JP2000354988A - Robot control method and control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce power required for robot operation by generating a position instruction for a robot according to the operation data and switching the input of the position instruction for the robot to control the robot. SOLUTION: The operation data generated by a operation instruction generating part 1 for operating a robot 5 is output to an energy calculating means 2 for calculating the energy amount required for operating the robot 5, a first route generating means 3 and a second route generating means 4. The second route generating means 4 generates a position instruction for the robot 5 according to the operation data output from the operation instruction generating part 1. A control method switching means 6 outputs a position instruction output from the second route generating means 4 to a control means 7 at the time of operating the robot 5 according to the operation data of the robot 5. At the time of reducing the energy amount required for the operation of the robot 5 to operate the robot 5, the position instruction output from the first route generating means 3 is output to the control means 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for controlling a robot, and more particularly to a method for reducing the energy required for operating an industrial robot.

[0002]

2. Description of the Related Art As a main measure for reducing operating energy in an industrial robot, reduction of power consumption of a motor for driving the robot can be considered. Conventionally, the power consumption of industrial robots has been reduced by reducing the plate pressure of the robot body as much as possible, or by reducing the motor incorporated in the movable part, etc., to reduce the current consumed by the motor. Also, as described in Japanese Patent Application Laid-Open No. 1-222877, when one operation is completed and the robot is in a stopped state while the robot is executing a program, an electric current is applied to the motor in order to maintain a posture against gravity acting on the robot. As it keeps flowing,
If the motor is stopped for more than a predetermined time, the motor is braked and the servo power is turned off to reduce the current consumption of the motor when the robot is stopped.

[0003] FIG. 17 shows this configuration, which will be described below.

First, the operation command generator 1 normally generates operation data for operating the robot 5. The motion data is output to the second route generating means 4 and the robot 5
Is converted to a position command. The position command is output to the control means 7, and the control means 7 outputs a voltage command for controlling the motor 51 to the servo amplifier 8 based on the position command. The drive current of the motor 51 is controlled by the servo amplifier 8 based on the voltage command.

However, if the operation data is 0 and the operation of the robot 5 is stopped, the timer 36 is started, and if the movement command is not generated until the timer 36 counts up to a preset value, the stopped state is reached. The determination unit 37 determines that the vehicle is completely stopped, applies the brake 52 in the robot 5, and turns off the power of the servo amplifier 8. Then, when the next movement command is generated, the power of the servo amplifier 8 is turned on immediately, the brake 52 in the robot 5 is released, and the robot 5 resumes its operation.

[0006]

In the above conventional method for reducing power consumption in an industrial robot, the strength of the robot is reduced by reducing the weight of the robot, and the operation of the robot is started because the rigidity is reduced. -At the time of stop, vibration is likely to occur at the tip of the arm, and the tip positioning time and accuracy will deteriorate.

Further, in the method disclosed in Japanese Patent Application Laid-Open No. 1-222877, the motor current consumption can be reduced only when a predetermined operation of the robot is completed and a predetermined time has elapsed. No consideration can be given to reducing the power required for operation.

Accordingly, an object of the present invention is to provide a control method and a control device for a robot which can reduce the power required for the operation of the robot when performing the work by the robot.

[0009]

According to a first aspect of the present invention, there is provided a method for controlling a robot, comprising the steps of: generating operation data for operating the robot; and calculating an energy amount required for the operation based on the operation data. A step of generating a robot position command that can be reduced from the calculated energy amount; a step of generating a robot position command based on the operation data; and an input of the generated robot position command. And a step of outputting a position command to the control means by switching.

According to the robot control method of the present invention, the amount of energy necessary for the operation of the robot is calculated based on the operation data of the robot, and the amount of energy can be reduced below the calculated amount of energy. Since the position command of the robot and the position command generated based on the operation data of the robot are switched and output, the position command of the robot which can reduce the amount of energy necessary for the operation of the robot is generated and the robot is generated. Can work. Therefore, control by energy management can be performed, and by switching control methods instantaneously, an optimum robot operation can be performed with a minimum necessary energy consumption.

According to a second aspect of the present invention, there is provided a method for controlling a robot, comprising the steps of: generating operation data for operating the robot; calculating an energy amount required for the operation based on the operation data; Generating a first position command of the robot that can also reduce the position of the robot, generating a second position command of the robot based on the operation data, and an output destination of the operation data for operating the robot To the generation of the first position command and the generation of the second position command.

According to the robot control method of the present invention, the amount of energy required for the operation of the robot is calculated based on the operation data of the robot, and the amount of energy can be reduced from the calculated amount of energy. Switching between the case of generating the position command of the robot and the case of generating the position command of the robot based on the operation data of the robot, so that the energy required for the operation of the robot can be instantly obtained without generating the position command redundantly. The robot can be operated by generating a position command of the robot capable of reducing the amount. Therefore, control by energy management can be performed, and by instantaneously switching the control method,
Optimal robot operation can be performed with minimum necessary energy consumption.

According to a third aspect of the present invention, there is provided a method for controlling a robot, comprising the steps of generating operation data for operating the robot, calculating an energy amount required for the operation based on the operation data, and calculating the energy amount based on the calculated energy amount. Generating a position command of the robot that can also reduce, a step of generating a position command of the robot based on the operation data, and a step of calculating the operation time of the robot based on the operation data of the robot; Comparing the calculated operation time with a preset threshold value, and switching the input of the generated position command of the robot based on the comparison result and outputting the position command to the control means. It is a thing.

According to the robot control method of the third aspect, the operation time of the robot is calculated based on the operation data of the robot, and the position command of the robot is switched and output according to the magnitude of the calculated time. According to the tact time, a robot position command that can reduce the amount of energy required for the operation of the robot can be generated to operate the robot. Therefore, the control can be performed by managing the tact time, and the robot can be operated in the optimum tact time with the necessary minimum energy consumption by switching the control method instantaneously.

According to a fourth aspect of the present invention, there is provided a method for controlling a robot, comprising the steps of: generating operation data for operating the robot; calculating an energy amount required for the operation based on the operation data; Generating a first position command of the robot that can also reduce the robot, generating a second position command of the robot based on the operation data, and operating time of the robot based on the operation data of the robot , A step of comparing the calculated operation time with a preset threshold value, and an output destination of the operation data for operating the robot based on the comparison result. The step includes a step of switching to either generation or generation of the second position command.

According to the robot control method of the present invention, the operation time of the robot is calculated based on the operation data of the robot, and the output destination of the operation data of the robot is switched according to the magnitude of the calculated time. According to the size of the tact time, the robot can generate the position command of the robot which can immediately reduce the amount of energy required for the operation of the robot without generating the position command redundantly, and can operate the robot. . Therefore, the control can be performed by managing the tact time, and the robot can be operated in the optimum tact time with the necessary minimum energy consumption by switching the control method instantaneously.

According to a fifth aspect of the present invention, there is provided a method for controlling a robot, comprising the steps of: generating operation data for operating the robot; calculating an energy amount required for the operation based on the operation data; Generating a position command of the robot that can also reduce the number of times, a step of generating a position command of the robot based on the operation data, a step of setting date and time data for which the control method is to be switched, and A step of determining whether the date and time is the set date and time, and a step of switching the input of the generated position command of the robot and outputting the position command to the control means based on the determined result. It is a thing.

According to the robot control method of the present invention, since the position command of the robot is switched and output based on the current date and time data, the amount of energy required for the operation of the robot is reduced depending on the date and time when the work is performed. The robot can operate by generating a position command of the robot that can be operated. Therefore, optimal production management including energy consumption can be performed by a production plan including date and time management.

According to a sixth aspect of the present invention, there is provided a method for controlling a robot, comprising the steps of: generating operation data for operating the robot; calculating an energy amount required for the operation based on the operation data; Generating a first position command for the robot that can also reduce the power, generating a second position command for the robot based on the operation data, and setting date and time data for which the control method should be switched And a step of determining whether the current date and time is the set date and time. Based on the determined result, the output destination of the operation data for operating the robot is specified by the first position command. The step includes a step of switching to either generation or generation of the second position command.

According to the robot control method of the present invention, the output destination of the operation data of the robot is switched based on the current date and time data.
It is possible to immediately generate a position command of the robot that can reduce the amount of energy related to the operation of the robot without generating a position command redundantly, and operate the robot. Therefore, optimal production management including energy consumption can be performed by a production plan including date and time management.

According to a seventh aspect of the present invention, there is provided a method for controlling a robot, comprising the steps of generating operation data for operating the robot, calculating an energy amount required for the operation based on the operation data, and calculating the energy amount based on the calculated energy amount. Generating a position command of the robot that can also reduce the amount of energy, generating a position command of the robot based on the operation data, and comparing the calculated energy amount with a preset energy amount. And outputting the position command to the control means by switching the input of the generated position command of the robot based on the result of the comparison.

According to the robot control method of the present invention, since the position command of the robot is switched and output according to the magnitude of the energy amount calculated based on the operation data of the robot, it is necessary for the operation of the robot. According to the amount of energy, the robot can generate a position command of the robot capable of reducing the amount of energy required for the operation of the robot and operate the robot. Therefore, the energy consumption can be constantly monitored, and the operation can be performed with the set energy amount without consuming excessive energy.

According to a eighth aspect of the present invention, there is provided a method for controlling a robot, comprising the steps of: generating operation data for operating the robot; calculating an energy amount required for the operation based on the operation data; Generating a first position command of the robot that can also reduce the power, generating a second position command of the robot based on the operation data, calculating the energy amount and the preset energy Comparing the amount with the amount, and switching the output destination of the operation data for operating the robot to one of the first position command generation and the second position command generation based on the result of the comparison. Is included.

According to the robot control method of the present invention, the output destination of the operation data of the robot is switched according to the magnitude of the energy amount calculated based on the operation data of the robot. In accordance with the magnitude of the energy amount, the robot can immediately generate a position command of the robot capable of reducing the amount of energy required for the operation of the robot without generating a redundant position command, and operate the robot. Therefore, the energy consumption can be constantly monitored, and the operation can be performed with the set energy amount without consuming excessive energy.

According to a ninth aspect of the present invention, there is provided a method for controlling a robot, comprising the steps of: generating operation data for operating the robot; calculating an energy required for the operation based on the operation data; Generating a position command of the robot that can be made to operate, generating a position command of the robot based on the operation data, and operating conditions of the jig related to the operation of the robot, based on conditions around the robot. Calculating a surplus time until the next step of the robot;
Comparing the calculated surplus time with a preset threshold value, and, based on the result of the comparison, switching the input of the generated position command of the robot and outputting the position command to the control means. It includes steps.

According to the robot control method of the ninth aspect, the surplus time until the next step of the robot is calculated based on the situation around the robot such as the operation state of the jig, and the calculated surplus time is calculated. The robot's position command is switched and output according to the size, so the robot position command that can reduce the amount of energy required for the robot operation is generated according to the work situation around the robot and the robot is operated. it can. Therefore, the work can be performed with minimum necessary energy consumption without hindering the work content.

According to a tenth aspect of the present invention, there is provided a robot control method,
Generating operation data for operating the robot, calculating energy required for the operation based on the operation data, and outputting a first position command of the robot that can reduce the energy from the calculated energy. Generating, a step of generating a second position command of the robot based on the operation data, and a surplus until the next step of the robot based on a situation around the robot, such as an operation state of a jig related to the work of the robot. Calculating the time, comparing the calculated surplus time with a preset threshold value, and setting the output destination of the operation data for operating the robot to the first based on the comparison result. And switching to either the generation of the position command or the generation of the second position command.

According to the robot control method of the present invention, the surplus time until the next step of the robot is calculated based on the situation around the robot such as the operation state of the jig, and the calculated surplus time is calculated. Since the output destination of the operation data of the robot is switched according to the size, according to the work situation around the robot, without repeatedly generating a position command,
Immediately, it is possible to generate a robot position command that can reduce the amount of energy required for the operation of the robot and operate the robot. Therefore, the work can be performed with minimum necessary energy consumption without hindering the work content.

A robot control method according to claim 11 is
Generating operation data for operating the robot, calculating energy required for the operation based on the operation data, and generating a position command of the robot capable of reducing the calculated energy. Generating a position command of the robot based on the operation data; calculating the time until the start of the operation program set to be performed next while the robot is executing the operation program; and Calculating the remaining operation time of the running operation program; calculating the calculated time; and inputting the remaining operation time to calculate the margin of operation of the robot; and calculating the calculated margin. Comparing the set threshold value and the robot generated based on the result of the comparison. It is intended to include the step of outputting a position command to the control means switches the input bets position command.

According to the robot control method of the present invention, the required time until the next work step of the robot is calculated, the remaining operation time of the robot work is calculated, and the required time and the remaining operation time are calculated. A margin is calculated by inputting, and the position command of the robot is switched and output according to the magnitude of the calculated margin, so that the amount of energy required for the operation of the robot is reduced according to the work situation of the robot. The robot can operate by generating a position command of the robot that can perform the operation. Therefore, the work can be performed with minimum necessary energy consumption without hindering the work content.

According to a twelfth aspect of the present invention, there is provided a robot control method,
Generating operation data for operating the robot, calculating energy required for the operation based on the operation data, and outputting a first position command of the robot that can reduce the energy from the calculated energy. Generating, a second position command of the robot based on the operation data, and calculating a time until the start of the operation program set to be performed next while the robot is executing the operation program And calculating the remaining operation time of the operation program being executed by the robot; calculating the calculated time and the remaining operation time to calculate the margin of work of the robot; Comparing the margin with the preset threshold value, and based on the result of the comparison, It is intended to include the step of switching to either the output destination of the generation of the first generation of position command and a second position command operation data for work.

According to the robot control method of the twelfth aspect, the required time until the next work step of the robot is calculated, the remaining operation time of the robot work is calculated, and the required time and the remaining operation time are calculated. The input is used to calculate the margin, and the output destination of the operation data of the robot is switched according to the magnitude of the calculated margin, so that the position command is not generated redundantly according to the work situation of the robot. Immediately,
The robot can be operated by generating a position command of the robot capable of reducing the amount of energy required for the operation of the robot. Therefore, the work can be performed with minimum necessary energy consumption without hindering the work content.

A robot control method according to claim 13 is
Generating motion data for operating the robot, extracting a moving component in the direction of gravity based on the motion data, and inputting the motion data of the robot in advance. A step of determining a robot operation condition as to whether or not the operation requires accuracy required for the operation, and performing control based on the operation data, or a motor-free operation, according to the robot operation condition and a moving component in the direction of gravity. Switching the state of the motor, detecting the rotational position of the motor driving the robot, determining whether the motor has reached the target position, and switching to motor control or motor free based on the information. It is a thing.

According to the robot control method of the thirteenth aspect, the moving component in the direction of gravity is extracted from the operation data for operating the robot, and the time related to the operation of the robot or the accuracy related to the operation of the robot is not determined. When the operation state is determined and the operation time of the robot or the operation state that does not require the accuracy of the operation of the robot is determined, the motor is switched to operate in the motor-free state, and the motor is moved to a predetermined position. When the operation moves in the direction of gravity, it can move using the gravity component. Therefore, energy required only for maintaining the posture of the robot can be saved.

According to a fourteenth aspect of the present invention, there is provided a robot control method comprising:
Calculating the energy amount of the entire facility in which the plurality of robots are installed, comparing the calculated energy amount with a preset threshold value, and setting the plurality of robots based on the comparison result. Selecting a robot capable of reducing energy among the robots, and outputting a signal requesting the selected robot to perform an operation capable of reducing energy, based on the signal of this step. Generating a position command of the robot that can reduce the energy by using the robot.

According to the robot control method of the present invention, the energy amount of the whole facility where a plurality of robots are installed is calculated, and when the calculated energy amount exceeds a predetermined value, the energy amount of the plurality of robots is calculated. Selects a robot that can reduce energy and allows the selected robot to perform an operation that can reduce energy, so it is possible to reduce the energy required for robot operation in a facility where multiple robots operate. It is possible to select a robot and operate the robot while reducing the energy required for the operation of the robot. Therefore, energy required when the robot moves in the same direction as gravity can be saved.

The robot control method according to claim 15 is
The method includes a step of generating operation data for operating the robot, a step of calculating an energy amount required for the operation of the robot based on the operation data, and a step of displaying the calculated energy amount.

According to the robot control method of the present invention, the operation data for operating the robot is generated, and the energy amount required for the operation of the robot is calculated and displayed based on the operation data. When teaching the operation program, the amount of energy required for the operation can be calculated and displayed based on the taught operation data. Therefore, an operation program can be created in consideration of the amount of energy used, which is extremely useful in practice.

A robot control device according to claim 16 is
An operation command generation unit that generates operation data for operating the robot, an energy calculation unit that calculates an amount of energy required for the operation based on the operation data, and a robot that can reduce the calculated amount of energy First path generating means for generating a position command for the robot, second path generating means for generating a position command for the robot based on the operation data output from the operation command generating section, And control system switching means for switching the input from the second path generation means and outputting a position command to the control means.

According to the robot control device of the sixteenth aspect, the same effect as that of the first aspect is obtained.

A robot control device according to claim 17 is
An operation command generation unit that generates operation data for operating the robot, an energy calculation unit that calculates an amount of energy required for the operation based on the operation data, and a robot that can reduce the calculated amount of energy First path generating means for generating a position command for the robot, second path generating means for generating a position command for the robot based on the operation data output from the operation command generating section, and output from the operation command generating section And a control mode switching unit for switching an output destination of the operation data to one of the first route generation unit and the second route generation unit.

According to a seventeenth aspect of the present invention, there is provided a robot control device according to the second aspect, wherein the control method switching means for switching operation data to be output to the first path generation means and the second path generation means is provided. effective.

A robot control device according to claim 18 is:
The tact time calculating means according to claim 16, wherein the tact time calculating means calculates a robot operation time based on the robot operation data.
Having a tact time comparing means for comparing the operation time calculated by the tact time calculating means with a preset threshold value,
The control method switching means switches the inputs from the first path generation means and the second path generation means and outputs a position command to the control means based on the result of the comparison by the tact time comparison means.

According to the robot control device of the eighteenth aspect, the tact time calculating means for calculating the operation time of the robot based on the operation data of the robot, and the magnitude of the time calculated by the tact time calculating means determine Since the control method switching means for switching the input from the first path generation means and the input from the second path generation means and outputting the position command to the control means is provided, the same effects as those of the third and sixteenth aspects are obtained.

According to a nineteenth aspect of the present invention, there is provided a
The tact time calculating means according to claim 17, wherein the tact time calculating means calculates a robot operating time based on the robot operating data.
Tact time comparison means for comparing the operation time calculated by the tact time calculation means with a preset threshold value,
The control mode switching unit switches the output destination of the operation data output from the operation command generation unit between the first route generation unit and the second route generation unit based on the result of the comparison by the tact time comparison unit. is there.

According to the nineteenth aspect of the present invention, the tact time calculating means for calculating the operation time of the robot based on the operation data of the robot, and the magnitude of the time calculated by the tact time calculating means, determine the time required for the operation. Since the control method switching means for switching the operation data to be output to the first path generation means and the second path generation means is provided, the same effects as those of the fourth and seventeenth aspects are obtained.

According to a twentieth aspect of the present invention, there is provided a robot control device comprising:
The date and time data setting means for setting date and time data for which the control method is to be switched, and the current date and time are:
Date and time determining means for determining whether or not the date and time is set in the date and time data setting means, wherein the control method switching means determines whether or not the first route generating means and the second route generating means are based on the result determined by the date and time determining means. It switches the input from the path generation means and outputs a position command to the control means.

According to the robot controller of the twentieth aspect, the date and time data setting means for setting the current date and time, and the input from the first path generation means and the second path generation means based on the date and time data And a control method switching means for outputting a position command to the control means by switching the control means is provided.

According to a twenty-first aspect of the present invention, there is provided a robot control device comprising:
The date and time data setting means for setting date and time data for which control method switching is to be performed,
A date / time determination unit that determines whether or not the date / time is set in the date / time data setting unit, wherein the control mode switching unit outputs an operation output from the operation command generation unit based on a result determined by the date / time determination unit. The data output destination is switched between the first route generation unit and the second route generation unit.

According to the robot control device of the present invention, the control method switching means for switching the operation data to be output to the first route generating means and the second route generating means based on the set date and time data is provided. With this arrangement, the same effects as those of the sixth and seventeenth aspects can be obtained.

According to a twenty-second aspect of the present invention, the control device for a robot comprises:
17. An energy comparing device according to claim 16, further comprising an energy comparing device for comparing an amount of energy necessary for the operation of the robot calculated by the energy calculating device with a predetermined amount of energy. Based on the result, the input from the first route generation unit and the input from the second route generation unit are switched to output a position command to the control unit.

According to the robot control device of the twenty-second aspect, based on the magnitude of the energy amount calculated on the basis of the operation data of the robot, the first and second path generation units can output the information from the first and second path generation units. Since the control method switching means for switching the input and outputting the position command to the control means is provided, the same effects as those of the seventh and sixteenth aspects are obtained.

According to a twenty-third aspect of the present invention, the control device for a robot comprises:
18. The energy comparing device according to claim 17, further comprising: an energy comparing unit that compares an energy amount required for the operation of the robot calculated by the energy calculating unit with a predetermined energy amount. The output destination of the operation data output from the operation command generation unit is switched between the first path generation unit and the second path generation unit based on the result.

According to the robot control device of the twenty-third aspect, the output to the first path generating means and the second path generating means based on the magnitude of the energy amount calculated based on the operation data of the robot. A control system switching means for switching operation data to be performed is provided.
There is an effect similar to 7.

A robot control device according to claim 24 is
The surplus time calculating means for calculating a surplus time until the next step of the robot based on an operation state around the robot, such as an operation state of a jig related to the operation of the robot, and the calculated extra time A surplus time comparing means for comparing the set time with a set threshold value, wherein the control method switching means includes a first path generating means and a second path generating means based on a result of the comparison by the surplus time comparing means. And outputs a position command to the control means by switching the input from the controller.

According to the robot control device of the present invention, the surplus time calculating means for calculating the surplus time until the next step of the robot based on the situation around the robot such as the operation state of the jig, and the calculation thereof The control method switching means for switching the input from the first path generation means and the second path generation means and outputting a position command to the control means based on the size of the surplus time is provided. Claim 1
6 has the same effect.

A robot control device according to claim 25 is
The surplus time calculating means for calculating a surplus time until the next step of the robot based on an operation state around the robot, such as an operation state of a jig related to the operation of the robot according to claim 17, Surplus time comparing means for comparing a preset threshold value; and a control mode switching means for outputting operation data output from the operation command generating unit based on a result compared by the surplus time comparing means. The destination is switched between the first route generation unit and the second route generation unit.

According to the robot control apparatus of the twenty-fifth aspect, the surplus time calculating means for calculating the surplus time until the next step of the robot based on the situation around the robot such as the operation state of the jig, and the calculation thereof Since the control method switching means for switching the operation data to be output to the first path generation means and the second path generation means is provided according to the size of the surplus time, the same effects as those of the tenth and seventeenth aspects are obtained. .

A robot control device according to claim 26 is:
17. The robot according to claim 16, wherein, while the robot is executing the operation program, time calculation means for calculating a time until the start of the operation program set to be executed next, and the remaining operation time of the operation program being executed by the robot. A remaining operation time calculating means for calculating, a margin calculating means for inputting outputs from the time calculating means and the remaining operating time calculating means, and calculating a margin for the work of the robot; and setting the calculated margin and a preset value Margin control means for comparing the calculated threshold value with the threshold value, and the control mode switching means controls the first path generation means and the second path generation means based on the result of comparison by the margin comparison means. Is switched to output a position command to the control means.

According to the robot control device of the twenty-sixth aspect, the time calculation means for calculating the time required until the next work step of the robot, and the remaining operation time calculation means for calculating the remaining operation time of the robot work A margin calculating means for calculating the margin by inputting the outputs from the time calculating means and the remaining operation time calculating means, and a first path generating means and a second path according to the magnitude of the calculated margin. Since the control system switching means for switching the input from the generation means and outputting the position command to the control means is provided, the same effects as those of the eleventh and sixteenth aspects are obtained.

A robot control device according to claim 27 is
18. The robot according to claim 17, wherein, while the robot is executing the operation program, time calculation means for calculating a time until the start of the operation program set to be executed next, and a remaining operation time of the operation program being executed by the robot. A remaining operation time calculating means for calculating, a margin calculating means for inputting outputs from the time calculating means and the remaining operating time calculating means, and calculating a margin for the work of the robot; and setting the calculated margin and a preset value Margin control means for comparing the threshold value with the threshold value, and the control method switching means determines the output destination of the operation data output from the operation command generation unit based on the result of the comparison by the margin comparison means. Switching is performed between the first route generation unit and the second route generation unit.

According to the robot control device of the twenty-seventh aspect, the time calculation means for calculating the time required until the next work step of the robot, and the remaining operation time calculation means for calculating the remaining operation time of the robot work A margin calculating means for calculating the margin by inputting the outputs from the time calculating means and the remaining operation time calculating means, and a first path generating means and a second path according to the magnitude of the calculated margin. Since the control method switching means for switching the operation data to be output to the generating means is provided, the same effects as those of the twelfth and seventeenth aspects are obtained.

The robot control device according to claim 28 is
An operation command generation unit that generates operation data for operating the robot, a gravity component extraction unit that extracts a movement component in the direction of gravity from the operation data, and a robot operation when inputting operation data of the robot in advance. An operation condition determining means for determining whether or not the operation requires a required time or an accuracy required for the operation of the robot, based on the operation data based on the operation condition of the robot and the movement component in the direction of gravity, Motor ON / OFF switching means for switching between control and motor free state, position detecting means for detecting the rotational position of the motor, and determining whether the motor has reached the target position and turning on / off the motor based on the information. And a movement amount monitoring means for controlling the OFF switching means.

According to the robot control device of the twenty-eighth aspect, a gravity component extracting means for extracting a moving component in the direction of gravity from the operation data for operating the robot, and a method for detecting the time related to the operation of the robot or the operation of the robot An operating condition determining means for determining an operating condition that does not require such accuracy; and a motor operating from an output from the gravitational component extracting means when operating time does not require accuracy related to time or operation of the robot. Motor O to switch to
Since the N / OFF switching means, the position detecting means for detecting the rotational position of the motor, and the moving amount monitoring means for judging whether the motor has reached the target position are provided, the same effects as those of the thirteenth aspect are obtained.

The robot control device according to claim 29 is
An operation command generation unit that generates operation data for operating the robot, an energy calculation unit that calculates an amount of energy required for the operation based on the operation data, and a robot that can reduce the calculated amount of energy Path generating means for generating a position command of the same, total energy calculating means for calculating the energy amount of the entire facility in which a plurality of robots are installed, and comparison for comparing the calculated energy amount with a preset threshold value Based on a result determined by the determination unit and the comparison determination unit, it is possible to select a robot capable of performing an operation capable of reducing energy from among a plurality of robots, and reduce energy for the selected robot. Selecting means for outputting a signal requesting to perform a possible operation, based on a signal from the selecting means. The position command from the path generation unit performs control.

According to the robot control device of the present invention, a total energy calculating means for calculating the energy amount of the whole facility where a plurality of robots are installed, and a plurality of energy calculating means for calculating the energy amount when the calculated energy amount exceeds a predetermined value. Since the selecting means for selecting a robot capable of performing an operation capable of reducing energy among the robots is provided, the same effect as that of the fourteenth aspect is obtained.

A robot control device according to claim 30 is:
An operation command generation unit that generates operation data for operating the robot, an energy calculation unit that calculates an amount of energy required for the operation of the robot based on the operation data, and energy that is consumed based on the calculated amount of energy. It is provided with an energy display unit for displaying the amount.

According to the robot control device of the present invention, there is provided an energy calculating means for calculating an energy amount necessary for the operation of the robot from the operation data of the robot, and a display device for displaying the calculated energy amount. Since this is provided, the same effect as in claim 15 is obtained.

[0069]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS.

First, FIG. 1 shows a control configuration capable of generating a position command of the robot capable of reducing the amount of energy required for the operation of the robot and operating the robot.

First, the operation command generator 1 generates position data, speed data, and the like, which are operation data for operating the robot 5. The generated motion data is output to the energy calculating means 2 for calculating the amount of energy required for the operation of the robot 5, the first path generating means 3, and the second path generating means 4. Then, the energy calculating means 2 calculates the energy Qw required for the operation of each of the motors 51 for driving the robot 5 according to (Equation 1) based on the input operation data.

Qw = JL × Δω / Kt (Equation 1) Here, JL is the load inertia of the robot arm relating to each motor 51 driving the robot 5, and Δω is the motor 51
, And Kt is the torque constant of the motor 51.

Further, the calculated Qw is output to the first route generating means 4.

Here, the first path generation means 3 adjusts the load inertia JL and the change amount Δω of the operation speed based on the operation data output from the operation command generation unit 1,
A position command is generated by an operation method of the robot arm that minimizes Qw.

Further, the second path generating means 4 uses the operation data output from the operation
The position command is generated.

When the robot 5 is to be operated based on the operation data of the robot 5, the control mode switching unit 6 outputs a position command output from the second path generating unit 4 to the control unit 7. . When it is desired to operate the robot 5 with a reduced amount of energy required for the operation of the robot 5, a position command output from the first path generation unit 3 is output to the control unit 7. Based on the output position command, the control means 7 controls a current for driving the motor 51 and outputs a voltage command to the servo amplifier 8.
The servo amplifier 8 receives a voltage command and supplies a necessary current to the motor 51. Note that the brake 52 is
An operation similar to that described above is performed.

As described above, the amount of energy consumed can be switched by switching the position command output by the control method switching means 6, and even if the robot 5 is in operation, the amount of energy consumed by the operation of the robot 5 can be changed. Energy consumption can be reduced.

Next, a description will be given of a method of operating the robot which enables the first path generating means 3 to reduce the amount of energy required for the operation of the robot.

Here, in order to simplify the explanation, two motors 9 and 10 and a robot 5 as shown in FIG.
The following description will be made with respect to a two-degree-of-freedom robot arm including a link 11 and a link 12, and a fixed base 13 and a load 14, which correspond to the two arms.

For example, consider the case where the robot 5 operates from the start point Pl to the stop point P2. As shown in FIG.
The energy amount when the robot 5 moves to the stop point P2 while keeping the posture at the start point Pl is defined as Qn. At this time,
The amounts of energy consumed by the motor 9 and the motor 10 are Q2n and Q3n, respectively.

Next, the motor 10 is rotated as shown at the intermediate points P3 and P4, and the posture between the start point P1 and the stop point P2 is moved so as to shorten the distance from the motor 9 to the load 14. The energy amount at that time is defined as Qa. The energy amounts required for the operation of the motor 9 and the motor 10 at this time are Q2a and Q3a, respectively. At this time, the first path generating means 3 rotates the motor 10 so that Q2n + Q3n> Q2a + Q3a, and moves from the start point Pl to the stop point P2.

When the working space of the robot 5 is limited and it is impossible to move the robot 10 by rotating the motor 10, the operation speed is reduced to realize Qn> Qa.

Next, a second embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted. In the second embodiment, the operation data of the operation command generation unit 1 is output to the energy calculation unit 2 and also to the control method switching unit 6.

The control method switching means 6 determines whether to output the operation data to the first path generating means 3 depending on whether or not the robot 5 is operated by reducing the amount of consumed energy.
Switching is performed by the second route generation unit 4. Then, either of the path generating means 3 or 4 to which the operation data is input,
The position command is calculated and output to the control means 7. in this way,
By selecting the route means for generating the position command of the robot 5 first, the amount of energy consumed can be reduced even when the robot 5 is in operation, without performing the calculation of the position command redundantly. it can.

Next, a third embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted. In the third embodiment, the operation data is output to the energy calculating means 2, the first path generating means 3, the second path generating means 4, and the tact time calculating means 15. The tact time calculating means 15 calculates a tact time required for the operation of the robot 5 based on the operation data. Then, the calculated takt time is output to the takt time comparing means 16. The tact time comparison means 16 receives this and compares the tact time with a preset threshold value, and outputs the comparison result to the control method switching means 6. Control method switching means 6
Receives this and switches the control method. As described above, by switching the position command output by the control method switching unit 6 according to the magnitude of the tact time, the amount of energy consumed in the operation of the robot 5 can be switched, and the robot 5 is in operation. However, a robot operation that reduces energy consumption in consideration of the tact time can be realized.

Next, a fourth embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the second embodiment are denoted by the same reference numerals, and description thereof is omitted. In the fourth embodiment, the operation data is output to the energy calculating means 2 and the control method switching means 6 and also to the tact time calculating means 15. The tact time calculating means 15 calculates a tact time required for the operation of the robot 5 based on the operation data. Then, the calculated takt time is output to the takt time comparing means 16.
The tact time comparison means 16 receives this and compares the tact time with a preset threshold value, and outputs the comparison result to the control method switching means 6. The control method switching means 6 includes:
The output destination of the operation data is switched between the first route generation unit 3 and the second route generation unit 4 according to the result of the comparison by the tact time comparison unit 16. Therefore, the third
There is an effect similar to that of the embodiment.

Next, a fifth embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted. In the fifth embodiment, the date and time data setting unit 17 sets the date and time at which the control method is to be switched in the control mode switching unit 6. Then, the set date and time data is output to the date and time determination unit 18 and the date and time determination unit 1
Reference numeral 8 compares the current date and time with the set date and time, and outputs the result of the determination to the control method switching means 6. The control mode switching means 6 receives this and switches the control mode.

For example, by setting a time zone in which the electricity rate changes during the day, a first route generation that performs an operation capable of reducing the amount of consumed energy in a time zone where power consumption is relatively high. In the time zone where the power consumption is relatively small, the robot 5 is operated by the second route generation means 4 which is not conscious of the consumed energy amount, so that the effective use of the power can be easily performed. .

Next, a sixth embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the second embodiment are denoted by the same reference numerals, and description thereof is omitted. In the sixth embodiment, the date and time data setting unit 17 sets the date and time at which the control method is to be switched in the control mode switching unit 6. Then, the set date and time data is output to the date and time determination unit 18 and the date and time determination unit 1
Reference numeral 8 compares the current date and time with the set date and time, and outputs the result of the determination to the control method switching means 6. The control mode switching unit 6 determines the output destination of the operation data based on the result determined by the date and time determination unit 18.
And the second path generation means 4. Therefore, there is an effect similar to that of the fifth embodiment.

Next, a seventh embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted. In the seventh embodiment, the energy calculation means 2 calculates the amount of energy required for the operation of the robot 5 based on the operation data. Then, the calculated energy amount is output to the energy comparing means 19. The energy comparison means 19 receives this and compares the energy amount with a preset threshold value, and outputs the result of the comparison to the control method switching means 6. The control mode switching means 6 receives this and switches the control mode. As described above, the position command output by the control method switching means 6 can be switched according to the magnitude of the energy required for the operation of the robot 5, and the amount of energy consumed can be switched.
Even during the operation, the robot operation considering the energy consumption can be realized. For example, if an upper limit value of the energy amount required for the robot 5 is set, the robot operation can be performed optimally without exceeding the upper limit value.

Next, an eighth embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the second embodiment are denoted by the same reference numerals, and description thereof is omitted. In the eighth embodiment, the energy calculation means 2 calculates the amount of energy required for the operation of the robot 5 based on the operation data. Then, the calculated energy amount is output to the energy comparing means 19. The energy comparison means 19 receives this and compares the energy amount with a preset threshold value, and outputs the result of the comparison to the control method switching means 6. The control mode switching unit 6 switches the output destination of the operation data between the first route generation unit 3 and the second route generation unit 4 according to the result determined by the energy comparison unit 19. Therefore, there is an effect similar to that of the seventh embodiment.

A ninth embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted. In the ninth embodiment, the surplus time calculating means 20 determines the robot 5 based on the work situation around the robot such as a jig.
Is calculated as the surplus time until the start of the operation of the next step. Then, the calculated surplus time is output to the surplus time comparison means 21. The surplus time comparing means 21 receives this and compares the surplus time with a preset threshold value, and outputs a result of the comparison to the control method switching means 6. The control mode switching means 6 receives this and switches the control mode. As described above, according to the surplus time in the operation of the robot 5 from the working state around the robot, the control method switching means 6 can switch the output position command and switch the amount of energy consumed by the robot 5. Even when is operating, a robot operation in consideration of energy consumption can be realized. For example, if there is enough time to prepare the jig around the robot, the robot 5 can easily perform an operation capable of reducing the amount of energy according to the preparation of the jig.

Next, a tenth embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the second embodiment are denoted by the same reference numerals, and description thereof is omitted. In the tenth embodiment, the surplus time calculating means 20
, The time until the operation of the next step of the robot 5 is started is calculated as the surplus time from the work situation around the robot such as the jig. Then, the calculated surplus time is output to the surplus time comparison means 21. The surplus time comparing means 21 receives this and compares the surplus time with a preset threshold value, and outputs a result of the comparison to the control method switching means 6. The control mode switching means 6 determines the output destination of the operation data based on the result of the comparison by the surplus time comparison means 21.
Is switched between the route generation means 3 and the second path generation means 4. Therefore, there is an effect similar to that of the ninth embodiment.

An eleventh embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted. In the eleventh embodiment, the time until the execution of the next step of the operation of the robot 5 is started is calculated by the time calculating means 22. Then, the remaining required time of the current work is calculated by the remaining operation time calculation calculating means 23. Further, with the outputs from the time calculating means 22 and the remaining operation time calculating means 23 as inputs, the margin calculating means 24 calculates the margin for the work by comparing the time required until the next step execution starts with the remaining required time. Then, the calculated margin is output to the margin comparing means 25. The margin comparing means 25 receives this and compares the previously set threshold with the margin, and outputs the comparison result to the control method switching means 6. The control mode switching means 6 receives this and switches the control mode. in this way,
According to the surplus time in the operation of the robot body, the control method switching means 6 can switch the output position command to switch the amount of energy consumed. Operation can be realized. For example, when there is a sufficient interval until the next operation in the operation of the robot, the robot can easily perform an operation capable of reducing energy in accordance with the start of the next operation.

The twelfth embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those of the second embodiment are denoted by the same reference numerals, and description thereof is omitted. In the twelfth embodiment, the time until the execution of the next step of the operation of the robot 5 is started is calculated by the time calculating means 22. Then, the remaining required time of the current work is calculated by the remaining operation time calculation calculating means 23. Further, with the outputs from the time calculating means 22 and the remaining operation time calculating means 23 as inputs, the margin calculating means 24 calculates the margin for the work by comparing the time required until the next step execution starts with the remaining required time. Then, the calculated margin is output to the margin comparing means 25. The margin comparing means 25 receives this and compares the previously set threshold with the margin, and outputs the comparison result to the control method switching means 6. Control method switching means 6
Switches the output destination of the operation data between the first route generation unit 3 and the second route generation unit 4 according to the result of the comparison by the margin comparison unit 25. Therefore, the first
There is an effect similar to that of the first embodiment.

The thirteenth embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted. In the thirteenth embodiment, the control unit 26 calculates a voltage command to be applied to the motor 51 based on the operation data of the operation command generation unit 1. The calculated electric command is output to the motor ON / OFF switching means 27. Usually, the electric command is output to the servo amplifier 8, and the servo amplifier 8 drives the motor 51 based on the electric command. To adjust. The gravitational component extracting unit 28 extracts a gravitational component applied to the motor 51 from the operation data of the robot 5 and outputs the gravitational component to the motor ON / OFF switching unit 27. further,
As an operation method of the robot 5, a time relating to the operation of the robot 5 and an operation condition for obtaining accuracy relating to the operation of the robot 5 are set in advance, and the operation condition determination unit 29 determines the operation condition, and the motor ON / OFF switching unit 27. Output to Here, when the time related to the operation of the robot 5 and the accuracy related to the operation of the robot 5 are not necessary, when the positive gravity component is extracted by the gravity component extracting unit 28, the motor ON / OFF switching unit 27 In the motor free state, the command voltage is not supplied to the servo amplifier 8, and the motor 51 is moved only by the gravity component output from the gravity component extraction means 28. Further, the rotation amount of the motor 51 is detected by the position detection means 30 and the movement amount monitoring means 31 is detected.
Output to The movement amount monitoring means 31 monitors whether or not the motor 51 has moved to a predetermined position, and when it reaches the predetermined position, outputs information to the motor ON / OFF switching means 27 and switches to the motor ON state. Therefore, at this time, the operation is indeterminate in speed and indeterminate in trajectory in the motor-free state. However, by using gravity in the operation in the same direction as the direction of gravity, energy related to the operation of the robot can be saved. .

A fourteenth embodiment of the present invention will be described. The configuration will be described with reference to FIG. Further, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted. In the fourteenth embodiment, a plurality of robots 32
In the entire facility 32 where 1 is installed, the total energy amount consumed by the operation of the robot is calculated by the total energy calculating means 322. The calculated total energy amount is output to the comparison determination unit 323. Comparison judgment means 32
In 3, the predetermined energy amount is compared with the calculated total energy amount of the entire facility 32. If the total energy amount exceeds the set value, a plurality of robots 321 are set.
Robot 32 capable of energy-saving operation
A request is made to the selection means 324 to select 1. The selection unit 324 selects a robot 321 capable of performing an operation capable of reducing energy based on the information output from the energy reduction operation availability determination unit 33, and selects the selected robot 321.
To perform operations that can reduce energy. Although each robot 321 does not have the second route generating means 4 and the control method switching means 6 as compared with FIG.
, A servo amplifier 8 and a robot 5 having a motor 51 and a brake 52 (not shown). Further, the energy reduction operation availability determination means 33 includes:
The determination is made based on the amount of energy required for the operation of the robot output from the energy calculation means 2. Accordingly, if the upper limit of the amount of consumed energy that can be supplied to the entire facility 32 is set, the operation of each robot 321 can be optimally performed as the entire facility 32 without exceeding the upper limit.

A fifteenth embodiment of the present invention will be described. First, the configuration will be described with reference to FIG. The same components as those in the first embodiment and the second embodiment are denoted by the same reference numerals, and description thereof is omitted. In the fifteenth embodiment, the teaching unit 34 is a unit that creates a program for operating the robot 5, and the teaching unit 34 includes an operation command generation unit that generates operation data for operating the robot 5. 1 and energy calculating means 2 for calculating the amount of energy consumed based on the operation data taught
And an energy display unit 35 for displaying the calculated energy amount. The operation command generation unit 1 generates operation data based on position data, speed data, and the like taught to operate the robot 5. The generated operation data is output to the energy calculation means 2. The energy calculating means 2 calculates the inertia JL and Δω from the operation data, and calculates the amount of energy required for the operation taught from (Equation 1) from the torque constant Kt determined in advance by the motor. The calculated consumed energy is output to the energy display unit 35 and the calculated value is displayed. Accordingly, by displaying the energy consumption when teaching the program for operating the robot 5, it is possible to create an operation program in consideration of the energy consumption.

[0099]

According to the robot control method of the present invention, it is possible to calculate the amount of energy required for the operation of the robot based on the operation data of the robot, and to reduce the amount of energy to be smaller than the calculated amount of energy. Since the robot position command and the position command generated based on the operation data of the robot are switched and output, the position command of the robot that can reduce the amount of energy required for the operation of the robot is generated. Can operate the robot. Therefore, control by energy management can be performed, and by switching control methods instantaneously, an optimum robot operation can be performed with a minimum necessary energy consumption.

According to the robot control method of the second aspect, the robot can calculate the amount of energy required for the operation of the robot based on the operation data of the robot, and can reduce the energy amount from the calculated amount of energy. Switching between the case of generating the position command of the robot and the case of generating the position command of the robot based on the operation data of the robot, so that the energy required for the operation of the robot can be instantly obtained without generating the position command redundantly. The robot can be operated by generating a position command of the robot capable of reducing the amount. Therefore, control by energy management can be performed, and by instantaneously switching the control method,
Optimal robot operation can be performed with minimum necessary energy consumption.

According to the robot control method of the third aspect, the operation time of the robot is calculated based on the operation data of the robot, and the position command of the robot is switched and output according to the magnitude of the calculated time. According to the tact time, a robot position command that can reduce the amount of energy required for the operation of the robot can be generated to operate the robot. Therefore, the control can be performed by managing the tact time, and the robot can be operated in the optimum tact time with the necessary minimum energy consumption by switching the control method instantaneously.

According to the robot control method of the fourth aspect, the operation time of the robot is calculated based on the operation data of the robot, and the output destination of the operation data of the robot is switched according to the magnitude of the calculated time. According to the size of the tact time, the robot can generate the position command of the robot which can immediately reduce the amount of energy required for the operation of the robot without generating the position command redundantly, and can operate the robot. . Therefore, the control can be performed by managing the tact time, and the robot can be operated in the optimum tact time with the necessary minimum energy consumption by switching the control method instantaneously.

According to the robot control method of the present invention, since the position command of the robot is switched and output based on the current date and time data, the amount of energy required for the operation of the robot is reduced depending on the date and time of the work. The robot can operate by generating a position command of the robot that can be operated. Therefore, optimal production management including energy consumption can be performed by a production plan including date and time management.

According to the robot control method of the present invention, the output destination of the operation data of the robot is switched based on the current date and time data.
It is possible to immediately generate a position command of the robot that can reduce the amount of energy related to the operation of the robot without generating a position command redundantly, and operate the robot. Therefore, optimal production management including energy consumption can be performed by a production plan including date and time management.

According to the robot control method of the present invention, since the position command of the robot is switched and output according to the magnitude of the energy amount calculated based on the operation data of the robot, it is necessary for the operation of the robot. According to the amount of energy, the robot can generate a position command of the robot capable of reducing the amount of energy required for the operation of the robot and operate the robot. Therefore, the energy consumption can be constantly monitored, and the operation can be performed with the set energy amount without consuming excessive energy.

According to the robot control method of the present invention, the output destination of the operation data of the robot is switched according to the magnitude of the energy amount calculated based on the operation data of the robot. In accordance with the magnitude of the energy amount, the robot can immediately generate a position command of the robot capable of reducing the amount of energy required for the operation of the robot without generating a redundant position command, and operate the robot. Therefore, the energy consumption can be constantly monitored, and the operation can be performed with the set energy amount without consuming excessive energy.

According to the robot control method of the ninth aspect, the surplus time until the next step of the robot is calculated based on the situation around the robot such as the operation state of the jig, and the calculated extra time is calculated. The robot's position command is switched and output according to the size, so the robot position command that can reduce the amount of energy required for the robot operation is generated according to the work situation around the robot and the robot is operated. it can. Therefore, the work can be performed with minimum necessary energy consumption without hindering the work content.

According to the robot control method of the tenth aspect, the surplus time until the next step of the robot is calculated based on the situation around the robot such as the operation state of the jig, and the calculated surplus time is calculated. Since the output destination of the operation data of the robot is switched according to the size, according to the work situation around the robot, without repeatedly generating a position command,
Immediately, it is possible to generate a robot position command that can reduce the amount of energy required for the operation of the robot and operate the robot. Therefore, the work can be performed with minimum necessary energy consumption without hindering the work content.

According to the robot control method of the eleventh aspect, the time required until the next work step of the robot is calculated, the remaining operation time of the robot work is calculated, and the required time and the remaining operation time are calculated. A margin is calculated by inputting, and the position command of the robot is switched and output according to the magnitude of the calculated margin, so that the amount of energy required for the operation of the robot is reduced according to the work situation of the robot. The robot can operate by generating a position command of the robot that can perform the operation. Therefore, the work can be performed with minimum necessary energy consumption without hindering the work content.

According to the robot control method of the twelfth aspect, the required time until the next work step of the robot is calculated, the remaining operation time of the robot work is calculated, and the required time and the remaining operation time are calculated. The input is used to calculate the margin, and the output destination of the operation data of the robot is switched according to the magnitude of the calculated margin, so that the position command is not generated redundantly according to the work situation of the robot. Immediately,
The robot can be operated by generating a position command of the robot capable of reducing the amount of energy required for the operation of the robot. Therefore, the work can be performed with minimum necessary energy consumption without hindering the work content.

According to the robot control method of the thirteenth aspect, the movement component in the direction of gravity is extracted from the operation data for operating the robot, and the time related to the operation of the robot or the accuracy related to the operation of the robot is not determined. When the operation state is determined and the operation time of the robot or the operation state that does not require the accuracy of the operation of the robot is determined, the motor is switched to operate in the motor-free state, and the motor is moved to a predetermined position. When the operation moves in the direction of gravity, it can move using the gravity component. Therefore, energy required only for maintaining the posture of the robot can be saved.

According to the robot control method of the present invention, the energy amount of the whole facility in which the plurality of robots are installed is calculated, and when the calculated energy amount exceeds a predetermined value, the plurality of robots are set. Selects a robot that can reduce energy and allows the selected robot to perform an operation that can reduce energy, so it is possible to reduce the energy required for robot operation in a facility where multiple robots operate. It is possible to select a robot and operate the robot while reducing the energy required for the operation of the robot. Therefore, energy required when the robot moves in the same direction as gravity can be saved.

According to the robot control method of the present invention, the operation data for operating the robot is generated, and the amount of energy required for the operation of the robot is calculated and displayed based on the operation data. When teaching the operation program, the amount of energy required for the operation can be calculated and displayed based on the taught operation data. Therefore, an operation program can be created in consideration of the amount of energy used, which is extremely useful in practice.

According to the robot control device of the sixteenth aspect, the same effect as that of the first aspect is obtained.

According to the robot control apparatus of the present invention, the control system switching means for switching the operation data to be output to the first path generating means and the second path generating means is provided. effective.

According to the robot control device of the eighteenth aspect, the tact time calculation means for calculating the operation time of the robot based on the operation data of the robot and the magnitude of the time calculated by the tact time calculation means, Since the control method switching means for switching the input from the first path generation means and the input from the second path generation means and outputting the position command to the control means is provided, the same effects as those of the third and sixteenth aspects are obtained.

According to the robot control device of the nineteenth aspect, the tact time calculating means for calculating the operating time of the robot based on the operation data of the robot and the magnitude of the time calculated by the tact time calculating means make it possible to execute Since the control method switching means for switching the operation data to be output to the first path generation means and the second path generation means is provided, the same effects as those of the fourth and seventeenth aspects are obtained.

According to the robot control device of the twentieth aspect, the date and time data setting means for setting the current date and time, and the input from the first path generation means and the second path generation means based on the date and time data And a control method switching means for outputting a position command to the control means by switching the control means is provided.

According to the robot controller of the present invention, the control method switching means for switching the operation data to be output to the first route generation means and the second route generation means based on the set date and time data is provided. With this arrangement, the same effects as those of the sixth and seventeenth aspects can be obtained.

According to the robot control device of the twenty-second aspect, based on the magnitude of the energy amount calculated based on the operation data of the robot, the first and second route generation means and the second route generation means generate a signal from the first and second route generation means. Since the control method switching means for switching the input and outputting the position command to the control means is provided, the same effects as those of the seventh and sixteenth aspects are obtained.

According to the robot control device of the twenty-third aspect, based on the magnitude of the energy amount calculated based on the operation data of the robot, the output is provided to the first path generation means and the second path generation means. A control system switching means for switching operation data to be performed is provided.
There is an effect similar to 7.

According to the robot controller of the twenty-fourth aspect, the surplus time calculating means for calculating the surplus time until the next step of the robot based on the situation around the robot such as the operation state of the jig, and the calculation thereof The control method switching means for switching the input from the first path generation means and the second path generation means and outputting a position command to the control means based on the size of the surplus time is provided. Claim 1
6 has the same effect.

According to the robot control device of the twenty-fifth aspect, the surplus time calculating means for calculating the surplus time until the next step of the robot based on the situation around the robot such as the operation status of the jig, and the calculation thereof Since the control method switching means for switching the operation data to be output to the first path generation means and the second path generation means is provided according to the size of the surplus time, the same effects as those of the tenth and seventeenth aspects are obtained. .

According to the robot control device of the twenty-sixth aspect, the time calculating means for calculating the time required until the next work step of the robot, and the remaining operation time calculating means for calculating the remaining operation time of the robot work. A margin calculating means for calculating the margin by inputting the outputs from the time calculating means and the remaining operation time calculating means, and a first path generating means and a second path according to the magnitude of the calculated margin. Since the control system switching means for switching the input from the generation means and outputting the position command to the control means is provided, the same effects as those of the eleventh and sixteenth aspects are obtained.

According to the robot control device of the twenty-seventh aspect, the time calculation means for calculating the time required until the next work step of the robot, and the remaining operation time calculation means for calculating the remaining operation time of the robot work A margin calculating means for calculating the margin by inputting the outputs from the time calculating means and the remaining operation time calculating means, and a first path generating means and a second path according to the magnitude of the calculated margin. Since the control method switching means for switching the operation data to be output to the generating means is provided, the same effects as those of the twelfth and seventeenth aspects are obtained.

According to the robot control device of the twenty-eighth aspect, a gravity component extracting means for extracting a moving component in the direction of gravity from the operation data for operating the robot, and a method for controlling the time related to the operation of the robot or the operation of the robot An operating condition determining means for determining an operating condition that does not require such accuracy; and a motor operating from an output from the gravitational component extracting means when operating time does not require accuracy related to time or operation of the robot. Motor O to switch to
Since the N / OFF switching means, the position detecting means for detecting the rotational position of the motor, and the moving amount monitoring means for judging whether the motor has reached the target position are provided, the same effects as those of the thirteenth aspect are obtained.

According to the robot control device of the present invention, the total energy calculating means for calculating the energy amount of the whole facility in which the plurality of robots are installed, and the plural energy calculating means when the calculated energy amount exceeds a predetermined value. Since the selecting means for selecting a robot capable of performing an operation capable of reducing energy among the robots is provided, the same effect as that of the fourteenth aspect is obtained.

According to the robot control device of the present invention, the energy calculating means for calculating the amount of energy required for the operation of the robot from the operation data of the robot and the display device for displaying the calculated amount of energy are provided. Since this is provided, the same effect as in claim 15 can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a first exemplary embodiment of the present invention.

FIG. 2 is a configuration diagram of a two-degree-of-freedom robot arm for describing the first embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of a second exemplary embodiment of the present invention.

FIG. 4 is a block diagram showing a configuration of a third exemplary embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a fourth embodiment of the present invention.

FIG. 6 is a block diagram illustrating a configuration of a fifth exemplary embodiment of the present invention.

FIG. 7 is a block diagram showing a configuration of a sixth exemplary embodiment of the present invention.

FIG. 8 is a block diagram showing a configuration of a seventh exemplary embodiment of the present invention.

FIG. 9 is a block diagram showing a configuration of an eighth embodiment of the present invention.

FIG. 10 is a block diagram showing a configuration of a ninth embodiment of the present invention.

FIG. 11 is a block diagram showing a configuration of a tenth embodiment of the present invention.

FIG. 12 is a block diagram showing a configuration of an eleventh embodiment of the present invention.

FIG. 13 is a block diagram showing a configuration of a twelfth embodiment of the present invention.

FIG. 14 is a block diagram showing a configuration of a thirteenth embodiment of the present invention.

FIG. 15 is a block diagram showing a configuration of a fourteenth embodiment of the present invention.

FIG. 16 is a block diagram showing a configuration of a fifteenth embodiment of the present invention.

FIG. 17 is a block diagram showing a configuration for implementing conventional energy saving.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 operation command generating unit 2 energy calculating means 3 first path generating means 4 second path generating means 5 robot 6 control method switching means 7 control means 8 servo amplifier 9 motor 10 motor 11 link 12 link 13 fixing stand 14 load 15 Tact time calculation hand throw 16 Tact time comparison means 17 Date and time data setting means 18 Date and time determination means 19 Energy comparison means 20 Surplus time calculation means 21 Extra time comparison means 22 Time calculation means 23 Remaining operation time calculation means 24 Margin calculation means 25 Margin Degree comparison means 26 Control unit 27 Motor ON / OFF switching means 28 Gravity component extraction means 29 Operating condition determination means 30 Position detection means 31 Movement monitoring means 32 Entire facility 33 Energy reduction operation availability determination means 34 Teaching means 35 Energy display unit 36 Timer 37 Stop status judgment Constant part 51 Motor 52 Brake 321 Robot 322 Total energy calculation means 323 Comparison judgment means 324 Selection means

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Kei Aimi, 1006 Kadoma, Kazuma, Osaka Prefecture, Matsushita Electric Industrial Co., Ltd. (72) Inventor Masahiro Ohne 1006 Kazuma Kadoma, Kazuma, Osaka Prefecture F-term in Matsushita Electric Industrial Co., Ltd. (reference) FF06 HH05 KK35 LL03 MM02 MM05

Claims (30)

[Claims] 1. A step of generating operation data for operating a robot, a step of calculating an amount of energy required for the operation based on the operation data, and reducing the calculated amount of energy. Generating a position command for the robot, generating the position command for the robot based on the operation data, and switching the input of the generated position command for the robot to output the position command to the control means. A robot control method including steps. 2. A step of generating operation data for operating the robot, a step of calculating an amount of energy required for the operation based on the operation data, and a step of reducing the calculated amount of energy. Generating a first position command of the robot, generating a second position command of the robot based on the operation data, and outputting the operation data for operating the robot to the first position command; A robot control method including a step of switching to one of generation of a position command and generation of the second position command. 3. A step of generating operation data for operating the robot, a step of calculating an amount of energy necessary for the operation based on the operation data, and the step of reducing the calculated amount of energy. Generating a position command of the robot, generating a position command of the robot based on the operation data, calculating an operation time of the robot based on the operation data of the robot, and the calculated operation Comparing the time with a preset threshold value, and, based on the comparison result, switching the input of the generated position command of the robot and outputting a position command to the control means. Control method. 4. A step of generating operation data for operating the robot, a step of calculating an energy amount required for the operation based on the operation data, and the step of reducing the calculated energy amount. Generating a first position command of the robot, generating a second position command of the robot based on the operation data, and calculating an operation time of the robot based on the operation data of the robot And a step of comparing the calculated operation time with a preset threshold value. Based on the comparison result, an output destination of operation data for operating the robot is generated and generated by the first position command. A robot control method including a step of switching to one of the generation of the second position command. 5. A step of generating operation data for operating the robot, a step of calculating an amount of energy required for the operation based on the operation data, and a step of reducing the calculated amount of energy. A step of generating a position command of the robot, a step of generating a position command of the robot based on the operation data, a step of setting date and time data at which a control method is to be switched, and the current date and time are set. A robot control method, comprising the steps of: judging whether or not it is the date and time; and, based on the judgment result, switching input of the generated position command of the robot and outputting the position command to the control means. 6. A step of generating operation data for operating the robot, a step of calculating an amount of energy required for the operation based on the operation data, and a step of reducing the calculated amount of energy. Generating a first position command for the robot, generating a second position command for the robot based on the operation data, setting date and time data for which a control method is to be switched, A step of determining whether the date and time is the set date and time; and, based on the determined result, an output destination of operation data for operating the robot, the generation of the first position command and the second
A robot control method including a step of switching to any one of the generation of the position command. 7. A step of generating operation data for operating the robot, a step of calculating an amount of energy required for the operation based on the operation data, and a step of reducing the calculated amount of energy. Generating a position command for the robot, generating a position command for the robot based on the operation data, and comparing the calculated energy amount with a preset energy amount. Switching the input of the generated position command of the robot based on the result and outputting the position command to the control means. 8. A step of generating operation data for operating the robot, a step of calculating an amount of energy required for the operation based on the operation data, and a step of reducing the calculated amount of energy. Generating a first position command for the robot, generating a second position command for the robot based on the operation data, and comparing the calculated energy amount with a preset energy amount. And switching the output destination of operation data for operating the robot to one of the first position command generation and the second position command generation based on the comparison result. Robot control method. 9. A step of generating operation data for operating the robot, a step of calculating energy required for operation based on the operation data, and a step of reducing the calculated energy of the robot. Generating a position command; generating a position command for the robot based on the operation data; and operating the jig involved in the operation of the robot, such as the operation state of the jig. Calculating a surplus time until the step, comparing the calculated surplus time with a preset threshold value, and inputting a position command of the robot generated based on the comparison result. And outputting a position command to the control means by switching the control method. 10. A step of generating operation data for operating the robot, a step of calculating energy required for the operation based on the operation data, and a step of reducing the calculated energy of the robot. Generating a first position command; generating a second position command of the robot based on the operation data; and operating based on a situation around the robot, such as an operation state of a jig related to the operation of the robot. Calculating a surplus time until the next step of the robot,
Comparing the calculated surplus time with a preset threshold value, and, based on the result of the comparison, specifying the output destination of the operation data for operating the robot by generating the first position command and A robot control method including a step of switching to one of the generation of the second position command. 11. A step of generating operation data for operating the robot, a step of calculating energy required for the operation based on the operation data, and a step of reducing the calculated energy of the robot. A step of generating a position command; a step of generating a position command of the robot based on the operation data; and a step in which the robot is executing the operation program until the start of the operation program set to be executed next. Calculating a time, calculating a remaining operation time of the operation program being executed by the robot, and calculating the margin of work of the robot by inputting the calculated time and the remaining operation time. Comparing the calculated margin with a preset threshold value; A robot control method, comprising: switching input of the generated position command of the robot based on the obtained result and outputting the position command to control means. 12. A step of generating operation data for operating the robot, a step of calculating energy required for operation based on the operation data, and a step of reducing the calculated energy. Generating a first position command; generating a second position command for the robot based on the operation data; and an operation set to be performed next while the robot is executing an operation program Calculating the time until the start of the program; calculating the remaining operation time of the operation program being executed by the robot; and inputting the calculated time and the remaining operation time to perform the operation of the robot. Calculating a margin, comparing the calculated margin with a preset threshold value, Control of the robot including a step of switching an output destination of operation data for operating the robot to one of generation of the first position command and generation of the second position command based on the comparison result of Method. 13. A step of generating operation data for operating the robot, a step of extracting a movement component in the direction of gravity based on the operation data, and an operation of the robot when inputting operation data of the robot in advance. Determining a robot operation condition as to whether or not the operation requires the time required for the operation of the robot or the accuracy required for the operation of the robot, and, based on the operation data, To control whether the motor is in a motor-free state, to detect the rotational position of a motor that drives the robot, and to determine whether the motor has reached a target position and to determine whether the motor has reached a target position. A method for controlling a robot, comprising the step of: switching between motor control and motor-free by a motor. 14. A step of calculating an energy amount of the entire facility in which a plurality of robots are installed, a step of comparing the calculated energy amount with a preset threshold value, Selecting a robot capable of reducing energy among the plurality of robots, and outputting a signal requesting the selected robot to perform an operation capable of reducing energy, Generating a position command for the robot that can reduce the energy based on the signal in this step. 15. The method includes the steps of generating operation data for operating a robot, calculating an amount of energy required for operation of the robot based on the operation data, and displaying the calculated amount of energy. Robot control method. 16. An operation command generation unit for generating operation data for operating a robot, energy calculation means for calculating an energy amount required for operation based on the operation data, and reducing the calculated energy amount. First path generating means for generating a position command of the robot capable of performing, and second path generating means for generating a position command of the robot based on the operation data output from the operation command generating section; The first route generating means and the second
A control system switching unit for switching an input from the path generation unit and outputting a position command to the control unit. 17. An operation command generation unit for generating operation data for operating a robot, an energy calculation unit for calculating an amount of energy required for operation based on the operation data, and reducing the calculated amount of energy. First path generating means for generating a position command of the robot capable of performing, and second path generating means for generating a position command of the robot based on the operation data output from the operation command generating section; A control device for a robot, comprising: a control mode switching unit that switches an output destination of the operation data output from the operation command generation unit to one of the first path generation unit and the second path generation unit. 18. Tact time calculation means for calculating the operation time of the robot based on the operation data of the robot, and tact time comparison means for comparing the operation time calculated by the tact time calculation means with a preset threshold value. The control method switching means switches the inputs from the first path generation means and the second path generation means and outputs a position command to the control means based on the result of comparison by the tact time comparison means. The control device for a robot according to claim 16. 19. Tact time calculation means for calculating the operation time of the robot based on the operation data of the robot, and tact time comparison means for comparing the operation time calculated by the tact time calculation means with a preset threshold value. Control method switching means, based on the result of the comparison by the tact time comparison means, the output destination of the operation data output from the operation command generation unit, the first path generation means and the second path generation means The control device for a robot according to claim 17, wherein the switching is performed by: 20. Date and time data setting means for setting date and time data for which control method switching is to be performed, and date and time determination means for determining whether the current date and time is the date and time set in the date and time data setting means. 17. The control system switching unit switches the inputs from the first route generation unit and the second route generation unit and outputs a position command to the control unit based on the result determined by the date and time determination unit. The control device of the described robot. 21. Date and time data setting means for setting date and time data for which control method switching is to be performed, and date and time determination means for determining whether a current date and time is the date and time set in the date and time data setting means. The control method switching means sets the output destination of the operation data output from the operation command generation unit to the first path generation means and the second path generation means based on the result determined by the date and time determination means. The control device for a robot according to claim 17, wherein the switching is performed by: 22. An energy comparing means for comparing an amount of energy required for the operation of the robot calculated by the energy calculating means with a predetermined amount of energy, wherein the control method switching means includes: 17. The robot control device according to claim 16, wherein a position command is output to the control unit by switching an input from the first route generation unit and a second route generation unit based on a result of the comparison. 23. An energy comparing means for comparing an amount of energy required for the operation of the robot calculated by the energy calculating means with a predetermined amount of energy, wherein the control method switching means includes: 18. The robot control device according to claim 17, wherein an output destination of the operation data output from the operation command generation unit is switched between the first path generation unit and the second path generation unit based on the comparison result. 24. A surplus time calculating means for calculating a surplus time until the next step of the robot based on an operation state around the robot, such as an operation state of a jig relating to the operation of the robot, and the calculated extra time. And a surplus time comparing means for comparing the surplus time comparing means with a preset threshold value. The control method switching means includes a first route generating means and a second 17. The robot control device according to claim 16, wherein a position command is output to the control unit by switching an input from the route generation unit. 25. A surplus time calculating means for calculating a surplus time until the next step of the robot, based on an operation state around the robot, such as an operation state of a jig relating to the work of the robot, and the calculated surplus time. And a surplus time comparison means for comparing a preset threshold value, and the control method switching means operates based on a result of the comparison by the surplus time comparison means. 18. The robot control device according to claim 17, wherein a data output destination is switched between the first path generation unit and the second path generation unit. 26. A time calculating means for calculating a time until a start of an operation program set to be executed next while the robot is executing the operation program, and a remaining operation of the operation program being executed by the robot. Remaining operation time calculation means for calculating time, a margin calculation means for inputting outputs from the time calculation means and the remaining operation time calculation means, and calculating a margin for work of the robot; A margin comparing means for comparing the margin with a preset threshold value, wherein the control mode switching means compares the margin with the first route generating means based on a result of the comparison by the margin comparing means. 17. The robot control apparatus according to claim 16, wherein a position command is output to the control means by switching an input from the second path generation means. 27. Time calculation means for calculating a time until the start of an operation program set to be executed next while the robot is executing the operation program, and a remaining operation of the operation program being executed by the robot. Remaining operation time calculation means for calculating time, a margin calculation means for inputting outputs from the time calculation means and the remaining operation time calculation means, and calculating a margin for work of the robot; A margin comparing means for comparing the margin with a preset threshold value, wherein the control mode switching means outputs from the operation command generation section based on a result of the comparison by the margin comparing means. 2. The output destination of the operation data is switched between the first route generation unit and the second route generation unit.
The control device for a robot according to claim 7. 28. An operation command generating unit for generating operation data for operating a robot, a gravity component extracting means for extracting a moving component in a direction of gravity from the operation data, and inputting the operation data of the robot in advance. An operating condition determining means for determining a time required for the operation of the robot or a robot operating condition as to whether or not the operation requires accuracy required for the operation of the robot; Motor ON / OFF switching means for switching between control based on the operation data and a motor free state, a position detection means for detecting a rotational position of the motor, A robot having a movement amount monitoring means for determining whether the motor has arrived and controlling the motor ON / OFF switching means based on the information. Control device. 29. An operation command generation unit for generating operation data for operating a robot, energy calculation means for calculating an energy amount required for operation based on the operation data, and reducing the calculated energy amount. Path generating means for generating a position command of a robot capable of performing the operation, total energy calculating means for calculating the energy amount of the entire facility in which a plurality of robots are installed, and the calculated energy amount and a preset threshold value And a robot capable of reducing energy among a plurality of robots based on a result determined by the comparison and determination means. Selecting means for outputting a signal requesting to perform an operation capable of reducing the A control device for a robot that performs control based on these signals in accordance with a position command from the route generating means. 30. An operation command generating unit for generating operation data for operating a robot, energy calculating means for calculating an energy amount required for the operation of the robot based on the operation data, and A robot control device including an energy display unit for displaying an amount of energy consumed based on the information.