JPS60213491A - Controller for artificial ram - Google Patents
Controller for artificial ramInfo
- Publication number
- JPS60213491A JPS60213491A JP6669084A JP6669084A JPS60213491A JP S60213491 A JPS60213491 A JP S60213491A JP 6669084 A JP6669084 A JP 6669084A JP 6669084 A JP6669084 A JP 6669084A JP S60213491 A JPS60213491 A JP S60213491A
- Authority
- JP
- Japan
- Prior art keywords
- control
- signal
- artificial arm
- artificial
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
Landscapes
- Safety Devices In Control Systems (AREA)
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
（発明の分野）
本発明は、産業ロボット等に用いられる人工腕の制御装
置に関し、特にワーク等の異常振動等による人工腕の破
壊を防止するようにした人工腕制御装置に関する。Detailed Description of the Invention (Field of the Invention) The present invention relates to a control device for an artificial arm used in industrial robots, etc., and in particular to an artificial arm control device that prevents destruction of the artificial arm due to abnormal vibrations of a workpiece, etc. Regarding equipment.
（発明の背景）
従来、産業ロボット等に用いられる人工腕においては、
他の専用搬送・加工装置あるいは他の人工の腕と協働を
行なう場合、振動中のワークに接触または把握したとき
や把握中のワークが振動を開始したとき、人工腕に振動
が伝播し、構成部材の過大応力により損傷を生じるおそ
れがあるという不都合があった。特に多関節の人工腕に
おいては特定のリンクに共振を生じ、応力波れにより即
時には認知できない劣化を生じ、保安上危険の大きい場
合がある。また、流体中で作業を行なう人工腕の場合、
流体中を伝播する圧力波などによりワークの振動を生じ
、人工腕に過大応力を発生させるケースが少なくない。(Background of the invention) Conventionally, in artificial arms used for industrial robots, etc.,
When collaborating with other dedicated transport/processing equipment or other artificial arms, when the workpiece touches or grasps a vibrating workpiece, or when the workpiece it is grasping starts vibrating, vibrations propagate to the artificial arm. There is a disadvantage in that there is a risk of damage due to excessive stress on the components. In particular, in a multi-joint artificial arm, resonance may occur in a specific link, causing deterioration that cannot be immediately recognized due to stress waves, which can pose a great safety risk. In addition, in the case of an artificial arm that works in fluid,
There are many cases where pressure waves propagating through the fluid cause vibrations in the workpiece, creating excessive stress on the artificial arm.
（発明の目的）
本発明は、上述の従来形における問題点に鑑みてなされ
たもので、人工腕制御装置において、人工腕がワークに
接触したときまたはワークを把握しているとき、人工腕
に加わる加速度を検出し、この加速度が所定値を超えれ
ばこの人工腕を直ちにワークより離脱させるという構想
に基づき、人工腕の破壊を防止することを目的とする。(Object of the Invention) The present invention has been made in view of the problems in the conventional type described above. The purpose of this method is to detect the applied acceleration and, if this acceleration exceeds a predetermined value, immediately separate the artificial arm from the workpiece, thereby preventing the artificial arm from being destroyed.
（発明の構成）
上記目的を達成するため本発明では、人工腕の腕桁加速
度を検出する手段と、この加速度が所定値を超えたとき
検知信号を発生する比較手段と、この検知信号に応じて
人工腕をワークから離脱させる制御手段を具備すること
を特徴とする。(Structure of the Invention) In order to achieve the above object, the present invention includes means for detecting arm digit acceleration of an artificial arm, comparison means for generating a detection signal when this acceleration exceeds a predetermined value, and a comparison means for generating a detection signal when the acceleration exceeds a predetermined value. The invention is characterized by comprising a control means for separating the artificial arm from the workpiece.
（発明の詳細な説明）
本発明の制御装置の具体的な構成および動作を説明する
と以下の通りである。(Detailed Description of the Invention) The specific configuration and operation of the control device of the present invention will be explained as follows.
（１）人工腕のリンク（関節を構成するリンクを含む）
に加速度トランスデユーサを設は振動の大きさに対応す
る信号を得る。(1) Artificial arm links (including links that make up joints)
An acceleration transducer is installed to obtain a signal corresponding to the magnitude of vibration.
（２）発生の可能性がありかつ有害である振動数帯域を
上記信号より浦波抽出し振幅値を整定値と比較し超過し
ているとき制御部に過大振動検知信号を転送させる。(2) Extract the frequency band that is likely to occur and is harmful from the above signal, compare the amplitude value with a set value, and when the amplitude value exceeds the set value, transmit an excessive vibration detection signal to the control unit.
（３）制御部において人工腕をワークに接近または把握
させるための制御指令を実行するときに、ワークから離
脱させる制御命令およびワークを釈放させる制御指令を
生成し記憶する。この離脱・釈放制御命令を主制御部と
は別の副制御部に転送して記憶させるケースもある。(3) When the control unit executes a control command for causing the artificial arm to approach or grasp a workpiece, a control command for separating from the workpiece and a control command for releasing the workpiece are generated and stored. In some cases, this withdrawal/release control command is transferred to and stored in a sub-control unit different from the main control unit.
（４）制御部は、上記過大振動検知信号の転送を受けた
とき、実行中の指令に代えて記憶されている離脱・釈放
制御指令を実行する。副制御部を有するときは、主制御
部の動作を停止し副ＩＩＩｗを始動させる。(4) When the control unit receives the transfer of the excessive vibration detection signal, it executes the stored detachment/release control command in place of the command currently being executed. When a sub-control unit is provided, the operation of the main control unit is stopped and the sub-IIIw is started.
（発明の効果）
人工の腕の場合、操作対象が特定できないので、印加さ
れる外部応力の予測ができないが、以上のように構成さ
れた本発明によると、駆動動力の過負荷以外の外力に対
して、誤用に対する防護範囲を拡大し、動作信頼性の向
上を図ることができる。(Effects of the Invention) In the case of an artificial arm, it is not possible to predict the external stress that will be applied because the operation target cannot be specified. However, according to the present invention configured as described above, it is possible to On the other hand, it is possible to expand the range of protection against misuse and improve operational reliability.
また、本発明によると、振動による繰り返し応力疲労な
どのように分解点検による以外に適切かつ安価な診断手
段の少ない損傷に対して有効な防護を行なうことができ
、保安度の向上を図ることができる。したがって本発明
は、特に複雑なシステムの中で協働を行なう土木、建築
または海洋分野の人工腕に適合するものである。本発明
によると、さらに、外部ストレスにより人工の目や内界
センサが機能を失い、誤った照合用信号を発生すること
による暴走拡大を阻止することができる。さらに、離脱
制御を副制御部で行なうようにすれば、ワークの振動発
生に主制御部Ｂの暴走が関与している場合や主制御部Ｂ
の暴走によりワークの存在と無関係に内界振動が発生し
ている場合にも人工腕を破壊から防護することができる
。Further, according to the present invention, it is possible to provide effective protection against damage such as repeated stress fatigue caused by vibration, for which there are few appropriate and inexpensive diagnostic methods other than disassembly and inspection, and it is possible to improve safety. can. The invention is therefore particularly suitable for artificial arms in the civil, architectural or marine fields that cooperate in complex systems. According to the present invention, furthermore, it is possible to prevent the artificial eye and the internal sensor from losing their functions due to external stress and causing a runaway expansion due to generation of an erroneous verification signal. Furthermore, if the detachment control is performed by the sub-control section, if the main control section B runs out of control and is involved in the vibration generation of the workpiece, or when the main control section B
It is possible to protect the artificial arm from destruction even when internal vibrations are occurring regardless of the presence of the workpiece due to runaway.
（実施例の説明） 以下、図面を用いて本発明の詳細な説明する。(Explanation of Examples) Hereinafter, the present invention will be explained in detail using the drawings.
第１図は、本発明の１実施例に係る人工腕制御装置の構
成を示す。同図において、１は応答のｆ特性が既知の加
速度トランスデユーサで、人工腕の振動を電気信号に変
換する。２は帯域フィルタで、上記振動波形の特定周波
数帯域の成分を抽出する。この帯域フィルタ２は、複数
のものを並列接続して切替え、または、ディジタルフィ
ルタを用い外部よりパラメータを設定して通過帯域を切
替えるようにしている。３は時間順次的に複数の周波数
帯域を切替える帯域フィルタ走査部、４は人工腕を保護
すべき周波数帯ごとの振幅限度の整定値を記憶する整定
値レジスタで、帯域フィルタ走査部３からの切替信号に
連動して比較器５へ比較用の整定値を転送する。これら
の加速度トランスデユーサ１、帯域フィルタ２、帯域フ
ィルタ走査部３、整定値レジスタ４および比較器５は過
大撮動検出部Ａを構成している。FIG. 1 shows the configuration of an artificial arm control device according to an embodiment of the present invention. In the figure, reference numeral 1 denotes an acceleration transducer with a known response f characteristic, which converts the vibration of the artificial arm into an electrical signal. Reference numeral 2 denotes a bandpass filter that extracts components in a specific frequency band of the vibration waveform. This bandpass filter 2 is configured such that a plurality of filters are connected in parallel and switched, or the passband is switched by using a digital filter and setting parameters from the outside. Reference numeral 3 denotes a bandpass filter scanning unit that switches over a plurality of frequency bands in time sequence, and 4 a set value register that stores the setting value of the amplitude limit for each frequency band in which the artificial arm should be protected, which is switched from the bandpass filter scanning unit 3. A set value for comparison is transferred to the comparator 5 in conjunction with the signal. These acceleration transducer 1, bandpass filter 2, bandpass filter scanning section 3, setting value register 4, and comparator 5 constitute an excessive imaging detection section A.
６は制御動作命令生成／記憶部で、図示しない外界セン
サからの入力により制御命令を生成・記憶し、またはそ
の動作シーケンスを記憶する。７はワークに接近・把握
を行なう一群の制御命令をもとに離脱制御のための命令
を生成する離脱命令生成部で、８および９はそれぞれ単
位作業を行なうための一群の制御命令および離脱制御命
令を一時記憶する制御命令一時記憶部および離脱制御命
令一時記憶部である。これらの制御動作命令生成／記憶
部６、離脱命令生成部７、制御命令一時記憶部８および
離脱制御命令一時記憶部９は制御部Ｂを構成している。Reference numeral 6 denotes a control operation command generation/storage unit which generates and stores control commands based on input from an external sensor (not shown) or stores its operation sequence. Reference numeral 7 denotes a withdrawal command generation unit that generates commands for withdrawal control based on a group of control commands for approaching and grasping the workpiece, and 8 and 9 respectively generate a group of control commands and withdrawal control for performing unit work. They are a control command temporary storage unit and a withdrawal control command temporary storage unit that temporarily store commands. These control operation command generation/storage section 6, withdrawal command generation section 7, control command temporary storage section 8, and withdrawal control command temporary storage section 9 constitute a control section B.
また、切替部１０、電力制御部１１およびアクチュエー
タ（作動部）１２は、駆動部Ｃを構成する。切替部１０
は比較器５からのトリップ信号に応じて通常の制御命令
と離脱制御命令とを切替え、電力制御部１１はモータ、
油圧弁などのアクチュエータ１２を駆動する。Furthermore, the switching section 10, the power control section 11, and the actuator (actuating section) 12 constitute a driving section C. Switching section 10
switches between a normal control command and a departure control command in response to a trip signal from the comparator 5, and the power control unit 11 controls the motor,
Drives an actuator 12 such as a hydraulic valve.
次に第２図のフローチャートを参照しながら第１図の人
工腕制御装置の動作を説明する。Next, the operation of the artificial arm control device shown in FIG. 1 will be explained with reference to the flowchart shown in FIG.
制御動作命令生成／記憶部６は、常時、外界センサから
の入力を監視しており、外界センサからの信号が供給さ
れると、この信号に応じた単位作業を人工腕に実行させ
るための制御命令を生成する。続いて、この制御命令を
制御命令一時記憶部８に転送して一時記憶させた後、こ
の単位作業においてワークと接触または把握する場合が
あるか否かを判定する。そして、もし、ワークと接触も
把握もしない場合は、制御命令一時記憶部８が一時記憶
している制御命令をそのまま駆動部Ｃに転送して制御命
令を実行させる。The control operation command generation/storage unit 6 constantly monitors input from the external sensor, and when a signal from the external sensor is supplied, controls the artificial arm to perform a unit task according to this signal. Generate instructions. Subsequently, after transferring this control command to the control command temporary storage section 8 and temporarily storing it, it is determined whether or not there is a case where the workpiece is contacted or grasped in this unit work. If the workpiece is not contacted or grasped, the control command temporarily stored in the control command temporary storage section 8 is transferred as is to the drive section C, and the control command is executed.
一方、もし、ワークと接触または把握する場合があれば
、離脱命令生成部７に離脱命令を生成させ、このｍ脱命
令を離脱制御命令一時記憶部９に転送して一時記憶させ
る。次いで、単位作業が終了したか否かを判定しかつ過
大振動検出部Ａの比較器５の出力を監視しながら制御命
令一時記憶部８が一時記憶している制御命令を順次駆動
部Ｃに転送して制御命令を実行させる。そして、上記過
大振動検出部Ａが過大振動を検出することなく単位作業
が終了すれば、動作を終了する。一方、単位作業中に過
大振動が検出されれば、離脱制御命令一時記憶部９が一
時記憶している離脱制御命令を駆動部Ｃに転送して人工
腕をワークから離脱させて動作を終了する。On the other hand, if there is a case where the workpiece comes into contact with or grasps, the detachment instruction generation section 7 generates a detachment instruction, and this m detachment instruction is transferred to the detachment control instruction temporary storage section 9 and temporarily stored therein. Next, it is determined whether or not the unit work has been completed, and while monitoring the output of the comparator 5 of the excessive vibration detection section A, the control commands temporarily stored in the control command temporary storage section 8 are sequentially transferred to the drive section C. and execute the control command. Then, when the unit work is completed without the excessive vibration detecting section A detecting excessive vibration, the operation is ended. On the other hand, if excessive vibration is detected during the unit work, the detachment control command temporary storage section 9 transfers the temporarily stored detachment control command to the drive section C to detach the artificial arm from the workpiece and complete the operation. .
第３図は、本発明の他の実施例に係る人工腕制御装置の
構成を示す。同図の装置は第１図のものに対し、人工腕
の離脱時の制御を行なうための副制御部を主制御部Ｂか
ら分離したものである。同図において、５１は離脱制御
命令一時記憶部で、第１図における離脱制御命令一時記
憶部９に相当し、５２は副制御部りの共通制御部で、離
脱制御時のみ第１図の制御部すにおける制御命令生成／
記憶部６と同様に作用する。FIG. 3 shows the configuration of an artificial arm control device according to another embodiment of the present invention. The apparatus shown in FIG. 1 is different from the apparatus shown in FIG. 1 in that a sub-control section for controlling the detachment of the artificial arm is separated from the main control section B. In the same figure, 51 is a withdrawal control command temporary storage unit, which corresponds to the withdrawal control command temporary storage unit 9 in FIG. Control command generation in parts/
It functions similarly to the storage section 6.
このように、離脱制御を副制御部で行なうことにより、
ワークの振動発生に主制御部Ｂの暴走が関与している場
合や主制御部Ｂの暴走によりワークの存在と無関係に内
界振動が発生している場合にも人工腕を破壊から防護す
ることができる。In this way, by performing withdrawal control in the sub-control section,
To protect an artificial arm from destruction even when the runaway of the main control unit B is involved in the generation of vibrations in the workpiece, or when internal vibrations are generated regardless of the presence of the workpiece due to the runaway of the main control unit B. I can do it.
第４図は、加速度トランスデユーサ１部分の変形例を示
す。このように、内界センサとして使用されているロー
タリエンコーダ組込みトランスデユーサの出力に含まれ
る信号帯域外成分を分析することにより加速度に対応す
る信号を抽出することができる。同図において、１５は
ロータリエンコーダで、このロータリエンコーダ１５、
増幅器１６および低域濾波回路１１は従来からの内界セ
ンサを構成し、角速度信号、位相変移信号および絶対位
置信号等を発生する。ここでは、増幅器１６の出力のう
ら広域成分を広域濾波回路１８で取出し、比較器１９で
そのレベルを検出することにより過大振動検出信号を発
生させるようにしている。FIG. 4 shows a modification of the acceleration transducer 1 portion. In this way, a signal corresponding to acceleration can be extracted by analyzing the out-of-band signal components included in the output of the rotary encoder incorporated transducer used as an internal sensor. In the figure, 15 is a rotary encoder;
Amplifier 16 and low pass filter circuit 11 constitute a conventional internal field sensor and generate angular velocity signals, phase shift signals, absolute position signals, and the like. Here, the back wide-range component of the output of the amplifier 16 is taken out by the wide-range filter circuit 18, and the level thereof is detected by the comparator 19, thereby generating an excessive vibration detection signal.
第１図は本発明の１実施例に係る人工腕制御装置のブロ
ック構成図、第２図は第１図の人工腕制御装置の動作を
説明するためのフローチャート、第３図は本発明の他の
実施例に係る人工腕制御装置のブロック構成図、そして
第４図は本発明のさらに他の変形例を示すブロック構成
図である。
Ａ・・・過大振動検出部、
１・・・加速度トランスデユーサ、
４・・・整定値レジスタ、５・・・比較器、Ｂ・・・制
御部、
６・・・制御命令生成／記憶部、
７・・・離脱命令生成部、８・・・制御命令一時記憶部
、９・・・離脱制御命令一時記憶部、
Ｄ・・・副制御部。
特許出願人 立石電機株式会社
代理人 弁理士 伊東辰雄
代理人 弁理士 伊東哲也FIG. 1 is a block configuration diagram of an artificial arm control device according to an embodiment of the present invention, FIG. 2 is a flowchart for explaining the operation of the artificial arm control device of FIG. 1, and FIG. 3 is a block diagram of an artificial arm control device according to an embodiment of the present invention. FIG. 4 is a block configuration diagram of the artificial arm control device according to the embodiment, and FIG. 4 is a block configuration diagram showing still another modification of the present invention. A: Excessive vibration detection unit, 1: Acceleration transducer, 4: Setting value register, 5: Comparator, B: Control unit, 6: Control command generation/storage unit , 7... Departure command generation unit, 8... Control command temporary storage part, 9... Departure control command temporary storage part, D... Sub-control part. Patent applicant Tateishi Electric Co., Ltd. Agent Patent attorney Tatsuo Ito Agent Patent attorney Tetsuya Ito
Claims (1)
が所定値を超えたとき検知信号を発生する比較手段と、
この検知信号に応じて人工腕をワークから離脱させる制
御手段を具備することを特徴とする人工腕制御装置。 ２、 ｆｔｉ記所定値として前記人工腕を保護すべき振
動数および振幅の限界値が設定されている特許請求の範
囲第１墳記載の人工腕制御装置。 ３、前記制御手段が、前記人工腕のワークへの接近と把
握を制御する信号をもとに、釈放・離脱を制御する信号
を生成・記憶する手段と、前記検知信号により送出中の
制御信号に代えて上記釈放・離脱信号を送出する手段を
含む特許請求の範囲第１または２項記載の人工腕制御装
置。 ４、制御手段が、前記人工腕のワークへの接近と把握を
制御する主制御部と、この接近・把握制御信号をもとに
釈放・離脱を制御する信号を生成する手段と、この釈放
・離脱制御信号を転送されて記憶する緊急制御用副制御
部と、前記検知信号により上記主制御部の作動を閉塞し
、上記副制御部による制御を起動する手段を含む特許請
求の範囲第１または２項記載の人工腕制御装置。[Claims] 1. Means for detecting arm digit acceleration of an artificial arm, and comparison means for generating a detection signal when this acceleration exceeds a predetermined value;
An artificial arm control device characterized by comprising a control means for separating the artificial arm from the workpiece in response to the detection signal. 2. The artificial arm control device according to claim 1, wherein limit values of frequency and amplitude for protecting the artificial arm are set as predetermined values. 3. Means for the control means to generate and store a signal for controlling release/removal based on the signal for controlling approach and grasping of the artificial arm to the workpiece, and a control signal being sent based on the detection signal. 3. The artificial arm control device according to claim 1, further comprising means for transmitting the release/withdrawal signal in place of the release/withdrawal signal. 4. The control means includes a main control unit for controlling the approach and grasping of the artificial arm to the workpiece, a means for generating a signal for controlling release/separation based on the approach/grasp control signal, and Claim 1 or 2, further comprising: a sub-control unit for emergency control to which a detachment control signal is transferred and stored; and means for blocking operation of the main control unit in response to the detection signal and activating control by the sub-control unit. The artificial arm control device according to item 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59066690A JPH0692077B2 (en) | 1984-04-05 | 1984-04-05 | Artificial arm controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59066690A JPH0692077B2 (en) | 1984-04-05 | 1984-04-05 | Artificial arm controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60213491A true JPS60213491A (en) | 1985-10-25 |
| JPH0692077B2 JPH0692077B2 (en) | 1994-11-16 |
Family
ID=13323181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59066690A Expired - Lifetime JPH0692077B2 (en) | 1984-04-05 | 1984-04-05 | Artificial arm controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0692077B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012139770A (en) * | 2010-12-28 | 2012-07-26 | Yaskawa Electric Corp | Robot |
| JP2013013988A (en) * | 2011-07-06 | 2013-01-24 | Seiko Epson Corp | Robot, method for controlling robot, and program |
| JP2014076497A (en) * | 2012-10-09 | 2014-05-01 | Sinfonia Technology Co Ltd | Articulated robot and semiconductor wafer carrier device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5142258A (en) * | 1974-10-09 | 1976-04-09 | Hitachi Ltd | |
| JPS5349763A (en) * | 1976-10-18 | 1978-05-06 | Kawasaki Heavy Ind Ltd | Programable manipulator |
| JPS57186291U (en) * | 1981-05-16 | 1982-11-26 |
-
1984
- 1984-04-05 JP JP59066690A patent/JPH0692077B2/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5142258A (en) * | 1974-10-09 | 1976-04-09 | Hitachi Ltd | |
| JPS5349763A (en) * | 1976-10-18 | 1978-05-06 | Kawasaki Heavy Ind Ltd | Programable manipulator |
| JPS57186291U (en) * | 1981-05-16 | 1982-11-26 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012139770A (en) * | 2010-12-28 | 2012-07-26 | Yaskawa Electric Corp | Robot |
| JP2013013988A (en) * | 2011-07-06 | 2013-01-24 | Seiko Epson Corp | Robot, method for controlling robot, and program |
| JP2014076497A (en) * | 2012-10-09 | 2014-05-01 | Sinfonia Technology Co Ltd | Articulated robot and semiconductor wafer carrier device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0692077B2 (en) | 1994-11-16 |
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