JPH03111185A - Control unit for robot - Google Patents

Abstract

PURPOSE:To automatically stop a robot in the case of abnormality being generated during the robot actuation by a manual operation by composing it so as to detect the abnormality generation of a teaching box with the control part main body. CONSTITUTION:When a microprocessor 5 is normally operated, a one shot timer 8 keeps to be reset prior to the time-up and the output level is not changed. In the case of abnormality being generated on the microprocessor 5, the reset of the one shot timer 8 is not performed and the level of an output control wire 13 varies. A control part main body 3 detects this level variation to know the abnormality generation and the counter measure of stopping a robot 1, etc., are carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a robot control device, and particularly to a robot control device having a teaching box used for performing manual operations and the like.

(Prior Art) A microprocessor is usually used in a teaching box, and manual operation of the robot is performed by sending a code corresponding to a pressed key switch to a control device main body.

Conventionally, if an abnormality occurs in the microprocessor etc. while the robot is operating manually and it becomes impossible to send a normal code, it is not possible to stop the robot normally, and the operator cannot control the robot's operation. It was determined through 11th visual inspection that the robot was abnormal, and the robot was stopped by separately operating an emergency stop switch or the like.

(Problems to be Solved by the Invention) In the conventional technology described above, even if an abnormality occurs in the teaching pendant and the robot malfunctions as a result, the device cannot automatically take countermeasures, resulting in a safety problem. However, there were problems in terms of reliability.

The present invention has been made in view of the above-mentioned problems, and
The purpose is to provide a robot control device that can detect an abnormality in a teaching pendant and automatically stop the robot operation when an abnormality occurs.

(Means for Solving the Problems) The present invention provides a teaching box used for manual operation of a robot, etc., which is equipped with a means for sending out a code corresponding to a pressed key switch, and a teaching box that is used for manual operation of a robot or the like. In a robot control device having a control unit main body that receives a code and executes a corresponding robot operation, the teaching box includes a timer whose output level changes when a first period elapses after a reset, and a timer whose output level changes when a first period elapses after a reset. and a timer reset means for periodically resetting the timer every second period shorter than the first period, and the output of the timer is input to the control unit main body via a control line. The control unit main body has a means for monitoring the level of the control line, and when the level of the control line changes, it is determined that an abnormality has occurred in the teaching pendant, and measures such as stopping the robot operation are taken. It is characterized by carrying out.

(Operation) When the microprocessor is operating normally, the one-shot timer continues to be reset before time-up, and the output level does not change. If an abnormality occurs in the microprocessor, the one-shot timer is reset or the level of the output control line changes. The main body of the control unit detects this level change, learns of the occurrence of an abnormality, and takes countermeasures such as stopping the robot movement 1-1.

(Example) Next, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of an embodiment of the robot control device of the present invention.

The present embodiment includes a teaching box 2 for controlling the pivoting of the robot 1 and a control unit main body 3.

The teaching box 2 includes a key switch (SV) matrix 4 having a plurality of input keys, a microprocessor 5, a fixed-cycle timer 6 with a cycle T1, a transmission buffer 7 for transmitting instruction codes, and a time-up time (cycle).
The microprocessor 5 includes a key switch (SW) determining section 9, a code sending section 10, and a timer interrupt processing section II.

The key switch (SW) determination unit 9 is a key switch (SV)
) key switch pressed by Matrix 4 operation (
SW) and gives a command to the code sending unit (10). The code sending unit 10 sends a code corresponding to the command to the receiving buffer 14 of the control unit main body 3 via the sending buffer 7 and the signal line 12.

The timer interrupt processing unit 11 is activated by the fixed period timer 6 at regular intervals T1, and resets the one-way timer 8.

The one-shot timer 8 performs time amplification after a certain period of time T2 has elapsed after being reset, and changes its output level. Here, the relationship between the period 'r1 of the fixed-period timer 6 and the period 'I'2 of the one-shot timer 8 is T1.
< T 2.

The code determination unit 15 of the control unit main body 3 uses the reception buffer 14
The received code is determined, and if the code corresponds to the key switch (SW), an operation command is sent to the robot control unit 17.

The level monitoring section 1B monitors the level of the output control line 13, and sends a stop command to the robot control section 17 if the level changes.

The robot control section 17 directly controls the robot upon receiving an operation command from the code discrimination section 15 and a stop command from the level monitoring section 16.

Next, the operation of this embodiment will be explained using flowchart 1.

FIGS. 2(a) and 2(b) are flowcharts for explaining the operation of the teaching box 2.

As shown in FIG. 2(a), the key switch (SW) discriminator 9 detects when the key switch (SW) 7 tricks 4 are operated (
Step 20), determine whether the key switch has been pressed or not.Step 21), if the key switch has been pressed, the code sending unit IO
(Step 22). The code sending section 10 receives the instruction and sends out a code corresponding to the instruction.Step 23
), if there is no instruction to end the operation from the key switch (5W) 7 tricks (step 24), the process returns to step 21 and continues the operation.

Further, as shown in FIG. 2(b), when there is an interrupt from the fixed-period timer 6, the timer interrupt processing unit 1 resets the one-shot timer 8 (step 25).
.

3(a) and 3(b) are flowcharts showing the operation of the control unit main body 3. FIG.

As shown in FIG. 3(a), the reception buffer 14 receives the code sent via the signal line 12 and sends it to the code discrimination section 15 (step 30). The IIT separate section 15 determines the received code and sends a corresponding operation command to the robot control section 17 (step 31).

Further, as shown in FIG. 3(b), the level monitoring unit 16 determines whether the level of the output control line 13 has changed (step 32), and if the level has changed, the robot controls the robot to stop the robot operation. Step 34
), if there is no level change, the robot control section 17 executes normal operation according to the operation command from the code discrimination section I5 (step 33).

In this way, if the teaching box 2 is always operating, the one-shot timer 8 is reset at regular intervals, so the level of the output control line I3 remains unchanged, and the robot l-] is operable. However, when an abnormality occurs in the teaching pendant 2, the one-shot timer 8
Since the glue setting is no longer performed and a time-up occurs, the level of the output control line I3 changes, and the level monitoring section I6 of the control section main body 3 can detect this change and stop the robot operation.

In this embodiment, a microprocessor is used as the teaching box 2, but other child actors may also be used.
The teaching pendant's one-shot timer may also serve as a watchdog timer.

(Effects of the Invention) As explained above, the present invention allows the controller main body 3 to detect the occurrence of an abnormality in the teaching pendant, so that if an abnormality occurs while the robot is manually operated, the robot can be automatically stopped. This has the effect of improving safety and reliability.

[Brief explanation of drawings]

Figure 1 is a block diagram of an embodiment of the robot control device of the present invention, Figures 2 (a) and (b) are flowcharts showing the operating procedure of the teaching pendant, and Figures 3 (a) and (b) are control diagrams. It is a flowchart which shows the operation procedure of a part body. 1...Robot, 2...Teaching box, 3...Control unit body 4...Key switch (SW) matrix 5...Microprocessor 6...Periodic timer 7...Transmission no. 1 Sofa 8
・・One-shot timer 9 ・・Key switch discrimination unit 10 ・・Code sending unit 11 ・・Timer interrupt processing unit I2 ・・Signal line I3・
...Output control line 14...Reception buffer 15
...Code discrimination section 16...Level monitoring section 1
7. Robot control unit 0 Figure 3 (G) JP-A-3-111185 (5)

Claims (1)

[Claims] A teaching box (2) used for manual operation of a robot, etc., which is equipped with means for sending a code corresponding to a pressed key switch, and a code sent from the teaching box (2). In the robot control device, the teaching box (2) has a timer whose output level changes when a first period elapses after being reset. (8) and timer reset means (6, 11) for periodically resetting the timer (8) every second period shorter than the first period of the timer (8); The output of 8) is input to the control unit body (3) via a control line (13), and the control unit body (3) monitors the level of the control line (13). It is characterized by having means (16) for determining that an abnormality has occurred in the teaching box (2) when the level of the control line (13) changes, and taking measures such as stopping the robot operation. robot control device.