Robot control device

Abstract

The robot control device 30 is a device for controlling the robot 40 equipped with a laser oscillator 42, and includes a memory unit 355, a selection unit 320, and a processing unit 356. The memory unit 355 stores processing programs P1 and P3 for each model A to C of the laser oscillator 42, used to execute the processing that transforms the laser oscillator 42 from an unprocessed state to a processed state. The selection unit 320 is configured to select models A to C. The processing unit 356 reads from the memory unit 355 and executes the processing programs P1a to P1c and P3a to P3c corresponding to the models A to C selected by the selection unit 320.

Description

Technical Field

[0001] Invention Field

[0002] The present invention relates to a robot control device that controls a robot equipped with a laser oscillator. Prior Technology

[0003] Background of the Invention

[0004] Among industrial robots, there are robots with processing nozzles on their arms that use lasers to process materials such as steel plates. The processing nozzles receive laser light output from a laser oscillator. Prior technology documents Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2007-30031 Summary of the Invention

[0006] Invention Summary The problem the invention aims to solve

[0007] A laser oscillator cannot output laser light in its initial state simply by being powered on. Therefore, a predetermined power-on process must be performed to bring the laser oscillator from its initial state to a ready-to-output state. However, this power-on process can vary depending on the type of laser oscillator. Similarly, the power-off process that returns the laser oscillator from the ready-to-output state to its initial state also varies depending on the type of laser oscillator.

[0008] Therefore, a PLC (Programmable Logic Controller) must be pre-installed in the robot's control device. The system designer, in conjunction with the type of laser oscillator to be used, combines the power-on or power-off programs using ladders and other methods each time.

[0009] Furthermore, when a robot uses multiple laser oscillators depending on the purpose of each production site, the system designer must also prepare power-on or power-off programs for the number of different types of laser oscillators to be used.

[0010] This disclosure was made in view of the above reasons, and its purpose is to reduce the workload of system designers and operators by eliminating the need to combine power-on or power-off procedures with the specific laser oscillator model used each time. The means to solve the problem

[0011] The first disclosure is a robot control device for controlling a robot equipped with a laser oscillator. The robot control device includes: a memory unit that stores, for each type of laser oscillator, a processing program for executing processing to change the laser oscillator from an unprocessed state to a processed state; a selection unit configured to select the aforementioned type; and a processing unit that reads from the memory unit and executes the aforementioned processing program corresponding to the type selected by the selection unit.

[0012] According to the first disclosure, as long as the selection unit selects the model, the processing unit can then execute the processing program corresponding to the selected model. Therefore, the operator does not need to match the model of the laser oscillator to be used, and the processing program can be combined each time, which can reduce the workload.

[0013] The second disclosure is a robot control device for controlling a robot equipped with a laser oscillator. The robot control device includes: a memory unit that stores a power-on process and a power-off process for each type of laser oscillator, wherein the power-on process executes a process to change the laser oscillator from an initial state where it cannot output laser light to a ready-to-output state, and the power-off process executes a process to return the laser oscillator from the ready-to-output state to the initial state; a selection unit configured to select the aforementioned type of oscillator; and a processing unit that reads from the memory unit and executes the power-on process and the power-off process corresponding to the selected type of oscillator by the selection unit.

[0014] According to the second disclosure, as long as the selection unit selects the model, the processing unit can then execute the power-on and power-off procedures corresponding to the selected model. Therefore, the operator does not need to match the model of the laser oscillator to be used, and the power-on and power-off procedures can be combined each time, which can reduce the workload. Simple Explanation of the Diagram

[0015] Figure 1 is a block diagram showing the robot control device and its surroundings in the first embodiment. Figure 2 is a block diagram showing the power-on process of the laser oscillator for model A. Figure 3 is a block diagram showing the power-on process of the laser oscillator for model B. Figure 4 is a block diagram showing the power-on process of the laser oscillator for model C. Figure 5 is a block diagram showing the robot control device and its surroundings in the second embodiment. Figure 6 is a block diagram showing the robot control device and its surroundings in the third embodiment. Implementation

[0016] Forms used to implement inventions

[0017] The embodiments of the present invention will be described below with reference to the accompanying drawings. However, the scope of the present invention is not limited by the following embodiments and can be suitably modified to implement the invention without departing from its spirit.

[0018] [First Implementation Form] As shown in Figure 1, the robot 40 has a plurality of laser oscillators 42 and an arm 45. Furthermore, while the plurality of laser oscillators 42 may consist of three of the laser oscillators 42a (model A), 42b (model B), and 42c (model C), it may also have two or more. Additionally, the robot 40 may also have only one of these laser oscillators 42a, 42b, and 42c, and may be replaced with other laser oscillators.

[0019] Each laser oscillator 42 cannot output lasers if it is only powered on. Therefore, in order to output lasers from the laser oscillator 42, a predetermined power-on process must be performed to change the initial state from which no lasers can be output to the ready-to-output state.

[0020] Arm 45 is equipped with a processing nozzle 452. One of a plurality of laser oscillators 42a, 42b, and 42c is selectively connected to the processing nozzle 452. The processing nozzle 452 receives and irradiates laser light output from the laser oscillator 42 to which it is connected.

[0021] The robot control device 30 includes a teaching operation panel 32 and a control device body 35. The teaching operation panel 32 includes a selection unit 230, a power-on indicator 321, a processing indicator 322, and a power-off indicator 323.

[0022] The selection unit 320 is configured to select models A to C of the laser oscillator 42. That is, the operator can select models A to C of the laser oscillator 42 by operating this selection unit 230. Hereinafter, the model of the laser oscillator 42 selected by this selection unit 320 will be referred to as the "selected model".

[0023] The power-on indicator 321 is configured to indicate the start of the power-on process for the laser oscillator 42. This power-on process moves the laser oscillator 42 from an initial state (unprocessed) to a ready-to-complete state (processing completion). The processing indicator 322 is configured to indicate that laser processing will begin from the robot 40. The power-off indicator 323 is configured to indicate the start of the power-off process for the laser oscillator 42. This power-off process moves the laser oscillator 42 from the ready-to-complete state (unprocessed) back to the initial state (processing completion).

[0024] The instruction control panel 32 may also have these selection sections 320, power-on indicator 321, processing indicator 322 and power-off indicator 323, for example, in a touch panel or as physical buttons.

[0025] The control device body 35 is constructed as a computer with CPU, RAM, ROM, etc., and has a memory unit 355 and a processing unit 356.

[0026] The memory unit 355, designed for each model A to C of the laser oscillators 42a to 42c to be handled by the robot control device 30, stores the power-on processing program (power-on program P1) and the power-off processing program (power-off program P3). That is, the memory unit 355 stores the power-on program P1a and power-off program P3a for model A, the power-on program P1b and power-off program P3b for model B, and the power-on program P1c and power-off program P3c for model C. Furthermore, the memory unit 355 stores the machining program P2. Although this machining program P2 is shown as a single unit in the diagram, it can, for example, have multiple units depending on the application.

[0027] When the operator instructs the laser oscillator 42 to be powered on via the power-on instruction unit 231, the processing unit 356 reads from the memory unit 355 and executes the selected model's power-on program P1. Therefore, for example, when model A is selected, the processing unit 356 executes model A's power-on program P1a when instructed to power on. Similarly, for example, when model B is selected, the processing unit 356 executes model B's power-on program P1b when instructed to power on.

[0028] Furthermore, if the operator instructs the laser processing via the processing instruction unit 322, the processing unit 356 executes processing program P2. This controls the robot 40 to perform the laser processing.

[0029] Furthermore, if the operator instructs the laser oscillator 42 to be turned off by operating the power-off indicator 323, the processing unit 356 reads from the memory unit 355 and executes the selected model's power-off program P3. Therefore, for example, when model A is selected, the processing unit 356 executes model A's power-off program P3a when instructed to turn off. Similarly, for example, when model B is selected, the processing unit 356 executes model B's power-off program P3b when instructed to turn off.

[0030] Next, referring to Figure 2, the startup process of startup procedure P1a based on model A will be explained. In the startup process of model A, firstly, the robot control device 30 sends a "laser request" requesting permission to control itself to the laser oscillator 42a. When the laser oscillator 42a receives this request, it grants control based on the fulfillment of predetermined conditions and sends a "laser assignment signal" to the robot control device 30. When the robot control device 30 receives this signal, it sends a "laser activation request" to the laser oscillator 42a. When the laser oscillator 42a receives this request, it changes from the initial state to the ready-to-complete state and sends a "laser activation signal" to the laser oscillator 42a. When the robot control device 30 receives this signal, it sends an "analog control activation request" requesting permission to perform analog control itself to the laser oscillator 42a. When the laser oscillator 42a receives this request, it enables analog control on the condition that predetermined requirements are met, sends an "analog control enable signal" to the robot control device, and sends a "laser preparation complete signal" to the robot control device 30.

[0031] Next, referring to Figure 3, the startup process of the startup program P1b based on model B will be explained. In the startup process of model B, firstly, the robot control device 30 sends an "interlock release request" to the laser oscillator 42b. When the laser oscillator 42b receives this request, it releases its own interlock based on the condition that a predetermined requirement is met, and sends an "interlock release signal" to the robot control device 30. When the robot control device 30 receives this signal, it sends an "analog control request" to the laser oscillator 42b, requesting permission to perform analog control itself. When the laser oscillator 42b receives this request, it permits analog control based on the condition that a predetermined requirement is met, and sends an "analog control signal" to the robot control device 30. When the robot control device 30 receives this signal, it sends a "laser start request" to the laser oscillator 42b. When the laser oscillator 42b receives this request, it changes itself from the initial state to the ready state and sends a "laser ready-to-complete signal" to the laser oscillator 42b.

[0032] Next, referring to Figure 4, the power-on process of the power-on program P1c based on model C will be explained. In the power-on process of model C, firstly, the laser oscillator 42c sends a "power-on signal" indicating power-on to the robot control device 30. When the robot control device 30 receives this signal, it sends a "start request" to the laser oscillator 42c. When the laser oscillator 42c receives this request, it changes from the initial state to the ready-to-go state and sends a "start signal" to the robot control device 30. When the robot control device 30 receives this signal, it sends a "radiation request" requesting permission to control itself to the laser oscillator 42c. When the laser oscillator 42c receives this request, it grants control based on the fulfillment of predetermined requirements and sends a "laser ready-to-go signal" to the robot control device 30.

[0033] As described above, the power-on processes of the laser oscillators 42a to 42c for these models A to C are different. Therefore, the memory unit 355 has power-on programs P1a to P1c that are different for each model A to C. The same applies to the power-off programs P3a to P3c. That is, the memory unit 355 has power-off programs P3a to P3c that are different for each model A to C.

[0034] Next, referring again to Figure 1, the procedure for actually controlling the robot 40 using the robot control device 30 will be explained. First, the operator connects the required laser oscillator 42 to the processing nozzle 452. Here, as shown by solid lines in Figure 1, the laser oscillator 42a of model A is connected to the processing nozzle 452. Next, the operator selects the model of the laser oscillator 42 connected to the processing nozzle 452 (i.e., model A in this case) using the operation selection unit 320.

[0035] Next, the operator instructs the laser oscillator 42a to be powered on by operating the power-on indicator 321. This executes the power-on program P1a of model A, and the laser oscillator 42a changes from the initial state to the ready-to-complete state.

[0036] Next, the operator instructs the laser processing via the operation processing instruction unit 322. The processing program P2 is then executed, and laser processing is performed on the target material, such as a steel plate.

[0037] Next, the operator instructs the laser oscillator 42a to be powered off by operating the power-off indicator 323. This executes the power-off procedure P3a of model A, and the laser oscillator 42a returns from the ready-to-go state to the initial state.

[0038] As described above, according to this embodiment, for example, if model A is pre-selected, simply instructing the laser oscillator 42 to turn it on will execute the power-on process for model A, and simply instructing it to turn it off will execute the power-off process for model A. Similarly, if model B is pre-selected, simply instructing the laser oscillator 42 to turn it on will execute the power-on process for model B, and simply instructing it to turn it off will execute the power-off process for model B. Therefore, the operator does not need to combine the power-on program P1 or the power-off program P3 each time depending on the model of the laser oscillator 42 to be used. This reduces the operator's workload.

[0039] [Second Implementation] Next, referring to Figure 5, the second embodiment will be described. This embodiment is based on the first embodiment and focuses on the differences between the two embodiments. Details that are the same as or similar to the first embodiment will be omitted as appropriate.

[0040] In this embodiment, the instruction control panel 32 does not have the power-on indicator 321 and power-off indicator 323 as in the first embodiment. As an alternative, if the operator selects a model through the operation selection unit 320, a control program P is formed that includes the selected model's power-on program P1, the processing program P2, and the selected model's power-off program P3.

[0041] That is, for example, if model A is selected, as shown by solid lines in Figure 5, a control program P is formed that includes the power-on program P1a, the machining program P2, and the power-off program P3a for model A. Alternatively, for example, if model B is selected, as shown by dashed lines in Figure 5, a control program P is formed that includes the power-on program P1b, the machining program P2, and the power-off program P3b for model B.

[0042] Subsequently, if the operator instructs the laser processing via the processing instruction unit 322, the processing unit 356 executes the control program P. This executes the machine start-up program P1, followed by the processing program P2, and then the machine shutdown program P3. That is, when machine type A is selected, the machine start-up program P1a is executed, followed by the processing program P2, and then the machine shutdown program P3a. Similarly, when machine type B is selected, the machine start-up program P1b is executed, followed by the processing program P2, and then the machine shutdown program P3b.

[0043] As described above, according to this embodiment, for example, if machine type A is selected in advance and only laser processing is instructed, the startup process of machine type A, the laser processing process, and the shutdown process of machine type A can be executed sequentially. Similarly, for example, if machine type B is selected in advance and only laser processing is instructed, the startup process of machine type B, the laser processing process, and the shutdown process of machine type B can be executed sequentially. Therefore, the operator's workload can be reduced even more than in the first embodiment.

[0044] Furthermore, according to this embodiment, since the power-on program P1, the processing program P2, and the power-off program P3 are entered into the control program P group, the power-on and power-off processes can be carried out synchronously and efficiently with the laser processing process.

[0045] [Third Implementation Form] Next, referring to Figure 6, the third embodiment will be described. This embodiment is based on the second embodiment and focuses on the differences between the two embodiments. Details that are the same as or similar to the second embodiment will be omitted as appropriate.

[0046] As shown in Figure 6, in this embodiment, the instruction control panel 32 does not have a selection unit 320, but the control device body 35 has a selection unit 320. The selection unit 320 automatically identifies the model A to C of the laser oscillator 42 connected to the processing nozzle 452 from the connection status, and selects the identified model A to C.

[0047] That is, for example, as shown by solid lines in Figure 6, if a laser oscillator 42a of type A is connected to the processing nozzle 452, the selection unit 320 automatically selects type A and combines it into a control program P that includes the start-up program P1a, the processing program P2, and the shutdown program P3a of type A. Alternatively, as shown by dashed lines in Figure 6, if a laser oscillator 42b of type B is connected to the processing nozzle 452, the selection unit 320 automatically selects type B and combines it into a control program P that includes the start-up program P1b, the processing program P2, and the shutdown program P3b of type B.

[0048] Subsequently, similar to the second embodiment, when the operator instructs the laser processing via the processing instruction unit 322, the processing unit 356 executes the control program P. This executes the machine start-up program P1, followed by the processing program P2, and then the machine shutdown program P3.

[0049] According to this embodiment, even the labor required for operators to select machine types A to C can be reduced.

[0050] [Other Implementation Forms] The above implementation can be changed to the following, for example.

[0051] The memory unit 355 can also remember only one of the power-on program P1 and the power-off program P3 for each model A to C, while the other program is common to all models A to C.

[0052] Alternatively, among three or more models, the boot program P1 may be the same or common, or the shutdown program P3 may be the same or common. That is, for example, the boot program P1a of model A may be the same or common to the boot program P1b of model B, while only the boot program P1c of model C may be different from the boot programs P1a and P1b of models A and B.

[0053] Regarding the part of the processing program P2, it can also be different for each model A to C. That is, the memory unit 355 can also memorize a part of the processing program P2, which is different for each model A to C, and the processing program is set based on the selected model.

[0054] 30: Robot control device 32: Instruction of the operation panel 35: Control device body 40: Robot 42: Laser Oscillator 42a: Laser Oscillator for Model A 42b: Laser Oscillator for Model B 42c: Laser Oscillator for Model C 45: Arm 320: Selection Department 321: Power-on indicator 322: Machining Instruction Section 323: Power-off indicator 355: Memory Department 356: Processing Department 452: Processing nozzles A, B, C: Model P1: Startup Program P1a: Startup program for Model A P1b: Boot program for Model B P1c: Boot program for Model C P2: Engineering formula P3: Shutdown Program P3a: Shutdown procedure for Model A P3b: Shutdown program for Model B P3c: Power-off program for Model C

Claims

1. A robot control device for controlling a robot equipped with a laser oscillator, the robot control device comprising: a memory unit that stores, for each type of laser oscillator, a processing program for executing processing to change the laser oscillator from an unprocessed state to a processed state; a selection unit configured to select the aforementioned type; and a processing unit that reads from the memory unit and executes the aforementioned processing program corresponding to the type selected by the selection unit, wherein when the selection unit selects a predetermined first type of laser oscillator, the processing unit completes the processing to change the laser oscillator of the first type of laser oscillator from the unprocessed state to the processed state by reading from the memory unit and executing the aforementioned processing program corresponding to the first type of laser oscillator; and when the selection unit selects a second type of laser oscillator different from the first type of laser oscillator, the processing unit completes the processing to change the laser oscillator of the second type of laser oscillator from the unprocessed state to the processed state by reading from the memory unit and executing the aforementioned processing program corresponding to the second type of laser oscillator.

2. The robot control device of claim 1, wherein the aforementioned unprocessed state is an initial state in which the laser cannot be output, the aforementioned processed state is a ready-to-output state, the aforementioned processing program is a power-on program used to execute the power-on process, and the aforementioned power-on process causes the aforementioned laser oscillator to change from the aforementioned initial state to the aforementioned ready-to-output state.

3. The robot control device of claim 1, wherein the aforementioned unprocessed state is a ready-to-output laser state, the aforementioned processed state is an initial state in which laser cannot be output, the aforementioned processing program is a shutdown program used to execute shutdown processing, and the aforementioned shutdown processing causes the aforementioned laser oscillator to change from the aforementioned ready-to-output state to the aforementioned initial state.

4. A robot control device for controlling a robot equipped with a laser oscillator, the robot control device comprising: a memory unit that stores a power-on process and a power-off process for each type of laser oscillator, wherein the power-on process executes a process to change the laser oscillator from an initial state where it cannot output laser light to a ready-to-output state, and the power-off process executes a process to return the laser oscillator from the ready-to-output state to the initial state; a selection unit configured to select the aforementioned type of oscillator; and a processing unit that reads from the memory unit and executes the power-on process and the power-off process corresponding to the selected type of oscillator by the selection unit. When the aforementioned processing unit selects a predetermined first model from the aforementioned selection unit, it reads from the aforementioned memory unit and executes the aforementioned power-on processing program corresponding to the aforementioned first model to complete the process of making the aforementioned laser oscillator of the aforementioned first model ready to complete the process. Furthermore, it reads from the aforementioned memory unit and executes the aforementioned power-off processing program corresponding to the aforementioned first model to complete the process of making the aforementioned laser oscillator of the aforementioned first model return to the aforementioned initial state. When the aforementioned processing unit selects a predetermined second model from the aforementioned selection unit, it reads from the aforementioned memory unit and executes the aforementioned power-on processing program corresponding to the aforementioned second model to complete the process of making the aforementioned laser oscillator of the aforementioned second model ready to complete the process. Furthermore, it reads from the aforementioned memory unit and executes the aforementioned power-off processing program corresponding to the aforementioned second model to complete the process of making the aforementioned laser oscillator of the aforementioned second model return to the aforementioned initial state.

5. A robot control device as claimed in any of claims 1 to 4, wherein the robot control device has a teaching control panel, and the processing unit starts the execution of the processing program based on the operation performed by the teaching control panel.

6. The robot control device according to any one of claims 1 to 4, wherein the aforementioned processing unit executes the aforementioned processing program and the aforementioned processing program by executing a control program containing the aforementioned processing program corresponding to the aforementioned machine type selected by the aforementioned selection unit and a processing program for causing the aforementioned robot to perform laser processing.

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