CN114833819A - Control device and industrial robot - Google Patents
Control device and industrial robot Download PDFInfo
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- CN114833819A CN114833819A CN202210070685.1A CN202210070685A CN114833819A CN 114833819 A CN114833819 A CN 114833819A CN 202210070685 A CN202210070685 A CN 202210070685A CN 114833819 A CN114833819 A CN 114833819A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides an industrial robot (1) which can perform communication between a CPU (51) and a first D/A converter (61) which individually outputs temperature detection results of a plurality of temperature sensors (31 a-38 a) to a main control device by using a common communication line without increasing the communication speed. The industrial robot (1) is provided with a first D/A converter (61), the first D/A converter (61) outputs the temperature detection result of each of a plurality of temperature sensors (31 a-38 a) which individually detect the temperature of each of a plurality of driving parts (31-38) towards a main control device, and a CPU (51) outputs a CS1 signal which is used for updating the temperature detection result of each of the plurality of temperature sensors individually at different timings.
Description
Technical Field
The present invention relates to a control device and an industrial robot.
Background
Conventionally, an industrial robot is known which includes a control device having an arithmetic processing unit that executes predetermined arithmetic processing for drive control based on a detection result of a first characteristic detecting unit that detects a predetermined first characteristic in a driving unit.
For example, an industrial robot described in patent document 1 includes a motor as a driving unit, a temperature sensor as a first characteristic detection unit, and a control device. The temperature sensor detects a motor temperature as a first characteristic. The control device executes arithmetic Processing for controlling driving of the motor based on a detection result of the temperature sensor by a cpu (central Processing unit) as an arithmetic Processing unit.
Documents of the prior art
Patent document
Patent document 1: japanese laid-open patent publication No. 5-88731
Disclosure of Invention
Technical problem to be solved by the invention
In recent years, with the progress of the technological revolution of industrial robots, it is common to provide industrial robots with a plurality of sensors for individually detecting characteristics such as temperature in each of a plurality of drive units of the industrial robot. In addition, it is conceivable that the detection result of the sensor is transmitted from the control device of the industrial robot to the main control device in the production facility, thereby performing system management of the entire production facility.
In this case, in the control device of the industrial robot, communication between the CPU and the output section for individually outputting each of the plurality of sensing data to the main control device is performed via a common communication line to reduce cost. Therefore, in order to process a large amount of communication data in a short time in a common communication line, it is necessary to increase the communication speed, which reduces noise immunity in the communication line. As a result, a problem arises in that a long communication distance cannot be ensured in order to suppress noise mixing.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a control device and an industrial robot including the control device. That is, it is possible to perform communication between the arithmetic processing unit and an output unit that individually outputs detection results of a plurality of characteristic detection units (for example, temperature sensors) to an external device such as a main control device using a common communication line without increasing the communication speed.
Technical scheme for solving technical problem
In order to achieve the above object, the present invention provides a control device including an arithmetic processing unit that executes predetermined arithmetic processing for drive control based on a first characteristic detection result that is a detection result of a first characteristic detection unit that detects a predetermined first characteristic of a drive unit, the control device including a first output unit that individually outputs the first detection result of each of a plurality of the first characteristic detection units that individually detect the first characteristic of each of a plurality of the drive units to an external device, the arithmetic processing unit outputting a plurality of update signals for individually updating the first characteristic detection result of each of the plurality of the first characteristic detection units at timings different from each other corresponding to the respective first characteristic detection results.
Effects of the invention
According to the present invention, the following excellent effects are obtained: the communication between the arithmetic processing unit and the first output unit that individually outputs the detection results of the plurality of first characteristic detection units to the external device can be performed by using a common communication line without increasing the communication speed.
Drawings
Fig. 1 is a perspective view showing an industrial robot according to an embodiment.
Fig. 2 is a plan view showing the industrial robot.
Fig. 3 is a block diagram showing a main part of a circuit of the industrial robot.
Fig. 4 is a block diagram showing the circuits of the SC harness 57 and the output circuit unit 65 in the industrial robot.
Fig. 5 is a timing chart showing output timings of various signals of the industrial robot.
Fig. 6 is a timing chart showing in more detail the output timing of the acceleration detection result in fig. 5.
Fig. 7 is a waveform diagram showing waveforms of the above-described various signals.
Description of the reference numerals
1 … industrial robot; 31 … a first driving part; 31a … first temperature sensor (first characteristic detecting section); 31b … first current sensor (second characteristic detecting section); 31c … first acceleration sensor (third characteristic detecting unit); 32 … second driving part; 32a … second temperature sensor (first characteristic detecting section); 32b … second current sensor (second characteristic detecting section); 32c … second acceleration sensor (third characteristic detection unit); 33 … a third driving part; 33a … third temperature sensor (first characteristic detecting unit); 33b … third current sensor (second characteristic detecting unit); 31c … first acceleration sensor (third characteristic detecting unit); 34 … fourth driving part; 34a … fourth temperature sensor (first characteristic detecting section); 34b … fourth current sensor (second characteristic detecting section); 34c … fourth acceleration sensor (third characteristic detection unit); 35 … fifth driving part; 35a … fifth temperature sensor (first characteristic detecting section); 35b … fifth current sensor (second characteristic detecting section); 35c … fifth speed sensor (third characteristic detecting section); 36 … sixth driving part; 36a … sixth temperature sensor (first characteristic detecting unit); 36b … sixth current sensor (second characteristic detecting unit); 36c … sixth acceleration sensor (third characteristic detection unit), 37 … seventh driving unit; 37a … seventh temperature sensor (first characteristic detecting section); 37b … seventh current sensor (second characteristic detecting unit); 37c … seventh acceleration sensor (third characteristic detection unit); 38 … eighth driving section 38a … eighth temperature sensor (first characteristic detecting section); 38b … eighth current sensor (second characteristic detecting unit); 31c … eighth acceleration sensor (third characteristic detection unit); 50 … control device; 51a … CPU (arithmetic processing unit).
Detailed Description
Next, a control device and an industrial robot according to an embodiment of the present invention will be described with reference to the drawings. In the drawings below, actual structures and scales, the number of structures, and the like may be different in order to facilitate understanding of the structures.
Fig. 1 is a perspective view showing an industrial robot 1 according to an embodiment. Fig. 2 is a plan view showing the industrial robot 1. The industrial robot 1 is a robot for conveying a glass substrate, and includes an arm 2, a gantry 3, and an elevating unit 4. The elevating unit 4 is held by the gantry 3 and is elevated in the vertical direction (the direction of the arrow in fig. 1) by driving an elevating motor (not shown). The arm 2 includes a hand 2A on which a glass substrate is mounted, a forearm 2B, and an upper arm 2C, and is held by the lift unit 4.
The shoulder joint 2D, which is a connection portion with the elevating portion 4 in the upper arm portion 2C, is rotatable in the horizontal direction by driving of the first motor 22A. Specifically, the rotational driving force of the first motor 22A is transmitted to the shoulder joint 2D via the first belt 2E, so that the shoulder joint 2D rotates in the horizontal direction. The elbow joint 2F, which is the joint between the upper arm 2C and the forearm 2B, is rotatable in the horizontal direction by driving the second motor 22B. Specifically, the rotational driving force of the second motor 22B is transmitted to the elbow joint 2F via the second belt 2G, so that the elbow joint 2F is rotated in the horizontal direction. Further, the joint portion of the forearm 2B and the hand 2A, i.e., the wrist joint, can be rotated in the horizontal direction by receiving the driving force of the second motor 22B via the belt.
The lifting unit 4 in fig. 1 can be lifted and lowered in the direction of the arrow in the figure by the normal rotation and reverse rotation of the lifting motor.
Fig. 3 is a block diagram showing a main part of the circuit of the industrial robot 1. The industrial robot 1 includes a control device 50, a first drive unit 31, a second drive unit 32, a third drive unit 33, a fourth drive unit 34, a fifth drive unit 35, a sixth drive unit 36, a seventh drive unit 37, and an eighth drive unit 38.
The first driving unit 31 includes the first motor (22A in fig. 2). The first driving unit 31 includes a first temperature sensor (TpS1)31a for detecting the temperature of the first motor, a first current sensor (EcS1)31b for detecting the value of current flowing through the first motor, and a first acceleration sensor (AcS1)31c for detecting the acceleration of the first motor. The first temperature sensor 31a outputs a first temperature detection result, which is a temperature detection result of the first motor. The first current sensor 31b outputs a first current detection result, which is a detection result of a value of current flowing through the first motor. The first acceleration sensor 31c outputs a first acceleration detection result, which is an acceleration detection result of the first motor.
The temperature is an example of the first characteristic of the driving unit of the present invention. The current value is an example of the second characteristic of the driving unit of the present invention. The acceleration is an example of the third characteristic of the driving unit of the present invention. The temperature sensor is an example of the first characteristic detection unit according to the present invention. The current value sensor is an example of the second characteristic detection unit according to the present invention. An acceleration sensor is an example of the third characteristic detection unit according to the present invention.
The second driving unit 32 includes the second motor (22B in fig. 2). The second driving unit 32 includes a second temperature sensor (TpS2)32a for detecting the temperature of the second motor, a second current sensor (EcS2)32b for detecting the value of current flowing through the second motor, and a second acceleration sensor (AcS2)32c for detecting the acceleration of the second motor. The second temperature sensor 32a outputs a second temperature detection result, which is a temperature detection result of the second motor. The second current sensor 32b outputs a second current detection result, which is a detection result of a value of current flowing through the second motor. The second acceleration sensor 32c outputs a second acceleration detection result that is an acceleration detection result of the second motor.
The third driving unit 33 includes the above-described elevating motor. The third driving unit 33 includes a third temperature sensor (TpS3)33a for detecting the temperature of the elevator motor, a third current sensor (EcS3)33b for detecting the value of the current flowing through the elevator motor, and a third acceleration sensor (AcS3)33c for detecting the acceleration of the elevator motor. The third temperature sensor 33a outputs a third temperature detection result, which is a temperature detection result of the lift motor. The third current sensor 33b outputs a third current detection result, which is a detection result of a current value flowing through the hoist motor. The third acceleration sensor 33c outputs a third acceleration detection result that is an acceleration detection result of the hoist motor.
The fourth driving unit 34 includes a shoulder joint (2D in fig. 2) as a driving mechanism including gears and the like, and a fourth temperature sensor (TpS4)34a that detects the temperature of the shoulder joint. The fourth drive unit 34 is provided with a fourth current sensor (EcS4)34b and a fourth acceleration sensor (AcS4)34c that detects the acceleration of the upper arm relative to the shoulder of the shoulder joint. The fourth temperature sensor 34a outputs a fourth temperature detection result that is a temperature detection result. The fourth current sensor 34b outputs a fourth current detection result that is a detection result of the current, but in the industrial robot according to the embodiment, since the current detection object is not connected to the fourth current sensor 34b, the fourth current sensor 34b outputs zero as the fourth current detection result. The fourth acceleration sensor 34c outputs a fourth acceleration detection result that is an acceleration detection result.
The fifth driving unit 35 includes an elbow joint (2F in fig. 2) as a driving mechanism configured by gears and the like, and a fifth temperature sensor (TpS5)35a that detects the temperature of the elbow joint. The fifth driving unit 35 includes a fifth current sensor (EcS5)35b and a fifth speed sensor (AcS5)35c that detects the acceleration of the forearm with respect to the upper arm. The fifth temperature sensor 35a outputs a fifth temperature detection result that is a temperature detection result. The fifth current sensor 35b outputs a fifth current detection result that is a detection result of the current, but in the industrial robot of the embodiment, since the current detection object is not connected to the fifth current sensor 35b, the fifth current sensor 35b outputs zero as the fifth current detection result. The fifth speed sensor 35c outputs an acceleration detection result, that is, a fifth speed detection result.
The sixth driving unit 36 includes a wrist joint (joint between the forearm portion 3B and the hand portion 2A) as a driving mechanism formed of gears or the like, and a sixth temperature sensor (TpS6)36a for detecting the temperature of the wrist joint. The sixth driving unit 36 includes a sixth current sensor (EcS6)36b and a sixth acceleration sensor (AcS6)36c that detects acceleration of the rotation of the hand with respect to the forearm. The sixth temperature sensor 36a outputs a sixth temperature detection result, which is a temperature detection result. The sixth current sensor 36b outputs a sixth current detection result that is a current detection result, but in the industrial robot of the embodiment, since the current detection object is not connected to the sixth current sensor 36b, the sixth current sensor 36b outputs zero as the sixth current detection result. The sixth acceleration sensor 36c outputs a sixth acceleration detection result that is an acceleration detection result.
The seventh driving unit 37 includes a first ball screw serving as a driving mechanism of the elevating unit (4 in fig. 1) and a seventh temperature sensor (TpS7)37a for detecting the temperature of the first ball screw. The seventh driving unit 37 includes a seventh current sensor (EcS7)37b and a seventh acceleration sensor (AcS7)37c that detects acceleration of expansion and contraction of the first ball screw. The seventh temperature sensor 37a outputs a seventh temperature detection result that is a temperature detection result. The seventh current sensor 37b outputs a seventh current detection result that is a current detection result, but in the industrial robot of the embodiment, since the current detection object is not connected to the seventh current sensor 37b, the seventh current sensor 37b outputs zero as the seventh current detection result. The seventh acceleration sensor 37c outputs a seventh acceleration detection result that is an acceleration detection result.
The eighth driving unit 38 includes a second ball screw serving as a driving mechanism of the elevating unit (4 in fig. 1) and an eighth temperature sensor (TpS8)38a that detects a temperature of the second ball screw. The eighth driving unit 38 further includes an eighth current sensor (EcS8)38b and an eighth acceleration sensor (AcS8)38c that detects acceleration of expansion and contraction of the second ball screw. The eighth temperature sensor 38a outputs an eighth temperature detection result that is a temperature detection result. The eighth current sensor 38b outputs an eighth current detection result that is a current detection result, but in the industrial robot of the embodiment, since the current detection object is not connected to the eighth current sensor 38b, the eighth current sensor 38b outputs zero as the eighth current detection result. The eighth acceleration sensor 38c outputs an eighth acceleration detection result that is an acceleration detection result.
The control device 50 includes a CPU51, a ram (random Access memory)52, a rom (read Only memory)53, a first I/O unit 54, and a second I/O unit 55. The control device 50 includes an sc (serial communication) harness 57 and an output circuit unit 65.
The output circuit unit 65 includes a first digital-to-analog converter (DAC1)61 as a first output unit, a second digital-to-analog converter (DAC2)62 as a second output unit, and a third digital-to-analog converter (DAC3)63 as a third output unit. Hereinafter, the digital-to-analog converter is referred to as a D/a converter.
The temperature detection results of the temperature sensors (TpS 1-8) of each of the eight driving sections (31-38) are input to the CPU51 via the first I/O unit 54. In addition, the current detection results of each of the current sensors (EcS 1-8) in the eight driving sections (31-38) are input to the CPU51 via the first I/O unit 54. Further, acceleration detection results of the acceleration sensors (AcS 1-8) of each of the eight driving sections (31-38) are input to the CPU51 via the first I/O unit 54. Based on the detection results of the various characteristics, arithmetic processing is performed for individually controlling the drive of the first motor (22A in fig. 2), the drive of the second motor (22B in fig. 2), and the drive of the raising and lowering motor. Specifically, the detection results of the aforementioned various characteristics are the temperature detection result of each of the eight temperature sensors (31a to 38a), the current detection result of each of the eight current sensors (31b to 38b), and the detection result of each of the eight acceleration sensors (31c to 38 c).
The temperature detection results (first to eighth temperature detection results) individually output from each of the eight temperature sensors (31a to 38a) are individually input to the CPU51 via the first I/O unit 54. The CPU51 outputs each of the input first to eighth temperature detection results as a digital signal. Each of the first to eighth temperature detection results output is input to the output circuit section 65 via the second I/O unit 55.
The current detection results (first to eighth current detection results) individually output from each of the eight current sensors (31b to 38b) are individually input to the CPU51 via the first I/O unit 54. The CPU51 outputs each of the input first to eighth current detection results as a digital signal. Each of the outputted first to eighth current detection results is inputted to the output circuit section 65 via the second I/O cell 55.
The acceleration detection results (first to eighth acceleration detection results) individually output from each of the eight acceleration sensors (31c to 38c) are individually input to the CPU51 via the first I/O unit 54. The CPU51 outputs each of the input first to eighth acceleration detection results as a digital signal. Each of the first to eighth acceleration detection results that are output is input to the output circuit section 65 via the second I/O unit 55.
Fig. 4 is a block diagram showing the circuits of the SC harness 57 and the output circuit unit 65. The output circuit unit 65 includes a first D/a converter 61 as a first output unit, a second D/a converter 62 as a second output unit, and a third D/a converter 63 as a third output unit. The first D/a converter 61 includes eight memory chips that individually store each of the first to eighth temperature detection results made up of digital signals. In addition, the first D/a converter 61 converts each of the temperature detection results stored individually on each of the eight memory chips into an analog signal (Tp1 to Tp8) individually and outputs it. The eight temperature detection results (Tp1 to Tp8) individually output as analog signals are transmitted to an external main control device through individual signal lines.
The second D/a converter 62 includes eight memory chips that individually store each of the first to eighth current detection results made up of digital signals. In addition, the second D/a converter 62 individually converts each of the current detection results individually stored on each of the eight memory chips into an analog signal (Ec1 to Ec8) and outputs it. Eight current detection results (Ec1 to Ec8) individually output as analog signals are transmitted to an external main control device through individual signal lines.
The third D/a converter 63 includes eight memory chips that individually store each of the first to eighth acceleration detection results made up of digital signals. In addition, the third D/a converter 63 individually converts each of the acceleration detection results individually stored on each of the eight memory chips into an analog signal (Ac1 to Ac8) and outputs it. Eight acceleration detection results (Ac1 to Ac8) individually output as analog signals are transmitted to an external master control device through individual signal lines.
The second I/O unit 55 and the first D/a converter 61 perform communication through SPI (Serial Peripheral Interface) via the SC harness 57. For SPI-based communication to one D/a converter, a 5-core SC harness is generally used. 1 of the 5 chips is used for transmitting a Chip Select (CS) signal. In addition, another 1 core is used for the transmission of clock (SCLK) signals. In addition, another 1 core is used for transmission of a data transmission (MOSI) signal. In addition, another 1 core is used for transmission of a data reception signal (MISO). In addition, another 1 core is used for application of a reference Voltage (VREF). In the embodiment, since three D/a converters (61 to 63) are mounted, an SC harness having 5 cores × 5 — 15 cores is generally used, but the number of cores increases, which increases the cost.
The CS signal is a signal for selecting which of the eight memory chips in the D/a converter data is to be stored in, and functions as an update signal (a signal for updating data in the memory chip) in the present invention. In the three D/A converters (61-63), when four signals except the CS signal are communicated by a common communication line, the number of cores of the SC wire harness is reduced to 4 cores +3 cores to 7 cores, so that the cost can be reduced. However, in order to process a large amount of communication data in a common communication line in a short time, it is necessary to increase the communication speed, which reduces noise immunity of the communication line. As a result, a problem arises in that a long communication distance cannot be ensured in order to suppress noise mixing.
Accordingly, the industrial robot 1 according to the embodiment has a characteristic configuration described below.
The control device 50 of the industrial robot 1 communicates each of four signals other than the CS signal with a common communication line among three D/a converters (61 to 63). This reduces the number of cores of the SC harness 57 to 7 cores, thereby reducing the cost. Of the 7 cores, 1 core is used to transmit a first CS signal (CS1 signal) for the first D/a converter 61 that outputs a temperature detection result. The other 1 core is used to transmit a second CS signal (CS2 signal) for the second D/a converter 62 that outputs the current detection result. The other 1 core is used to transmit a third CS signal (CS3 signal) for the third D/a converter 63 that outputs the acceleration detection result. The other 1 core is a common signal line for transmitting an SCLK signal to the three D/A converters (61-63) in common. The other 1 core is a common signal line for transmitting a MOSI signal to three D/A converters (61-63) in common. In addition, the other 1 core is a common signal line for transmitting the MISO signal from each of the three D/A converters (61 to 63) to the second I/O unit 55 in common. In addition, the other 1 core is a common signal line for applying VREF in common to each of the three D/A converters (61-63).
Fig. 5 is a timing chart showing output timings of various signals. Fig. 6 is a timing chart showing in more detail the output timing of the acceleration detection result in fig. 5. Fig. 7 is a waveform diagram showing waveforms of various signals. In fig. 5 and 6, the temperatures ch1 to ch89 indicate the first to eighth temperature detection results. The currents ch1 to ch8 indicate the first to eighth current detection results. The accelerations ch1 to ch8 indicate the first to eighth temperature detection results.
As shown in fig. 6 to 7, the CPU51 outputs the temperatures ch1 to ch8 (eight temperature detection results) at respective corresponding timings different from each other. Thus, each of the eight temperature detection results can be output through the common signal line (combination of the 1 core for SCLK signal, the 1 core for MOSI signal, the 1 core for MISO, and the 1 core for VREF), and speeding up of the communication speed of the temperature detection result can be avoided.
In each ch of the temperature, the update cycle of the temperature detection result was 8.00 [ msec ]. Since the output frequency of the temperature detection result from the temperature sensor is typically several kHz, the update cycle of the temperature detection result is 8.00 [ msec ], whereby a temperature change can be detected with high accuracy.
As shown in fig. 6 to 7, the CPU51 outputs currents ch1 to ch8 (eight current detection results) at respective corresponding timings different from each other. Thus, each of the eight current detection results can be output through the common signal line (combination of the 1 core for SCLK signal, the 1 core for MOSI signal, the 1 core for MISO, and the 1 core for VREF), and speeding up of the communication speed of the current detection result can be avoided.
In each ch of the current, the update cycle of the current detection result is 8.00 [ msec ]. Since the output frequency of the current detection result from the current sensor is generally about 1 [ kHz ], the update cycle of the current detection result is 8.00 [ msec ], whereby the current change can be detected with high accuracy. In fig. 5 and 6, three characteristic values of acceleration, temperature, and current are output during the first 1.0 [ msec ], but the update periods of temperature and current are 8.0 [ msec ], respectively. Therefore, during the period of 2.0 to 7.0 [ msec ] not shown, the temperature and the current are not output from the CPU91, and only the acceleration is output from the CPU 91.
Further, the CPU51 outputs the CS1 signal, which is the update signal for individually updating each of the temperatures ch1 to ch8 (eight temperature detection results), and the CS2 signal for individually updating each of the currents ch1 to ch8 (eight current detection results) at timings different from each other. Thus, by outputting the temperatures ch1 to ch8 and the currents ch1 to ch8 at timings different from each other, it is possible to achieve both an increase in the communication speed of the avoidance temperature detection result and an increase in the communication speed of the avoidance current detection result.
As shown in fig. 6, the CPU51 outputs the CS1 signal, which is an update signal for individually updating the accelerations ch1 to ch8 (the first to eighth acceleration detection results), at timings different from each other corresponding to the acceleration detection results. Thus, each of the eight acceleration detection results can be output through the common signal line (combination of the 1 core for the SCLK signal, the 1 core for the MOSI signal, the 1 core for the MISO, and the 1 core for the VREF), and speeding up of the communication speed of the acceleration detection result can be avoided.
Further, the CPU51 outputs the CS1 signal for updating each of the temperatures ch1 to ch8, the CS2 signal for updating each of the currents ch1 to ch8, and the CS3 signal for updating each of the accelerations ch1 to ch8 at timings different from each other. Thus, the temperatures ch1 to ch8, the currents ch1 to ch8, and the accelerations ch1 to ch8 are output at different timings. According to this structure, the following three can be realized: the communication speed of the temperature detection result is prevented from being increased, the communication speed of the current detection result is prevented from being increased, and the communication speed of the acceleration detection result is prevented from being increased.
The update cycle of the accelerations ch1 to ch8 is shorter than the update cycle of the temperatures ch1 to ch8 and the update cycle of the currents ch1 to ch 8. In each acceleration ch, the update cycle of the acceleration detection result is 0.05 [ msec ]. Since the output frequency of the acceleration detection result from the acceleration sensor is generally about 10 [ kHz ], the update cycle of the acceleration detection result is 0.05 [ msec ], whereby the acceleration change can be detected with high accuracy.
As shown in fig. 6, the CPU51 continuously outputs the preceding ch (for example, ch1) and the following ch (for example, ch2) for the accelerations ch1 to ch 8. By continuously outputting the channels of the accelerations ch1 to ch8 having short update cycles, it is possible to effectively avoid an increase in the communication speed of the acceleration.
The CPU51 intermittently outputs the preceding detection result group and the subsequent detection result group for the group of accelerations ch1 to ch8, that is, the detection result group. Further, the CPU51 selects and outputs any one of the temperatures ch1 to ch8 (first to eighth temperature detection results) and the currents ch1 to ch8 (first to eighth current detection results) between the output timing of the preceding detection result group and the output timing of the subsequent detection result group. By repeatedly outputting either one of the temperature detection results or one of the current detection results, using a little time generated between the preceding detection result set and the subsequent detection result set of the acceleration, the following can be achieved. That is, all the temperature detection results and the current detection results can be output for each predetermined period (8.00 [ msec ] in the embodiment).
Further, according to the control device 50 of the embodiment, by sharing the signal line for each of the temperatures ch1 to ch8, it is possible to reduce the number of low-pass filters for removing each of the ch1 to ch8 noises, thereby reducing the cost. Further, according to the control device 50, the number of low-pass filters for removing each of the ch1 to ch8 noises can be reduced and the cost can be reduced by sharing the signal line for each of the currents ch1 to ch 8. Further, according to the control device 50, the number of low-pass filters for removing the noises of ch1 to ch8 can be reduced and the cost can be reduced by sharing the signal lines for each of the accelerations ch1 to ch 8.
While the preferred embodiments of the present invention have been described above, the present invention is not limited to the embodiments, and various modifications and changes can be made within the scope of the present invention. The embodiments are included in the scope and spirit of the invention, and also included in the invention described in the claims and the equivalent scope thereof.
The present invention provides unique effects in each of the following embodiments.
[ first mode ]
A first aspect provides a control device (for example, a control device 50) including an arithmetic processing unit (for example, a CPU51) that executes predetermined arithmetic processing for drive control based on a first characteristic detection result (for example, a temperature detection result) that is a detection result of a first characteristic detection unit that detects a predetermined first characteristic (for example, a temperature) in a drive unit, the control device being characterized by including a first output unit (for example, a first D/a converter 61) that individually outputs the first detection result of each of a plurality of first characteristic detection units (for example, temperature sensors 31a to 38a) that individually detect the first characteristic of each of a plurality of drive units (for example, first to eighth drive units 31 to 38) to an external device (for example, a main control device), the arithmetic processing unit outputting the first detection result for individual detection at mutually different timings corresponding to the respective first characteristic detection results And a plurality of update signals (for example, CS1 signals) for updating the first characteristic detection results (for example, first to eighth temperature detection results) of the first characteristic detection units, respectively.
According to the first aspect, the first characteristic detection result of each of the plurality of first characteristic detection units can be output through the common signal line, so that the cost can be reduced, and the increase in the communication speed of the first characteristic detection result can be avoided.
[ second mode ]
A second aspect is a control device including the configuration of the first aspect, and a second output unit that individually outputs, to an external device, a second characteristic detection result that is a detection result of each of a plurality of second characteristic detection units that individually detect a second characteristic of each of a plurality of driving units, wherein the arithmetic processing unit outputs a plurality of update signals for individually updating the second characteristic detection result of each of the plurality of second characteristic detection units at timings different from each other corresponding to the second characteristic detection results.
According to the second aspect, the second characteristic detection results of the plurality of second characteristic detection units can be output through the common signal line, so that the cost can be reduced, and the increase in the communication speed of the second characteristic detection results can be avoided.
[ third mode ]
A third aspect is the control device according to the second aspect, wherein the arithmetic processing unit outputs a plurality of update signals for individually updating the first characteristic detection result of each of the plurality of first characteristic detection units and a plurality of update signals for individually updating the second characteristic detection result of each of the plurality of second characteristic detection units at timings different from each other.
According to the third aspect, by outputting the plurality of first characteristic detection results and the plurality of second characteristic detection results at different timings from each other, it is possible to achieve both of the increase in the communication speed for avoiding the first characteristic detection result and the increase in the communication speed for avoiding the second characteristic detection result.
[ fourth mode ]
A fourth aspect is a control device including the configuration of the third aspect and a third output unit that individually outputs, to an external device, a third characteristic detection result that is a detection result of each of a plurality of third characteristic detection units that individually detect a third characteristic of each of a plurality of driving units, wherein the arithmetic processing unit outputs an update signal for individually updating the third characteristic detection result of each of the plurality of third characteristic detection units at timings different from each other corresponding to the third characteristic detection results.
According to the fourth aspect, each of the characteristic detection results of the plurality of third characteristic detection units can be output through the common signal line, so that the cost can be reduced, and the increase in the communication speed of the third characteristic detection result can be avoided.
[ fifth mode ]
A fifth aspect is the control device according to the fourth aspect, wherein the arithmetic processing unit outputs, at different timings, a plurality of update signals for individually updating the first characteristic detection results of the plurality of first characteristic detection units, a plurality of update signals for individually updating the second characteristic detection results of the plurality of second characteristic detection units, and a plurality of update signals for individually updating the third characteristic detection results of the plurality of third characteristic detection units.
In the fifth aspect, the first characteristic detection result of each of the plurality of first characteristic detection units, the second characteristic detection result of each of the plurality of second characteristic detection units, and the third characteristic detection result of each of the plurality of third characteristic detection units are output at different timings from each other. According to this configuration, the following three can be realized: the communication speed of the first characteristic detection result is prevented from being increased, the communication speed of the second characteristic detection result is prevented from being increased, and the communication speed of the third characteristic detection result is prevented from being increased.
[ sixth mode ]
A sixth aspect is the control device according to the fifth aspect, wherein the first characteristic is temperature, the second characteristic is current, and the third characteristic is acceleration, the arithmetic processing unit sets an update cycle of an acceleration detection result of each of the plurality of acceleration detection units as the plurality of third characteristic detection units to be shorter than either an update cycle of a temperature detection result of each of the plurality of temperature detection units as the plurality of first characteristic detection units or an update cycle of a current detection result of each of the plurality of current detection units as the plurality of second characteristic detection units, and the preceding acceleration detection result and the succeeding acceleration detection result are continuously output for the plurality of acceleration detection results obtained by each of the plurality of acceleration detection units.
According to the sixth aspect, it is possible to effectively avoid an increase in the communication speed of the plurality of acceleration detection results having the short update cycle.
[ seventh mode ]
A seventh aspect is the control device according to the sixth aspect, wherein the arithmetic processing unit intermittently outputs a preceding detection result group and a succeeding detection result group for a detection result group that continuously outputs a plurality of acceleration detection results obtained by each of the plurality of acceleration detection units, and selects and outputs one of a plurality of temperature detection results obtained by each of the plurality of temperature detection units and a plurality of current detection results obtained by each of the plurality of current detection units between an output timing of the preceding detection result group and an output timing of the succeeding detection result group.
According to the seventh aspect, the temperature detection result of each of the plurality of temperature detection units, the current detection result of each of the plurality of current detection units, and the acceleration detection result of each of the plurality of acceleration detection units can all be output for each predetermined period.
[ eighth mode ]
An eighth aspect is an industrial robot (for example, an industrial robot 1) including a control device, the industrial robot including a plurality of the driving units and a plurality of the first characteristic detecting units, the control device being the control device according to any one of the first to eighth aspects.
Claims (8)
1. A control device provided with an arithmetic processing unit that executes predetermined arithmetic processing for drive control based on a first characteristic detection result that is a detection result of a first characteristic detection unit that detects a predetermined first characteristic of a drive unit,
a first output unit configured to output, to an external device, each of the first detection results of the plurality of first characteristic detection units that individually detect each of the first characteristics of the plurality of driving units,
the arithmetic processing unit outputs a plurality of update signals for individually updating the first characteristic detection results of the plurality of first characteristic detection units at timings different from each other corresponding to the first characteristic detection results.
2. The control device according to claim 1,
a second output unit that individually outputs to an external device second characteristic detection results that are detection results of a plurality of second characteristic detection units that individually detect second characteristics of the plurality of driving units,
the arithmetic processing unit outputs a plurality of update signals for individually updating the second characteristic detection results of the plurality of second characteristic detection units at timings different from each other corresponding to the second characteristic detection results.
3. The control device according to claim 2,
the arithmetic processing unit outputs, at timings different from each other, a plurality of update signals for individually updating the first characteristic detection results of the first characteristic detection units and a plurality of update signals for individually updating the second characteristic detection results of the second characteristic detection units.
4. The control device according to claim 3,
a third output unit configured to individually output, to an external device, third characteristic detection results that are detection results of a plurality of third characteristic detection units that individually detect third characteristics of the plurality of driving units,
the arithmetic processing unit outputs an update signal for individually updating each of the third characteristic detection results of the plurality of third characteristic detection units at different timings corresponding to each of the third characteristic detection results.
5. The control device according to claim 4,
the arithmetic processing unit outputs, at timings different from each other: a plurality of update signals for individually updating the respective first characteristic detection results of the plurality of first characteristic detection sections, a plurality of update signals for individually updating the respective second characteristic detection results of the plurality of second characteristic detection sections, and a plurality of update signals for individually updating the respective third characteristic detection results of the plurality of third characteristic detection sections.
6. The control device according to claim 5,
the first characteristic is a temperature of the liquid,
the second characteristic is a current of the electric current,
the third characteristic is the acceleration of the vehicle,
the operation processing unit sets an update cycle of each acceleration detection result of the plurality of acceleration detection units as the plurality of third characteristic detection units to be shorter than either one of an update cycle of each temperature detection result of the plurality of temperature detection units as the plurality of first characteristic detection units and an update cycle of each current detection result of the plurality of current detection units as the plurality of second characteristic detection units, and successively outputs the preceding acceleration detection result and the succeeding acceleration detection result for the plurality of acceleration detection results obtained by each of the plurality of acceleration detection units.
7. The control device according to claim 6,
the arithmetic processing portion intermittently outputs a preceding detection result set and a following detection result set for a detection result set obtained by successively outputting a plurality of the acceleration detection results obtained by each of the plurality of acceleration detection portions, and between an output timing of the preceding detection result set and an output timing of the following detection result set, outputs one of a plurality of the temperature detection results obtained by each of the plurality of temperature detection portions and a plurality of the current detection results obtained by each of the plurality of current detection portions.
8. An industrial robot comprising a control device, characterized in that,
the drive unit includes a plurality of drive units and a plurality of first characteristic detection units,
the control device according to any one of claims 1 to 7.
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| JP2021-015058 | 2021-02-02 | ||
| JP2021015058A JP2022118490A (en) | 2021-02-02 | 2021-02-02 | Controller and industrial robot |
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| CN114833819A true CN114833819A (en) | 2022-08-02 |
| CN114833819B CN114833819B (en) | 2023-10-31 |
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| JP (1) | JP2022118490A (en) |
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| WO1998051455A1 (en) * | 1997-05-12 | 1998-11-19 | Kawasaki Jukogyo Kabushiki Kaisha | Robot controller |
| CN1657237A (en) * | 2004-02-18 | 2005-08-24 | 中国科学院沈阳自动化研究所 | Underwater robot control device adopting distributed node network |
| CN102135718A (en) * | 2009-11-30 | 2011-07-27 | 卡西欧计算机株式会社 | Light source device, projection apparatus, and projection method |
| CN104760040A (en) * | 2013-11-01 | 2015-07-08 | 精工爱普生株式会社 | Robot, controller, and robot system |
| US20180361592A1 (en) * | 2017-06-16 | 2018-12-20 | Seiko Epson Corporation | Control device and robot system |
| CN109557876A (en) * | 2017-09-25 | 2019-04-02 | 欧姆龙株式会社 | The manufacturing method of proximity sensor and the manufacture system of proximity sensor |
| CN111164520A (en) * | 2017-11-28 | 2020-05-15 | 株式会社安川电机 | Mechanical equipment control system, mechanical equipment control device, and mechanical equipment control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2906773B2 (en) | 1991-09-26 | 1999-06-21 | 株式会社安川電機 | Industrial robot controller |
-
2021
- 2021-02-02 JP JP2021015058A patent/JP2022118490A/en active Pending
-
2022
- 2022-01-21 CN CN202210070685.1A patent/CN114833819B/en active Active
- 2022-01-26 KR KR1020220011566A patent/KR20220111665A/en not_active Application Discontinuation
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO1998051455A1 (en) * | 1997-05-12 | 1998-11-19 | Kawasaki Jukogyo Kabushiki Kaisha | Robot controller |
| CN1657237A (en) * | 2004-02-18 | 2005-08-24 | 中国科学院沈阳自动化研究所 | Underwater robot control device adopting distributed node network |
| CN102135718A (en) * | 2009-11-30 | 2011-07-27 | 卡西欧计算机株式会社 | Light source device, projection apparatus, and projection method |
| CN104760040A (en) * | 2013-11-01 | 2015-07-08 | 精工爱普生株式会社 | Robot, controller, and robot system |
| US20180361592A1 (en) * | 2017-06-16 | 2018-12-20 | Seiko Epson Corporation | Control device and robot system |
| CN109557876A (en) * | 2017-09-25 | 2019-04-02 | 欧姆龙株式会社 | The manufacturing method of proximity sensor and the manufacture system of proximity sensor |
| CN111164520A (en) * | 2017-11-28 | 2020-05-15 | 株式会社安川电机 | Mechanical equipment control system, mechanical equipment control device, and mechanical equipment control method |
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| KR20220111665A (en) | 2022-08-09 |
| JP2022118490A (en) | 2022-08-15 |
| CN114833819B (en) | 2023-10-31 |
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