JPS60252902A - Robot controller - Google Patents

Abstract

PURPOSE:To prevent the misoperations of switches and to secure safety of an operator by providing a switch that decides the validity or the invalidity of the input signals of switches having direct relations to the movements of a robot. CONSTITUTION:A servo input switch 9, a switch 11 that sets a robot into a teaching mode, an automatic mode switch 12 which is used for reproduction of a program that is previously taught and a start switch 13 that produces the program in an automatic mode are not valid by themselves among those switches on a robot operation board 3. The inputs given from said switches are effective only when a key validity switch 15 is pushed at a time. These effective inputs are supplied to a signal reception part 17. While the inputs of other switches such as a control input switch 7, a servo changeover switch 10, etc. are applied directly to the part 17.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technology of the Invention Field C] The present invention relates to a robot control device that controls the operation of a robot. More specifically, the present invention relates to a robot control device capable of preventing the operation of various switches provided on an operation panel or operation box for instructing robot operations.

[Prior art]

FIG. 4 is a configuration explanatory diagram showing an example of a conventional robot control device. In Fig. 4, (1) is the robot body, (2) is the control device, and (3) is the robot operation panel.
This is the part that turns the control power on/off, turns the servo on/off, starts automatic operation, etc. f41#'i teaching switch; (5) is a programming unit for a CRT, keyboard, etc.;

FIG. 5 is an enlarged view of the operation panel (3) of the robot, which is equipped with switches for controlling the operation of the robot. In Fig. 5, (6) is an emergency stop switch that stops the robot's operation and turns off the servos in case of an emergency, (7) is a controller switch that turns on the robot's control device, and (8) is Contrary to the controller switch (7), 1 is a control cut-off switch to turn off the power to the robot's control device, (9) is a servo switch to turn on the robot's servo, and 01 is a servo cut-off switch to turn off the robot's servo. , clυ is the teach mode switch when teaching the position to the robot using the teach switch (4) or when creating a program using the programming unit H51, and the teach mode switch when reproducing a program taught in advance. Automatic mode switch, a3 is a start switch for playing the program during automatic mode, α4
This is an emergency stop switch to temporarily stop the robot.

Next, the operation buttons will be explained. When creating a program that teaches position data to the robot, first open the control panel (3).
Input a signal from the teach mode switch 0υ inside and select the teach mode. Thereafter, a program is created using the programming unit (5), and position data is taught using the teaching switch (4). After creating the program and teaching the position data, if you want to play the taught program, input the signal from the automatic mode switch O2 in the operation panel (3), select the automatic mode, and then input the signal from the start switch 03. and play the taught program.

In the conventional device, when a robot operator presses a desired switch of each switch in the operation panel (3) shown in FIG. 5, the processing corresponding to that switch becomes effective. However, the servo switch (9), the mode switching switch (0υ, O2 switch), or the start switch (13, etc.) are directly related to the movement (movement) of the robot, and if the operator accidentally presses the When teaching the robot using the teaching switch (5) near the robot, if someone else presses the above switches carelessly, the robot may make unexpected movements, which is extremely dangerous for safety. There was a problem that.

[Summary of the invention]

The present invention provides a key enable switch for enabling the operation of at least some of the various switches that control the operation of the robot on the operation panel or the operation box, and the key enable switch and some of the various switches. It is important to prevent erroneous operation and ensure the safety of the operator by ensuring that the signal from the operating switch becomes valid only when one of the switches is operated at the same time or at different times. This provides a robot control device that can

[Embodiments of the invention]

FIG. 1 is a configuration diagram showing the key arrangement of the operation panel used in the device according to the present invention. In this figure, parts corresponding to the respective parts of the operation panel shown in FIG. 5 are designated by the same reference numerals, and their explanations will be omitted. In this operation panel, some of the operation switches, for example, each switch (9) surrounded by a broken line f161.

A key enable switch fls is provided to enable 0υ, QZ, +13.

In the operation panel (3) configured in this manner, for each switch surrounded by a broken line 0e, a signal from the corresponding switch will not be input unless the switch and the key enable switch G9 are pressed at the same time, for example. It looks like this.

Figure 2 shows that the signals from each switch in the control panel (3) are
FIG. 7 is a connection diagram schematically showing a circuit of a portion input to a signal reception unit α'7). Here, the signals from switches 0υ and 03 surrounded by the broken line f161, for example, are connected to gate circuits ■ and ■ that are made conductive by the signal from the key enable switch α9.
and is applied to the signal reception unit lIη via each gate circuit Ql-(a). The switch surrounded by the broken line αg is the controller switch (7) in FIG.

The control cut-off switch (8), servo cut-off switch αO9 and emergency stop switch 04) are shown as representatives, and each of these switches is connected independently of the key enable switch IIs. The signal is directly given to the signal reception unit (1η).

As is clear from this connection diagram, the switch is 0υ.

For 03, press key enable switch o9, gate Q
1. If f21 is not passed through, switch 0υ
.

(The signal from 13 is the signal reception unit 717) K is not input.

FIG. 6 is a schematic flowchart of the input signal receiving section aη that receives signals from the operation panel (3), which is obtained by replacing the circuit shown in FIG. 2 with software Vclt. Qυ is a part that judges whether the input signal from the key valid switch α9 is input or not. Check and process the required switch inputs, and check the switch inputs that do not require input signals from the key valid switch (if there is no input signal from 1!i1, go to (c)). The only switch that does not require an input signal from the key enable switch f151 is the switch for stopping the movement of the robot.

Although the above embodiment has been described as an operation panel disposed on a control panel, it may also be an operation box that is classified as a control panel. Further, the same effect can be obtained not only on the operation panel and the operation box but also on the teaching switch by providing a switch having the same function as the key activation switch. In the above explanation,
We have explained the case where the key valid 7 inches and the switch that commands the robot's movement are suppressed or turned on at the same time, but for example, when the key valid switch is turned on first, and then the movement command switch is turned on, or
When two switch operations are performed at different times, such as when the operation command switch is turned on at the same time and then the key enable switch is turned on, the operation command signal is input to the signal reception section. You may also do so. Further, a plurality of key valid switches may be provided.

[Effects of the present invention]

As explained above, the present invention provides several switches directly related to the movement (movement) of the robot with a key enable switch that determines whether or not to enable the input signals of the switches in the switch group. Therefore, even if a switch is operated carelessly, no signal will be input from that switch. Therefore, according to the present invention, it is possible to realize a robot control device that can ensure the safety of the operator.

[Brief explanation of the drawing]

Figure 1 is a configuration diagram showing the key arrangement of the operation panel used in the device of the present invention, Figure 2 is a connection diagram schematically showing each switch circuit, and Figure 6 shows the circuit in Figure 2 realized by software. FIG. 4 is an explanatory diagram of the configuration of the conventional device, and FIG. 5 is an enlarged view of the operation panel in FIG. 4. (1)...Robot body, (3)...Operation panel, (4
)...Teaching switch;19...Key enable switch, +lEl...Switch group Note that the same reference numerals in the figures indicate the same -
or a corresponding portion thereof. Agent Patent Attorney Sanro Kimura Figure 1 Figure 2

Claims (1)

[Scope of Claims] (11) A robot control device that controls the operation of a robot by operating various switches provided on an operation panel or an operation box, wherein at least some of the various switches are provided on the operation panel or operation box. A key enable switch is provided to enable the operation of the switch, and only when this key enable switch and one of the various switches are operated at the same time or at different times, the operation of the switch is activated. A robot control device characterized in that a signal is enabled. (2) A robot control device according to claim 1, wherein a plurality of key enable switches are provided.