WO2004009303A1 - ロボット制御装置およびロボットシステム - Google Patents
ロボット制御装置およびロボットシステム Download PDFInfo
- Publication number
- WO2004009303A1 WO2004009303A1 PCT/JP2003/005066 JP0305066W WO2004009303A1 WO 2004009303 A1 WO2004009303 A1 WO 2004009303A1 JP 0305066 W JP0305066 W JP 0305066W WO 2004009303 A1 WO2004009303 A1 WO 2004009303A1
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- WO
- WIPO (PCT)
- Prior art keywords
- robot
- speed
- pendant
- control device
- detection
- Prior art date
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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
- B25J9/1674—Programme 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
-
- 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
- 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
- G05B19/406—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 monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
-
- 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
- G05B19/416—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 control of velocity, acceleration or deceleration
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49138—Adapt working envelop, limit, allowed zone to speed of tool
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49152—Feedhold, stop motion if machine door is open, if operator in forbidden zone
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49158—On near collision reduce speed
Definitions
- the present invention is a teaching playback type robot, in which a pendant operation in which a teacher approaches the robot during teaching and a movement of a mouth bot that is not watched by an operator or an operator are restricted by teaching.
- the present invention relates to a robot control device for ensuring the safety of workers and operators working while approaching a robot.
- FIG. 12 is a diagram showing a configuration of a conventional robot control device.
- reference numeral 101 denotes a robot, which is connected to the robot controller 105.
- a work tool 102 for performing work is attached to the tip of the wrist of the mouth pot 101.
- the robot controller 105 the robot 101 is operated by the operation at the time of teaching, and the position is registered or the work is registered, so that the work program is registered or the registered work program is registered.
- a pendant 106 for making changes, editing, etc. is connected.
- the safety fence 1 107 that surrounds the operation area of the robot 101, the safety fence door 108 at the entrance to the safety fence, and the safety fence door 108 that opens and closes.
- the device 109 is equipped, and the safety fence door opening / closing detection device 109 is connected to the robot controller 105.
- the work is performed by controlling the work tool 102 based on the work program to the robot 101 based on the work program for the work 104 fixed to the work holding device 103 installed near the robot 101. Do it by doing.
- the teacher operates the robot 101 by operating the pendant 106, and the work tool attached to the wrist thereof.
- the 102 is positioned at a predetermined position with respect to the work 104, and the operation of the pendant 106 is registered in a storage means (not shown) in the robot controller. The same applies to the change of the already registered position of the mouth pot 101.
- the procedure for teaching is described below to ensure the safety of the instructor. 'The instructor changes the operation mode of the robot to the teaching mode, opens the safety fence door 108 while holding the pendant 106, and enters the safety fence 107.
- the operation speed of the mouth pot 101 is determined by the robot controller 1 that the operation mode is the teaching mode, or that the safety fence door 1 08 is the open signal from the safety fence door open / close detection device 109. By inputting 05, the maximum operation speed in the teaching mode of robot 101 is limited.
- the maximum operation speed in this teaching mode is limited to 25 O mmZ seconds in the end effector section. Have been.
- the robot 101 is operated by the operation of the vendant 106. At this time, pay attention to the robot 101, the work cooler 102, the work holding device 103, the work 104, and peripheral devices not shown.
- the maximum operation speed in the teaching mode is limited in order to ensure the teacher's own safety from the robot 101's unintended operation due to erroneous operation of the pendant 106 or the like.
- the instructor can perform an avoiding action in response to an unintended movement of the robot 101 being taught, so that the instructor can perform an avoidance action at a place away from the robot 101 or the work 104.
- the instructor may approach the robot 101 or the work 104. You may need to teach.
- the conventional robot controller uses a pendant 106 to reduce the maximum operation speed of the robot 101 so that the instructor can take an avoidance action even when the robot 101 does not intend due to an erroneous operation. Teaching was performed after setting from.
- the first operator teaching the first robot and the second operator teaching the second robot may be operated by the second operator's assumption or careless operation.
- the second robot will cause serious harm to the first operator due to movement, interference, collision, and the like toward the first operator in the operation area.
- the conventional robot controller responds by shutting off the drive power supply of the robot not to be operated and braking each axis motor.
- the CPU creates an operation abnormality detection index to detect an abnormality in the moving speed, moving acceleration, moving direction, moving position, or wrist axis angular velocity of the tool tip point, and compares it with a reference value to detect abnormalities.
- a method for stopping the robot when is detected is disclosed in Japanese Patent Application Laid-Open No. H10-26480.
- Example 1 when teaching near the mouth bot, the teacher may operate and teach the robot without reducing the maximum operating speed of the robot due to work efficiency improvement or forgetting to set. is there. In this case, if the pendant is operated by mistake, the mouth pot performs an unintended operation of the instructor, the instructor is surprised, and if the robot approaches the instructor, the instructor does not operate. There was a problem that there was no time to avoid this.
- Conventional example 3 is a method to prevent an accident beforehand by issuing an alarm when a person or person enters the operating range of the robot when the robot is operating.
- force is an effective means.
- the operator frequently enters the robot's operating range and teaches, so every time an alarm is issued, the operator releases the force. There is a problem that an operation for continuing the teaching operation is required, which leads to a decrease in teaching efficiency.
- Example 4 when a robot performs an abnormal operation, the robot senses this and stops the robot.
- This abnormal operation is to stop the robot by detecting movement in a direction different from the specified direction or deviation from the specified route.
- This abnormal operation is an effective means to prevent abnormal operation from occurring due to malfunction of components in the control device due to the temperature environment and electromagnetic environment around the robot and interference between the robot and peripheral devices.
- Unintended movements of the robot operator in the teaching scene are mainly caused by erroneous operations. In this erroneous operation, the robot control device cannot determine whether the moving speed or moving path of the designated mouth pot control point is intended or not intended by the operator. Therefore, detection by this method is impossible, and there is a problem that the robot cannot stop before harming the operator.
- the conventional robot control device has a problem that it is difficult to ensure the safety of the instructor when teaching with the robot motion approaching the robot.
- the present invention has been made in view of such a problem.
- the system detects this and automatically lowers the operation speed of the robot, thereby causing erroneous operation of the pendant.
- the purpose of the present invention is to provide a robot control device in which the safety of the instructor is improved by securing a time to allow the instructor to take evasive action when the robot moves in a direction or speed not intended by the instructor. I do.
- An object of the present invention is to provide a robot control device that can construct a robot system that can ensure the safety of an operator by issuing an alarm or warning to alert the operator.
- the present invention is configured as follows.
- the robot controller according to claim 1 of the present invention further comprising a pendant operated by a teacher, wherein the robot controller controls the operation of the robot based on an operation command from the pendant, wherein the position of the teacher is detected.
- the pendant comprising: a detection device; a signal processing unit that inputs a signal from the detection device and outputs position information of the instructor; and a speed limit selection unit that selects an operation speed of the robot based on the position information. And controlling the robot with the operation speed selected by the speed limit selection unit as a maximum speed based on the operation command from the robot.
- the robot controller includes a pendant operated by a teacher, and controls the operation of the mouth pot based on an operation command from the pendant and a detection position of a position detector provided on each axis.
- a robot position calculating unit for obtaining a coordinate position of the mouth pot based on the detected position
- a speed limit selecting unit for selecting an operation speed of the robot based on an output of the robot position calculating unit. And controlling the robot with the operation speed selected by the speed limit selection unit as a maximum speed based on an operation command from the pendant.
- the approach of the instructor to the robot also depends on the position of the robot. Since the large operation speed can be changed, lowering the maximum speed when the work tool provided on the robot is close to the instructor can minimize the decrease in teaching work efficiency.
- the robot control device wherein the robot includes a pendant operated by a teacher, and controls the operation of the mouth pot based on an operation command from the pendant and a detection position of a position detector provided on each axis.
- a detection device for detecting the position of the teacher, a signal processing unit for inputting a signal from the detection device and outputting position information of the teacher, and a controller for the robot based on the detection position.
- a speed limiter for selecting an operation speed of the robot based on outputs from the robot position calculator, the signal processor, and the robot position calculator for obtaining a coordinate position; and The robot is controlled with the operation speed selected by the speed limit selector as the maximum speed.
- the maximum operation speed can be changed depending on the position of the robot.
- the chance of tool breakage and workpiece breakage can be reduced.
- the robot control device further comprising a pendant operated by a teacher, wherein the robot controls an operation of the mouth bot based on an operation command from the pendant and a detection position of a position detector provided on each axis.
- a control unit for inputting a position monitoring signal for monitoring the position of the robot; an input unit; position storage means for storing the detection position when the position monitoring signal is received; An allowable value storage means for storing a predetermined allowable range of operation, a position deviation calculating means for calculating a position deviation between the detected position and the detected position stored in the position storage means, and the position deviation and the allowable range. And comparing the position deviation with the position monitoring signal. When the position deviation exceeds the allowable range during the reception of the position monitoring signal, the operation of the robot is stopped.
- the Ru Der those characterized.
- the robot control device further comprising a pendant operated by a teacher, the robot controlling an operation of the mouth bot based on an operation command from the pendant and a detection position of a position detector provided on each axis.
- an input unit for inputting a position monitoring signal for monitoring the position of the robot, a position storage unit for storing the detection position when the position monitoring signal is received, and a pre-operation of each axis.
- An allowable value storage unit that stores a predetermined allowable range; a position deviation calculating unit that calculates a position deviation between the detected position and the detected position stored in the position ⁇ storage unit; And comparing the detected position with the position storage unit after receiving the result of the comparison unit during the reception of the position monitoring signal.
- Position deviation is the allowable range When the number exceeds the limit, the operation of the robot is stopped.
- the other mouth bot monitors the set speed, so that the teaching operation of the other robot can be continued, and It is possible to provide a highly secure robot that is not harmed by other robots.
- the robot control device further comprising a pendant operated by a teacher, wherein the robot controls an operation of the mouth bot based on an operation command from the pendant and a detection position of a position detector provided on each axis.
- a robot position calculating unit for obtaining a coordinate position of the mouth bot based on the detected position, an input unit for inputting a position monitoring signal for monitoring the position of the robot, and the position monitoring signal are received.
- Position storage means for storing the coordinate position at the time, an allowable value storage means for storing a predetermined allowable range of the operation of each axis, and a relation between the coordinate position and the coordinate position stored in the position storage means.
- the robot control device further comprising a pendant operated by a teacher, wherein the robot controls an operation of the mouth bot based on an operation command from the pendant and a detection position of a position detector provided on each axis.
- a robot position calculating unit for obtaining a coordinate position of the mouth bot based on the detected position, an input unit for inputting a position monitoring signal for monitoring the position of the robot, and the position monitoring signal are received.
- Position storage means for storing the coordinate position at the time, an allowable value storage means for storing a predetermined allowable range of the operation of each axis, and a relation between the coordinate position and the coordinate position stored in the position storage means.
- a position deviation calculating means for calculating the position deviation; and a comparing means for comparing the position deviation with the permissible range.
- the position monitoring or the speed monitoring area of the robot can be set in the robot coordinate system, and the set values are determined before the robot system is constructed based on information such as the robot arrangement. This makes it possible to shorten the work required when installing the robot system.
- the robot has a teaching device, and the allowable range is set by a teaching device of the robot or an external control device via a predetermined interface provided in the robot controller. It is characterized by the ability to
- various settings for position monitoring or speed monitoring of the robot can be performed by the teaching device, and can be performed by an external control device in which information of the robot system exists.
- the robot controller according to claim 9 of the present invention is characterized in that when the position deviation value exceeds the allowable range, an error display or a warning display is performed on the teaching device.
- the robot control device according to claim 11 of the present invention, wherein the robot control device includes a signal output unit, and when the position deviation value exceeds the allowable range, an abnormal signal is output to the outside of the robot control device. Alternatively, a warning signal is output. According to these configurations, when the position monitoring or the speed monitoring of the robot exceeds the allowable range, an abnormality or a warning is issued to alert the instructor and raise the safety awareness.
- the coordinate position data is spatial position data of a leading end where each arm of the robot is combined, and a tool size attached to the leading end is known in advance. It is characterized by being the tool tip position. .
- the operation of the robot is stopped by setting the operation command to each axis to zero, or by interrupting the driving energy J of the robot. It is characterized by the following.
- the operation of the mouth bot is stopped when the position exceeds the allowable range in the position monitoring or the speed monitoring of the robot, thereby preventing the failure from spreading.
- the robot system according to claim 13 of the present invention includes a plurality of robots capable of monitoring a position or a speed of a robot by inputting a position monitoring signal from an input unit of the mouth bot control device.
- the position monitoring signal identifies that the operator operating another robot has entered the preset area of one robot operated by one operator. It is also characterized by monitoring the position or monitoring the speed.
- the robot when approaching a robot that is not performing a teaching operation when teaching a plurality of robots, the robot performs position monitoring or speed monitoring to prevent the teacher from being harmful.
- System can be constructed.
- the pendant of the pedestrian approaches the mouth pot or the work gripping device, that is, enters the robot's operation range during the teaching operation. Even if an unintended operation of the robot occurs due to an erroneous operation, etc., the speed is controlled at a low speed. There is an effect that can be done.
- the teaching target by the other operator is excluded.
- the operator enters the danger zone due to the operation or robot operation outside the operation target or the robot during the operation such as teaching so that the robot not to be taught is not harmed by the operation error etc. Is detected, the position of the robot at the time of this detection is stored and compared with a preset allowable deviation value. If it exceeds this value, the speed at which the robot stops or operates can be limited. There is an effect that a production system using an extremely safe mouth bot can be constructed.
- FIG. 1 is a diagram illustrating a configuration of a robot system according to a first embodiment of the present invention.
- FIG. 2 is a block diagram showing the speed control of the present invention.
- FIG. 3 is a diagram illustrating a configuration of a robot system according to a second embodiment of the present invention.
- FIG. 4 is a block diagram showing a second embodiment of the present invention.
- FIG. 5 is a block diagram showing a third embodiment of the present invention. .
- FIG. 6 is a diagram illustrating a configuration of a robot system according to a fourth embodiment of the present invention.
- FIG. 7 is a block diagram of the robot controller control unit according to the fourth embodiment of the present invention.
- FIG. 9 is a processing flowchart in the fifth embodiment of the present invention.
- FIG. 10 is a diagram showing the configuration of the robot system according to the seventh embodiment of the present invention.
- FIG. 11 is a connection diagram of the operator detection control device according to the seventh embodiment of the present invention.
- FIG. 12 is a diagram showing a configuration of a conventional robot control device.
- FIG. 1 is a diagram illustrating a configuration of a robot control device and a system according to a first embodiment of the present invention.
- reference numeral 1 denotes a robot, which is connected to a robot controller 9.
- a work tool 2 for performing work is attached.
- the robot controller 9 the robot 1 is operated by the operation at the time of teaching, the position is registered, or the work is registered, thereby registering the work program, changing the registered work program, Pendant 10 for editing, etc. is connected.
- the robot Safety fence that surrounds the operation area 1), safety fence door 6 at the entrance to the safety fence, and safety fence door open / close detection device 7 that detects the open / close state of safety fence door 6 The output signal of the detection device 7 is connected to the mouth pot control device 9.
- a detection device 8 is laid in the vicinity of the mouth pot 1 and the work holding device 3 in the safety fence 5, and an output signal thereof is connected to the robot control device 9.
- the detection device 8 sends a signal to the robot control device 9 when a pressure equal to or higher than a predetermined value or a pressure equal to or lower than the predetermined value is applied.
- the detection device 8 is, for example, a safety mat.
- the first maximum operation speed and the second maximum operation speed in the teaching mode are set by operating the pendant 10 by the mouth pot system builder, and the robot controller 9 It is stored in storage means (not shown).
- the second maximum operation speed a speed lower than the first maximum operation speed is set.
- the first maximum operation speed can be set to a lower value depending on conditions such as the force application and the robot operation area where 25 O mmZ seconds are usually set.
- FIG. 2 is a block diagram showing speed control for implementing the present effort.
- the detection device 8 detects the position of the instructor.
- the signal of the detection device 8 is input to the signal processing unit 11.
- the signal processing section 11 reads a signal or the like from the detection device 8 and outputs the signal to the speed limit selecting section 12.
- the speed limit selecting unit 12 selects a speed limit from the signal state obtained from the signal processing unit 11 and an operation mode designated by an operation unit (not shown) and supplies the speed limit to the speed calculating unit 14. .
- the instructor operates the pendant 10, and the pendant 10 outputs an operation command to the speed calculation unit 14.
- the command generation unit 15 reads the teaching data stored in the teaching data storage area 13 and corresponds to the operation command from the pendant 10 and receives the teaching speed of the teaching data from the speed calculation unit 14.
- the speed obtained by multiplying the speed override ratio is set as the operation speed, and an operation command for realizing this operation speed is generated and output to the drive unit 16.
- the drive unit 16 controls the servo drive by using a position controller, a speed controller, a current amplifier, and the like (not shown) to operate the robot 1.
- the operator When operating the robot 1 by the operation of the pendant 10 in the teaching mode, the operator must operate the pendant 10 outside the operation range of the robot 1 to operate the mouth bot 1 greatly. Therefore, even if an unintended operation of the robot 1 occurs due to an erroneous operation, the maximum operation speed of the robot 1 in the teaching mode is limited by the first maximum operation speed, and the teacher takes an avoidance action. The robot 1 is not damaged because the instructor is out of the operating range of the mouthbot 1.
- the instructor approaches the robot 1, the work holding device 3 or the work 4
- the instructor is on the detecting device 8
- the weight is applied to the detecting device 8
- the detecting device 8 detects the pressure and sends a signal to the robot control device 9.
- the robot controller 9 receives a signal from the detector 8 from a signal input device (not shown) into the signal processor 11.
- the result is sent to the speed limit selecting unit 12, and the speed limit selecting unit 12 sends the second maximum operation speed stored in the storage means (not shown) before operation to the speed override ratio calculation unit 14.
- the drive unit 16 includes a servo amplifier and a servomotor for driving the manipulator. Accordingly, the robot 1 operates at a speed equal to or lower than the second maximum operation speed.
- the maximum operating speed of the robot when the instructor is teaching while approaching the robot 1, the work holding device 3, or the work 4 is the second maximum operating speed.
- the pendant 10 may malfunction.
- the robot 1 can take an avoidance action.
- FIG. 4 is a block diagram illustrating speed control according to the second embodiment of the present invention.
- the drive unit 16 is provided with a position detector capable of detecting a position, and the robot position calculation unit 17 calculates the current position of the robot based on a signal from the position detector.
- the speed limit selector 12 selects the maximum speed based on the outputs from the signal processor 11 and the robot position calculator 17. The following is a description based on the configuration diagram.
- FIG. 3 is a diagram illustrating a configuration of a robot system according to a second embodiment of the present invention.
- reference numeral 1 denotes a robot, which is connected to a mouth bot control device 9.
- a work 4a and a work 4b are arranged on the left and right sides of the robot 1, and work is performed on each work.
- 8a and 8b are detection devices, which are characterized by being laid out in plurals. When a predetermined pressure is applied to each of the detection devices 8a and 8b or when the pressure becomes equal to or lower than the predetermined pressure, a signal is sent to the robot control device 9 for each of the detection devices 8a and 8b. I do.
- This drawing omits peripheral tools and equipment such as work tools, work holding devices, and safety fences.
- the first maximum operation speed, the second maximum operation speed, and the third maximum operation speed in the teaching mode are set by operating the pendant 10 by the mouth pot system builder. And stored in storage means (not shown) of the robot control device 9.
- the second maximum operation speed and the third maximum operation speed are set to be lower than the first maximum operation speed.
- the first maximum operation speed is usually set at 25 Omm / sec, but it can be set lower depending on the application, robot operation area, and other conditions.
- the operation of the robot 1 in the teaching mode, and the position registration or the change of the registered position are performed in the same procedure as the above-described conventional technology. Work with the robot 1 requires teaching to the work 4a and teaching to the work 4b.In teaching to the work 4a, the instructor has a chance to teach near the work 4a. There is an opportunity to teach the work 4b closer to the work 4'b.
- the instructor When teaching near the work 4a or the work 4b, the instructor performs the teaching operation on the detection device 8a or 8b, so that the detection device 8a or the detection device 8b A signal is issued and input to the signal processing unit 11 of the robot controller 9, and the result is sent to the speed limit selecting unit 12.
- the robot controller 9 grasps the position of the end effector of the robot 1 based on information from the position detectors of the respective servo axes, and the signal processor 1 of the signals emitted from the detectors 8a and 8b. Along with the output from 1, the speed limit selector 12 selects the speed limit as follows.
- the speed limit is set to the third maximum operation speed.
- the speed limit is set to the second maximum operation speed.
- the speed limit be the first maximum operating speed.
- the speed limit selected in this way is sent to the speed override ratio calculation unit 14, whereby the robot 1 is controlled so as to operate at or below the set speed limit.
- FIG. 5 shows that the operation speed of the robot 1 is limited only by the current position of the robot calculated by the robot position calculation unit 17.
- a speed limit area and a maximum operation speed for the speed limit area are stored in a storage area (not shown).
- the speed limit area can be registered by operating the robot 1 to register the two end points of the area or by directly inputting the coordinate values in the robot coordinates with the pendant 10. With these methods, it is possible to define a rectangular parallelepiped in the robot coordinates.
- the robot controller 9 periodically calculates the position of the end effector of the robot 1 by the robot position calculator 17 based on information from a position detector of each servo axis. If this position is in the speed limit area, the corresponding maximum operation speed is selected by the speed limit selector 12 and output to the speed calculator 14.
- the pendant section has speed keys for selecting the robot's teaching speed of about three levels.
- the instructor selects the desired teaching speed of the robot by pressing the speed key. Can be selected.
- the speed calculation unit 14 creates a speed command according to the currently set teaching speed.
- the speed command Vp created based on the command from the pendant 10 is compared with the speed Vs selected by the speed limit selector 12 and if Vp is greater than Vs, Vs is output to the command generation unit 15 as a speed command. If Vp is smaller than Vs, Vp is output to the command generator 15 as a speed command.
- the operating speed of the mouth bot does not exceed the speed selected by the speed limit selecting unit 12.
- FIG. 6 is a diagram illustrating a configuration of a robot system according to an embodiment of the present invention.
- reference numeral 21 denotes a first mouth pot, which is connected to the first robot controller 22.
- the first mouth pot 21 is operated by the operation at the time of teaching, and the position is registered or the work is registered, so that the work program is registered or registered.
- the first pendant 23 for performing editing such as changing work programs is connected.
- a work tool for performing work is attached to the end of the wrist of the first robot 21, and the work is performed by executing the above-described work program on the work 24 on the work table 25.
- reference numeral 26 denotes a second robot, which is connected to a second mouth port control device 27, and further connected to a second pendant 28.
- Reference numeral 1 denotes an operator detector which detects that the first operator 29 has entered the operation range of the second robot 26 while teaching the first robot 21 or It detects that the robot has entered the danger zone due to the operation of step 6, and outputs a position monitoring signal to the connected second robot controller 27.
- a protection (not shown) that includes the operation range of the two robots so that the worker does not enter the operation range of the two robots It is surrounded by fences.
- the first operator 21 teaches the first operator 29 and the second mouth pot 26 teaches the second operator 30 inside the protective fence. Engaged in each.
- the first operator 29 enters the operation range of the second mouth pot 26 and the operator Detector 3 1 Detects this and outputs a detection signal to the second robot controller 27.
- the operation of the second robot 26 is restricted by receiving the detection signal.
- the operator detector 31 may be any of a safety mat, a sonic object detector, and an optical object detector.
- Fig. 7 is a block diagram of the control unit, drive power supply, drive circuit, and motor of the robot controller.
- control unit 41 has a CPU 42 which controls the motors 52 1,..., 52 2 -n of the second robot 26 based on the control program stored in the control program storage means 43. Performs overall control of mouth bots, including generation of drive commands.
- Reference numeral 4 denotes data storage means, which is used for writing and reading data necessary for controlling the robot.
- the drive power supply interface 46 provided in the control unit 41 is connected to the drive power supply 50 connected to a power supply, and is connected to the drive power supply 50 and receives a drive power supply. 5.1.1—Controls supply or cutoff of drive power to 1, 1, and 5 1—n.
- the drive circuits 51-1, 1,... 51-n are connected to the motors 52-1, ..., .52_ ⁇ , and are connected to the drive circuit interface 49 of the control unit 41. Under the control, drive control of the motors 52-1, ⁇ ' ⁇ , 52- ⁇ is performed. Motors 52-1, 1, ⁇ , 52, ⁇ are equipped with position detectors 53-1, 1, ⁇ , 53, ⁇ , respectively. — Position of ⁇ detected by the position detector interface 4 5—1,...
- control section 41 includes an input section 47-1 and an output section 47-2 for inputting and outputting signals to and from the second robot controller 27 and the outside, and a second pendant 28 and a signal. It is equipped with a dangling interface 48 for exchanging.
- the input unit 47-1 is assigned a position monitoring signal from the operator detector 31, and the output unit 47-2 is assigned an abnormal output or warning output to the outside.
- the data storage means 4 4 stores the position detected by the position detectors 53-1, ⁇ ⁇ , 53 3 ⁇ attached to the motors 52-1, 1, ⁇ , 52, ⁇ . 5-1, ⁇ ⁇ , 4 5—Input via the ⁇ and stored at the predetermined timing are stored in the position storage area 4 4 11 and the detection position input at the predetermined cycle and the position storage area 4 4 1 1 After calculating the detected position and position deviation, it is compared with the position deviation allowable value stored in the allowable value storage area 4 4-2.
- the motor 52-1, ⁇ , 5 2 _ By setting the drive command to ⁇ to zero, the drive current to the motors 52-1, ' ⁇ , 52- ⁇ is controlled via the drive circuit interface 49 and the second robot 26 is stopped. I do.
- the drive power supply 50 is controlled by the drive power supply interface 46, and the motors 52-1, 1,
- the allowable value of the positional deviation to the allowable value storage area 44-12 is input by operating the second pendant 28 via the pendant interface 48. It is also possible to set from an external control device via a serial interface (not shown) provided in the control unit 41.
- the position monitoring signal from the operator detector 31 is input from the input unit 47-1.
- step 1 the process proceeds to step 2; otherwise, the process proceeds to the end.
- Step 2 Determine whether the position monitoring signal is rising. If the position monitoring signal is rising, proceed to step 3; otherwise, proceed to step 4.
- the signal rising can be easily determined by the logical operation of the previously read signal state and the currently read signal state.
- the detection positions from the position detectors 53-1, ⁇ ⁇ ⁇ 5 3-n are read via the position detector interfaces 45-1 ⁇ ⁇ ', 45-n and the position storage area 4 4- Store to 1.
- the stored detection position may be a value read for motor control or a value converted for motor position control.
- the detected positions from the position detectors 5 3-1, 1, ⁇ , 5 3—n are read via the position detector interfaces 45-1, 1,..., 45—n (or the same as in step 3).
- the value may be a read value or a converted value.
- step 5 The position deviation obtained in step 4 is compared with the deviation allowable value stored in the allowable value storage area 44-2.If the position deviation exceeds the deviation allowable value, go to step 6; otherwise, Proceed to the end. (Step 5)
- Step 6 Stops the robot and displays and outputs an error or warning.
- the robot can be stopped by stopping the motors 52-1, 1, ⁇ , 52-n while the drive power is on under the control of the drive circuit interface 49, or turning off the drive power by the drive power supply 50. There is a method. (Step 6)
- the operator detects that the robot has entered the operation area of the robot that is not the work target or the danger area due to the operation of the robot and detects the robot at the time of this detection.
- the robot memorizes the position, compares it with the preset allowable deviation, and if it exceeds this value, the robot stops.
- the operation area of the robot is limited, the operation of the robot is not the operation of the robot due to erroneous operation by the operator of the mouth bot outside the work target. The operator can be protected from danger.
- Step 1 The detection positions from the position detectors 5 3-1, ⁇ ⁇ ⁇ 5 3-n are read via the position detector interfaces 4 5-1 ⁇ ⁇ ⁇ 4 5-n (or Similarly to step 3 in the fourth embodiment, a value already read or a converted value may be used), and the coordinate is converted to the coordinate system of the second robot 26. (Step 13)
- Step 15 Read the detected position from the position detector 5 3-1, 1, ⁇ , 5 3—n via the position detector interface 45 to ⁇ 1, ⁇ , 45— ⁇ (or the same as step 13)
- the value may be a value already read or converted into the coordinates of the second robot 26).
- step 17 The position deviation obtained in step 16 is compared with the allowable deviation value stored in the permissible value storage area 4 4-12.If the position deviation exceeds the allowable deviation value, go to step 18 and others. Go to the end. (Step 17)
- Step 18 Stops the robot and displays and outputs an error or warning.
- the robot is stopped by stopping the motors 52-1, 52- ⁇ while the drive power is turned on under the control of the drive circuit interface 49, or by shutting off the drive power by the drive power supply 50. There is a way. (Step 18)
- the storage format of the permissible deviation value stored in the permissible value storage area 441-2 in the fifth embodiment and the permissible deviation value stored in the permissible value storage area 44-2 in the fourth embodiment Is the fifth
- the position on each coordinate axis is, for example, millimeter.
- the position is a monitor position, which is, for example, a pulse.
- the fourth embodiment and the fifth embodiment can individually implement the present invention or both, and can achieve the same effect.
- the same operation and effect as those of the fourth embodiment are obtained, but since the preset tolerance is the robot coordinate system and the input unit is, for example, millimeter, the deviation to be set is set. Allowable values can be easily determined from the layout of the robot.
- the position detectors 53-1,..., 53-n from the position detectors 53-1,. ⁇ Adds a step to store the detected position read via 4-n in the position storage area 4-1.
- the detection position in this case may be a value read for motor control as described above, or a value converted for motor position control.
- the position detector interface is provided between the step 16 and the step 17 by the position detectors 53-1,. 4 5—1, ⁇ ⁇ , 4 5—Step for storing the position data obtained by converting the detection position read via n into the coordinate system of the second robot 26 into the position case 3 area 4 4-1 Add a group.
- the detected position in this case may be a value read for motor control as described above, or a value converted for motor position control.
- the operator detects that the robot has entered the operation area of the robot or the danger area due to the operation of the robot which is out of the operation target, and detects the mouth at the time of this detection.
- the position of the pot is stored, compared with a preset allowable deviation value, and if it exceeds this value, the robot stops. Since the position data of the mouth bot stored in the position storage area 44-111 is sequentially updated, the operation speed of the robot is limited. In addition to protecting the operator from danger due to robot operation caused by erroneous operation by another robot operator, operation of other robots can be continued under the speed limitation. .,
- an abnormal display or warning is displayed on the pendant of the mouth pot, and an abnormal output or a warning output can be output from the robot control device. Not only the operator but also the surrounding operators can know that there was an encounter opportunity, which can contribute to raising safety awareness.
- FIG. 10 is a specific configuration diagram of two robot systems using the present invention.
- 3 3 is a first robot side operator detector
- 3 4 is a second robot side operation detector, both of which are connected to the operator detection controller 32, and furthermore, the operator detection controller 3 2 is connected to the first robot controller 22 and the second robot controller 27.
- FIG. 11 is a connection diagram of the operator detector control device 32 and its periphery.
- the first robot-side operator detector 33 is, for example, a safety mat, and has a contact 33-1 that closes when the operator is on the safety mat. It is connected to the coil of the operator detection relay 62, and when the first robot-side operator detector 33 detects an operator, the operator detection relay 62 is energized and turned on.
- the second robot-side operator detector 34 is, for example, a safety mat. If the operator is on a safety mat, there is a contact 34-1 that closes, and the operator detection controller 3 2
- the second operator detection relay 64 is connected to the coil of the second operator detection relay 64, and when the second robot operator detector 34 detects an operator, the second operator detection relay 64 is energized and turned on.
- the first robot controller 2.2 outputs an output signal 2 that closes when the drive power of the first robot 21 is turned on and the first robot 21 is in an operable state by operating the first pendant 23.
- 2-1 is output and connected to the coil of the first robot operable relay 6 1 of the operator detection control device 3 2, and the drive power of the first robot 21 1 is turned on and operation is possible.
- the first robot operable relay 61 is energized and turned on.
- the second mouth pot control device 27 operates when the drive power of the second mouth pot 26 is turned on and the second mouth pot 26 is operable by operating the second pendant 28.
- An output signal 2 7 7 1 for closing is output from the output section 4 7 2, and is connected to the coil of the second robot operable relay 6 3 of the operator detection control device 3 2. If the drive power supply of 6 is turned on and it is in an operable state, the second robot operable relay 63 is energized and turned on.
- the normally open contact 64-1 of the second operator detection relay 64 and the normally open contact 61-1 of the first robot operable relay 61 are connected in series.
- the normally open contact 6 1-1 of the first robot operable relay 6 1 which is connected to the coil of the second robot limit relay 65, is connected to the normally open contact 65-1 of the second robot limit relay 65.
- the normally open contact 6 2—1 of the first operator detection relay 6 2 and the normally open contact 6 3-1 of the second robot operable relay 6 3 are connected in series to form the first robot limit relay 6 2.
- the normally open contact 6 6-1 of the first robot restriction relay 6 6 is connected in parallel to the normally open contact 6 3-1 of the second robot operable relay 6 3 which is connected to the coil 6.
- a holding circuit is formed.
- the other normally open contacts 65-2 of the second robot limit relay 65 are inputted to the second robot control device 27, and the other normally open contacts 66-6-2 of the first robot limit relay 66 are provided. Are input to the first mouth bot controller 22.
- the first operator 29 is operating the first robot 21 with the first pendant 23
- the second operator 30 is operating the second robot 26 with the second robot 26.
- Operate pendant 2 8 A case where the first operator 29 enters the operation range of the second robot 26 while the robot is in operation will be described.
- the first robot 21 Since the first operator 29 is operating the first robot 21, the first robot 21 is in an operable state or in operation, the output 22-1 is closed, and the first robot 21 is closed. Operable relay 61 is energized and turned on.
- the second robot-side operator detector 34 detects that the first operator 29 has entered the operating range of the second robot 26 or is in danger due to the operation of the second robot 26. Upon detecting the entry into the area, the contact 34-1 of the second robot-side operator detector is closed, and the second operator detection relay 64 is energized and turned on.
- the normally open contact 6 1-1 of the first robot operable relay 6 1 and the normally open contact 6 4-1 of the second operator detection relay 6 4 are both closed, so the second robot limit relay 6 5 is energized. It is magnetized and turned on, and the other normally open contacts 65-2 of the second robot limit relay 65 are input to the second port bot controller 27.
- the second robot controller 27 receives this signal from the input unit 47-1, determines that there is a detection signal, and performs the operations described in the fourth to sixth embodiments.
- the position monitoring and the Z or speed monitoring of the second mouth pot 26 are continued as long as the normally open contact 65-2 of the second robot restricting lever 65 is closed.
- the contact 3 of the second robot operator detector 3 4 3 When 4-1 is opened and the normally open contact 6 4-1 of the second operator detection relay 6 4 is opened, the second robot limit relay 6 5 is de-energized and the normally open contact 6 5-2 is This ends when the circuit is opened, and the second robot 26 is released from its position monitoring and / or speed monitoring.
- the first operator 29 operates the enable switch or the emergency stop (not shown) provided on the first pendant 23 of the first robot 21 in the danger area caused by the operation of the second robot 26. If the drive power supply is cut off, the first robot 21 will not be able to operate, so the output signal 22-1 will be opened and the first robot operable relay 61 connected to this will It is de-energized and turned off. However, the second robot limit relay 65 keeps on as it is energized due to the above-mentioned holding circuit, and the position monitoring and / or speed monitoring of the second robot 26 is maintained. .
- the first robot-side operator detector 33 detects the second operator 30. The contact is detected, the contact 33-1 of the first robot-side operator detector 33 is closed, and the first operator detection relay 62 is energized and turned on.
- the operator detection control device 32 performs a corresponding operation when the above-mentioned first operator 29 enters the operation range of the second mouth bot 26, and performs other operations.
- the closed signal of the normally open contact 6 6 ⁇ 2 is output to the first robot controller 22, and the first mouth pot controller 22 monitors the position and / or speed of the first robot 21. You can see it.
- the operator detection control device 32 has been described with a relay circuit.
- a signal corresponding to a low limit relay may be output to the robot control device by a logical operation means such as a logic element or a microcomputer. A similar effect is achieved.
- the circuit of the operator detection control device can be easily changed according to the specified position monitoring and / or speed monitoring specifications.
- one robot controller is combined with one robot.However, when one robot controller controls a plurality of robots, the mouth bot controller has It is needless to say that by preparing a position storage area, an allowable value storage area, and an input unit for the robot, it is possible to monitor the position or speed of the robot for each robot.
- the present invention is a teaching playback type robot, and is useful for a robot system and a robot control device for ensuring the safety of an operator when the instructor approaches the robot during teaching.
Abstract
Description
Claims
Priority Applications (3)
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JP2004522713A JP4513568B2 (ja) | 2002-07-18 | 2003-04-21 | ロボット制御装置 |
US10/521,549 US7391178B2 (en) | 2002-07-18 | 2003-04-21 | Robot controller and robot system |
EP03717675A EP1535706A1 (en) | 2002-07-18 | 2003-04-21 | Robot controller and robot system |
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JP2002209490 | 2002-07-18 | ||
JP2002-209490 | 2002-07-18 |
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PCT/JP2003/005066 WO2004009303A1 (ja) | 2002-07-18 | 2003-04-21 | ロボット制御装置およびロボットシステム |
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US (1) | US7391178B2 (ja) |
EP (1) | EP1535706A1 (ja) |
JP (1) | JP4513568B2 (ja) |
WO (1) | WO2004009303A1 (ja) |
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KR20180114837A (ko) | 2017-04-11 | 2018-10-19 | 니혼 덴산 산쿄 가부시키가이샤 | 로봇의 이동 속도 제어 장치 및 방법 |
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WO2023135664A1 (ja) * | 2022-01-12 | 2023-07-20 | 株式会社Fuji | ロボットの安全装置およびロボットシステム |
Also Published As
Publication number | Publication date |
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JP4513568B2 (ja) | 2010-07-28 |
US7391178B2 (en) | 2008-06-24 |
US20060108960A1 (en) | 2006-05-25 |
JPWO2004009303A1 (ja) | 2005-11-17 |
EP1535706A1 (en) | 2005-06-01 |
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