム及び制御方法

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Publication number Publication date
JP7691507B2 (ja) 2025-06-11
JPWO2023037418A1 (https=) 2023-03-16
US20250128417A1 (en) 2025-04-24
CN117882018A (zh) 2024-04-12
TW202319849A (zh) 2023-05-16
DE112021007883T5 (de) 2024-04-11

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