Communication device, communication method, robot device, production device, method of manufacturing article, transmission device, recording medium

Abstract

The present invention provides a communication device, a communication method, a robot device, a production device, a method for manufacturing an article, a sending device, and a recording medium. The communication device includes: a sending device configured to send operation data for a device; a receiving device configured to receive the operation data; a wireless communication unit, via which the sending device and the receiving device communicate with each other wirelessly; and a cable configured to connect the sending device and the receiving device, wherein the sending device sends a synchronization signal to the receiving device via the cable, the synchronization signal indicating the timing of executing the operation data, and wherein the sending device uses the wireless communication unit to send the operation data corresponding to the operation of the device in a predetermined period to the receiving device.

Description

Technical Field

[0001] The present invention relates to a communication device. Background Art

[0002] In production lines for manufacturing products, robot devices equipped with articulated robotic arms have been used as production devices. This type of robotic arm uses an end effector attached to the distal end of the robotic arm to manipulate workpieces and manufacture items such as industrial products and parts. Examples of the end effector include a robotic hand as a gripping device and other tools such as instruments.

[0003] The robot used as the end effector is provided with a finger part configured to grasp a workpiece. The rotation force of a built-in motor of the robot is converted into a linear operation through a gear, and the linear operation is transmitted to the finger part so that the finger part grasps the workpiece.

[0004] For example, an AC servo motor, a stepper motor, or a DC motor is used as the built-in motor of the end effector. Conventional technology generally uses a communication cable extending in a robot arm to transmit a control signal for controlling the built-in motor of the end effector to the motor via the communication cable.

[0005] Since the robot arm is always moving, a communication cable that is resistant to bending is used in the robot arm. In addition, since various signals corresponding to the number of finger parts and the number of installed sensors are sent during the control of the robot, the number of communication cables increases. This causes the following problems: the bending resistance of the communication cable is reduced, and the thickness of the robot arm is increased for sufficient space for the communication cable. Not only the robot device, but various production devices have problems related to wiring.

[0006] In response to the above-mentioned problems, various wireless communication methods in a production apparatus have been discussed with respect to a wireless environment in the production apparatus.

[0007] For example, a method is discussed of using a protocol that supports high-speed communication, such as Ethernet for control automation technology (EtherCAT), CC-Link Industrial Ethernet (CC-LinkIE), PROFIBUS Distributed Peripherals (PROFIBUS-DP), or Mechatrolink-III, in addition to the conventional Control Area Network (CAN) and Recommended Standard (RS)-485.

[0008] In addition, Japanese Patent Laid-Open No. 2005-217799 discusses a method in which data that is difficult to transmit by wire (such as high-speed data and data requiring multiplexing to be transmitted via a bus) is transmitted wirelessly, while data that does not require high-speed, large-volume data transmission is transmitted by wire to reduce communication cables in various electronic devices. With this method, communication cables used to transmit data requiring multiplexing can be reduced.

[0009] The robot arm can be oriented in various orientations depending on the operation to be performed. Therefore, depending on the orientation of the robot arm, there is a possibility that an obstruction enters between the control device and the end effector and reflects the radio waves, or the end effector is brought outside the communicable area and the wireless communication is disconnected, which may cause erroneous operation or loss of real-time performance. In a production device including a mobile mechanism configured as a mobile communication object, the above-mentioned disconnection of wireless communication may also occur.

[0010] The method discussed in Japanese Patent Laid-Open No. 2005-217799 is directed to an electronic device such as a laptop personal computer (PC) in which wireless communication is in a stable condition, because an obstruction is unlikely to enter between a transmitting object and a receiving object, and the transmitting object and the receiving object are unlikely to be brought out of a communicable area. Therefore, this method is not suitable for a situation in which wireless communication may be disconnected when the communicating object moves. Summary of the invention

[0011] In response to the above-mentioned problems, the present invention is directed to a communication device with which the occurrence of erroneous operations and the loss of real-time performance are reduced even when wireless communication is disconnected.

[0012] According to one aspect of the present disclosure, a communication device is provided, comprising: a sending device configured to send operation data for a device; a receiving device configured to receive the operation data; a wireless communication unit, via which the sending device and the receiving device wirelessly communicate with each other; and a cable configured to connect the sending device and the receiving device, wherein the sending device sends a synchronization signal to the receiving device via the cable, the synchronization signal indicating a timing for executing the operation data, and wherein the sending device uses the wireless communication unit to send the operation data corresponding to the operation of the device in a predetermined time period to the receiving device.

[0013] Further features of the present disclosure will become apparent from the following description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic diagram illustrating a robot apparatus according to an exemplary embodiment.

[0015] Figure 2 is a control block diagram illustrating a manipulator body according to an exemplary embodiment.

[0016] Figure 3A and Figure 3B is a schematic diagram illustrating a synchronization signal superimposed on a power cable and transmitted, and operation data transmitted through a wireless signal according to an exemplary embodiment.

[0017] Figure 4 is a schematic diagram illustrating a circuit for generating a burst synchronization signal according to an exemplary embodiment.

[0018] Figure 5 is a block diagram illustrating a control device according to an exemplary embodiment.

[0019] Figure 6 is a block diagram illustrating a handheld motor driver according to an exemplary embodiment.

[0020] Figure 7 is a schematic diagram illustrating a synchronization signal superimposed on a power cable and transmitted and operation data transmitted through a wireless signal according to an exemplary embodiment while maintaining wireless communication.

[0021] Figure 8 is a schematic diagram illustrating a synchronization signal superimposed on a power cable and transmitted and operation data transmitted through a wireless signal according to an exemplary embodiment in a case where wireless communication is disconnected.

[0022] Fig. 9 is a schematic diagram illustrating a synchronization signal superimposed on a power cable and transmitted and operation data transmitted through a wireless signal according to an exemplary embodiment in a case where wireless communication is disconnected.

[0023] Fig.10 is a schematic diagram illustrating a robot apparatus according to an exemplary embodiment.

[0024] Fig.11 is a control block diagram illustrating a robot arm body according to an exemplary embodiment. DETAILED DESCRIPTION

[0025] Various exemplary embodiments of the present disclosure will be described below with reference to the accompanying drawings. It should be noted that each configuration described below is merely an example, and those skilled in the art can, for example, change the details of the configuration as needed within the essential scope of the present invention. In addition, each numerical value specified in the exemplary embodiments described below is merely a reference value and is not intended to limit the scope of the present invention.

[0026] Figure 11 is a plan view showing the robot device 100 according to the first exemplary embodiment, viewed from a direction in an XYZ coordinate system. In the drawings specified below, arrows X, Y, and Z represent the coordinate system of the entire robot device 100. Generally, in a robot system using a robot device, in control in some cases, a local three-dimensional coordinate system about a manipulator or a finger part, and a global XYZ three-dimensional coordinate system of the entire installation environment are used as needed. In the present exemplary embodiment, the coordinate system of the entire robot device 100 is specified by XYZ, and the local coordinate system is specified by xyz.

[0027] like Figure 1 As shown, the robot apparatus 100 includes an articulated robot arm main body 200, a robot hand main body 300, and a control device 400. The control device 400 is a control unit configured to control the operation of the entire robot apparatus 100.

[0028] The robot device 100 further includes an external input device 500 which is a teaching device configured to send teaching data to the control device 400. An example of the external input device 500 is a teaching box used by a user to designate positions of the robot arm body 200 and the robot hand body 300.

[0029] Although a manipulator is disposed as an end effector at a distal end portion of the robot arm body 200 in the present exemplary embodiment, the end effector is not limited to the manipulator and may be a tool.

[0030] The link 201 , which is the proximal end of the robot arm body 200 , is disposed on the base 210 .

[0031] The manipulator body 300 is configured to grasp an object such as a part or a tool. The two fingers of the manipulator body 300 according to the present exemplary embodiment are opened / closed by a driving mechanism (not shown) and a motor 311 to release / grasp the workpiece. The manipulator body 300 is used to grasp the workpiece so that the relative position of the workpiece relative to the robot arm body 200 does not change.

[0032] Furthermore, the manipulator body 300 includes a built-in handheld motor driver 301 , and the motor driver 301 controls driving of the motor 311 .

[0033] The robot body 300 is connected to the link 204 , and the link 204 rotates, so that the robot body 300 also rotates.

[0034] The robot body 200 includes a plurality of joints, for example, four joints (four axes). The robot body 200 includes a plurality of (four) servo motors 211, 212, 213, and 214 that drive and rotate the joints J1, J2, J3, and J4 around rotation axes, respectively.

[0035] In the robot body 200, links 201, 202, 203 and 204 are coupled to each other through joints J1, J2, J3 and J4, respectively, to be rotatably movable. The links 201 to 204 are sequentially coupled in series from the proximal end toward the distal end of the robot body 200.

[0036] exist Figure 1 In the figure, the base 210 and the connecting rod 201 of the robot body 200 are connected to each other through a joint J1 rotating around the X-axis.

[0037] The connecting rods 201 and 202 of the robot body 200 are connected by a joint J2. Figure 1 In the state shown, the rotation axis of the joint J2 is consistent with the Y-axis direction.

[0038] The connecting rods 202 and 203 of the robot body 200 are connected by a joint J3. Figure 1 In the state shown, the rotation axis of the joint J3 is consistent with the Y-axis direction.

[0039] The connecting rods 203 and 204 of the robot body 200 are connected by a joint J4. Figure 1 In the state shown, the rotation axis of the joint J4 is consistent with the Y-axis direction.

[0040] With the above-described configuration, the robot body 200 can orient the end effector (the manipulator body 300 ) of the robot body 200 in desired three directions at a desired three-dimensional position within the movable range.

[0041] In the present exemplary embodiment, the hand end of the robot body 200 is the robot body 300. In the case where the robot body 300 grasps an object, the robot body 300 and the grasped object (eg, part, tool) are collectively referred to as the hand end of the robot body 200.

[0042] Specifically, the manipulator body 300 as an end effector is referred to as a hand end regardless of whether the manipulator body 300 is in a state of gripping an object or in a state of not gripping an object.

[0043] With the above configuration, the robot body 200 can operate the robot body 300 to a desired position and cause the robot body 300 to perform a desired operation. Examples of the desired operation include operations of grasping a workpiece, attaching the grasped workpiece to a predetermined workpiece, and manufacturing an article.

[0044] The robot body 300 may be, for example, an end effector such as an air hand driven by pneumatic pressure.

[0045] Furthermore, the robot body 300 may be attached to the link 204 by a partial fixing method such as screwing or a removal / replacement method such as latching.

[0046] Particularly in the case where the robot body 300 is removable and replaceable, a method can also be used in which a plurality of types of robot bodies 300 arranged at the supply position are removed and replaced by operations performed by the robot body 200 by controlling the robot body 200 .

[0047] Furthermore, an antenna 13 for wireless communication is arranged in each of the control device 400 and the manipulator body 300 to enable transmission and reception of wireless communication between the control device 400 and the built-in handheld motor driver 301 of the manipulator body 300 .

[0048] In the present exemplary embodiment, antenna 13 uses a commonly used wireless transmission method (eg, Wi-Fi Institute of Electrical and Electronics Engineers (IEEE) 802.1, fourth generation (4G), fifth generation (5G)).

[0049] Operation data for operating the robot body 300 is transmitted from the control device 400 to the handheld motor driver 301 via the wireless communication path 12 of wireless communication using the antenna 13. Wireless communication is enabled by the antenna 13.

[0050] Furthermore, the control device 400 according to the present exemplary embodiment also has a function as a power supply device that supplies power to the robot device 100 .

[0051] Electric power is supplied to the electric motor 311 from the control device 400 via the power cable 1 .

[0052] Furthermore, a synchronization signal containing execution timing of operation data for operating the robot main body 300 is also superimposed and transmitted to the handheld motor driver 301 via the power cable 1 .

[0053] Figure 2 This is a block diagram which is a simplified control block diagram of the robot main body 300 .

[0054] exist Figure 2 In the embodiment, the control device 400 transmits the operation data and the synchronization signal to the hand-held motor driver 301 based on the command value input by the user using the external input device 500.

[0055] The handheld motor driver 301 receives operation data and a synchronization signal from the control device 400 and rotates the motor 311 at a desired angle and a desired speed in a target direction.

[0056] Since the control device 400 is configured to recognize the rotation angle of the motor 311, the motor encoder 321 is provided. The motor encoder 321 transmits information on the rotation angle of the motor 311 to the control device 400.

[0057] In this process, information from the motor encoder 321 is transmitted to the control device 400 via the wireless communication path 12 using the antenna 13 .

[0058] Methods of the motor encoder 321 include a magnetic encoder and an optical encoder. In addition, the rotation detection method includes an absolute method and an incremental method.

[0059] The incremental method detects the angle of the motor in a single rotation, while the absolute method can count the number of rotations of the motor over multiple rotations.

[0060] In many cases, the motors used in robotic devices rotate multiple times, so the absolute method is often used.

[0061] In the present exemplary embodiment, the control device 400 is provided outside the robot device 100 , and the handheld motor driver 301 is built in the manipulator body 300 .

[0062] With the above configuration, the position of the finger portion of the manipulator body 300 is detected by the motor encoder 321 , and feedback is sent to the control device 400 , thereby controlling the position of the finger portion of the manipulator body 300 .

[0063] The following will refer to Figure 3A and Figure 3B How the handheld motor driver 301 controls the manipulator body 300 based on the operation data and the synchronization signal sent from the control device 400 is described in detail.

[0064] Figure 3A and Figure 3B 1 is a schematic diagram showing a burst synchronization signal 14 superimposed on the power cable 1 and transmitted from the control device 400 , and a wireless signal 20 transmitted from the control device 400 via the wireless communication path 12 . Figure 3A is a schematic diagram showing a synchronization signal 14 sent via the power cable 1, Figure 3B is a schematic diagram showing a wireless signal 20 transmitted via the wireless communication path 12 .

[0065] exist Figure 3A In the embodiment, the synchronization signal superimposed on the power cable 1 is superimposed and transmitted as a pulse train synchronization signal 14.

[0066] like Figure 4 As shown, the burst synchronization signal 14 is transmitted by a circuit including a combination of an inductor 22 and a capacitor 23, for example.

[0067] For example, the capacitor 23 couples a 100 kHz sinusoidal waveform during the period of the burst synchronization signal 14 .

[0068] At the receiving end, the signal is acquired through capacitor coupling and filtered, and then the resulting signal is used as the burst synchronization signal 14.

[0069] Although the burst synchronization signal 14 is transmitted by the above-described method in the present exemplary embodiment, the burst synchronization signal 14 may be transmitted by other circuits.

[0070] exist Figure 3B In the embodiment, the wireless signal 20 transmitted via the wireless communication path 12 includes m data strings, which are operation data 1, operation data 2, ... and operation data m, where m represents the number of operation data.

[0071] Furthermore, the wireless signal 20 includes an execution operation data instruction signal 15 which specifies operation data to be executed among a plurality of operation data.

[0072] When the number of operation data is m, Figure 3B The data string of the first wireless signal 20 - 1 shown on the left side of FIG. 1 stores operation data 1 to m and is transmitted.

[0073] Figure 3B The data string of the second wireless signal 20-2 shown on the right side transmits operation data 2 to m+1.

[0074] The operation data 1 and the operation data 2 are data such as command values ​​related to the operation of the manipulator main body 300 in real time, and a single operation data of each second operation is transmitted from the wireless signal 20 .

[0075] Specifically, the operation data m is operation data to which the robot main body 300 responds at a timing of about m-1 seconds after the timing of transmitting the operation data 1.

[0076] Therefore, the operation data number m represents the number of operation data used for the operation of the manipulator main body 300 until a predetermined time.

[0077] As the operation data amount m increases, the amount of operation data included in one wireless signal 20 increases. Therefore, the predetermined time increases.

[0078] The execution operation data instruction signal 15 is also divided into a first execution operation data instruction signal, a second execution operation data instruction signal, and the like. Figure 3B The execution operation data instruction signal 15-1 of the wireless signal 20-1 shown on the left side is a first execution operation data instruction signal, and Figure 3BThe execution operation data instruction signal 15 - 2 of the wireless signal 20 - 2 shown on the right side is a second execution operation data instruction signal.

[0079] If the first execute operation data instruction signal 15 - 1 is received, the first operation data is executed, and if the second execute operation data instruction signal 15 - 2 is received, the second operation data is executed.

[0080] Similarly, in Figure 3A In the embodiment, the pulse train synchronization signal 14 is also divided into a first pulse train synchronization signal and a second pulse train synchronization signal. Figure 3A The burst synchronization signal 14-1 shown on the left side is the first burst synchronization signal, and Figure 3A The burst synchronization signal 14-2 shown on the right side of is a second burst synchronization signal.

[0081] Specifically, if the first burst synchronization signal 14 - 1 is received, the first operation data is executed, and if the second burst synchronization signal 14 - 2 is received, the second operation data is executed.

[0082] By the above method, the execution operation data instruction signal 15 or the burst synchronization signal 14 can be used as a reference for the operation data execution timing.

[0083] The burst synchronization signal 14 and the execution operation data instruction signal 15 are transmitted in a time-related manner, and the first execution operation data instruction signal 15-1 is transmitted at the same time point as the first burst synchronization signal 14-1.

[0084] When there is a margin in the operation data execution timing, there may be a range in the transmission timing of the operation data execution instruction signal 15 and the burst synchronization signal 14. For example, the operation data execution instruction signal 15-1 may be transmitted first, and then the burst synchronization signal 14-1 may be transmitted.

[0085] The method of transmitting the wireless signal 20 and the burst synchronization signal 14 will be described in detail below with reference to the block diagram.

[0086] Figure 5 is a block diagram showing blocks of a processing unit included in a control device 400 , which is a device that transmits a wireless signal 20 .

[0087] exist Figure 5 In the embodiment, the receiving unit 24 receives operation data for controlling the robot body 300 from the external input device 500 .

[0088] First, the received operation data is stored in the transmission memory unit 25 until the accumulated Figure 3B Up to the m operation data shown.

[0089] If m pieces of operation data are accumulated, the transmission data generating unit 26 combines the m pieces of operation data into the wireless signal 20, and then the modulation unit 27 modulates the wireless signal 20, and the modulated wireless signal 20 is transmitted.

[0090] The execution operation data instruction signals 15, each corresponding to a different one of the wireless signals 20, are combined by the sending data generation unit 26, and after the combined execution operation data instruction signal 15 is modulated by the modulation unit 27, the modulated execution operation data instruction signal 15 is sent to the sending unit 28, and the execution operation data instruction signal 15 is sent to the handheld motor driver 301 by the antenna 13.

[0091] If it is confirmed that a sufficient amount of operation data for generating one wireless signal 20 is stored in the transmission memory unit 25, the pulse train synchronization signal generation unit 29 generates a pulse train synchronization signal 14 to be superimposed on the power cable 1. The generation method is as described above with reference to Figure 4 described.

[0092] Then, as in the case of the wireless signal 20 , the burst synchronization signal modulation unit 30 modulates the burst synchronization signal 14 and then outputs the modulated burst synchronization signal 14 to the burst synchronization signal output unit 31 .

[0093] The pulse train synchronization signal 14 is then sent to the handheld motor driver 301 via the power cable 1 in a manner temporally associated with the execution operation data instruction signal 15 of the wireless signal 20 .

[0094] Next, a processing unit included in the handheld motor driver 301 as a device for receiving the wireless signal 20 will be described below with reference to a block diagram. Figure 6 301 is a block diagram showing blocks of a processing unit included in the handheld motor driver 301.

[0095] exist Figure 6 In the embodiment, the wireless signal 20 received by the receiving unit 32 is first stored in the receiving memory unit 33.

[0096] At the same time, the burst synchronization signal 14 superimposed on the power cable 1 is received by the synchronization separation unit 35, and the burst synchronization signal 14 is separated from the power signal.

[0097] Then, the wireless signal 20 and the burst synchronization signal 14 are input to the time adjustment unit 34, and the timing of executing the operation data instruction signal 15 and the burst synchronization signal 14 is synchronized.

[0098] Then, in Figure 3A and Figure 3BAs shown, in the case where the timing synchronization of the operation data instruction signal 15 and the pulse train synchronization signal 14 is executed, the wireless signal 20 and the pulse train synchronization signal 14 are input to the servo unit 36.

[0099] Then, the servo unit 36 ​​controls the motor 311 using the operation data to be executed based on the execution operation data instruction signal 15 and the pulse train synchronization signal 14 .

[0100] Figure 7 1 is a schematic diagram showing signals transmitted while maintaining wireless communication via the antenna 13 .

[0101] If sent Figure 7 The first wireless signal 20 - 1 shown on the left side, the handheld motor driver 301 controls the motor 311 using the corresponding operation data 1 based on the first execution operation data instruction signal 15 - 1.

[0102] If sent Figure 7 As shown on the right side, the hand-held motor driver 301 controls the motor 311 using the corresponding operation data 20 - 2 based on the second execution operation data instruction signal 15 - 2 .

[0103] More specifically, in the case where wireless communication is maintained, the operation data 2 to the operation data m included in the wireless signal 20 - 1 are not used.

[0104] When the second wireless signal 20 - 2 is received while the first operation data is being executed, the second operation data is executed as soon as the first operation data is finished.

[0105] Using the above-described technology, the robot body 300 can be continuously controlled via wireless communication.

[0106] Next, a case will be discussed in which the wireless communication is disconnected due to an operation performed by the robot body 200 immediately after the first wireless signal 20 - 1 is transmitted, and the second wireless signal 20 - 2 is not transmitted. Figure 8 is a schematic diagram showing signals in a case where wireless communication via the antenna 13 is disconnected.

[0107] exist Figure 8 In the case where the second execution operation data instruction signal 15-2 is not confirmed due to the disconnection of wireless communication, the handheld motor driver 301 changes the signal to be the control reference signal from the execution operation data instruction signal 15 to the pulse train synchronization signal 14 superimposed on the power cable 1.

[0108] Then, the handheld motor driver 301 is based on the pulse train synchronization signal 14, Figure 8The operation data 2 corresponding to the second burst synchronization signal 14-2 is selected from the first wireless signal 20-1 stored in the reception memory unit 33 shown on the left side of FIG. 1 , and the motor 311 is operated.

[0109] The wireless signal 20 - 1 transmitted immediately before disconnecting the wireless communication contains operation data m as subsequent operation data until about m−1 seconds and is stored in the memory so that the operation can be continued until about m−1 seconds by the burst synchronization signal 14 .

[0110] During the period of approximately m-1 seconds, if wireless communication is restored and a Figure 8 The (m+1)th wireless signal 20-(m+1) shown on the left side changes the control reference signal to the execution operation data instruction signal 15-(m+1), and the operation of the robot body 300 can continue.

[0111] Despite Figure 8 The (m+1)th wireless signal 20-(m+1) is shown in the figure, but if wireless communication is restored earlier and a wireless signal 20 corresponding to the forwarded operation data (such as the mth wireless signal 20-m or the (m-1)th wireless signal 20-(m-1)) is sent, the control reference signal can be changed in sequence.

[0112] As described above, in the present exemplary embodiment, even when wireless communication is disconnected, operation data for a subsequent period of about m seconds is sent in advance. Therefore, the robot body 300 can be operated using the pre-sent operation data based on the synchronization signal superimposed on the power cable 1, thereby controlling the robot body 300 while reducing the occurrence of erroneous operations and maintaining feasibility.

[0113] The operation data amount m can be changed as needed based on the disconnection frequency of wireless communication. In the case of a 5G wireless communication unit, since a large amount of data can be transmitted, the operation data amount m can be increased so that long-term operation is ensured.

[0114] In the case of transmitting the operation data 20 to the motor 311 using electric wires such as a communication cable, different control wiring and motor encoder wiring are used for each installed motor.

[0115] A parallel or serial signal is used as a control signal transmitted using an electric wire such as a communication cable, and in the case of a parallel signal, for example, about 10 bits (ten communication cables) are used.

[0116] In both cases of the parallel signal and the serial signal, the communication cables are shielded from each other to reduce or prevent the influence of noise from the arm motor that operates the robot arm main body 200 .

[0117] In the case of using shielded wires, the wire diameter increases and the bending resistance deteriorates. As described above, in the case of wires extending in the robot body 200 to operate the manipulator body 300 at the distal end of the robot body 200, several to ten shielded wires are used.

[0118] However, in the present exemplary embodiment, since the operation data for the operation of the manipulator main body 300 is wirelessly transmitted, several to ten shielded wires can be omitted.

[0119] Therefore, an increase in the thickness of the link of the robot arm main body 200 is reduced or prevented, and furthermore, the electric wires extending in the robot arm main body 200 are reduced, thereby increasing the wiring durability.

[0120] Although the operation data in units of one second are described as an example in the present exemplary embodiment, the operation data is not limited to the above. For example, when there is a margin in the transmission capacity of the wireless communication, a plurality of operation data corresponding to one process in the operation of the robot device 100 are transmitted, and when the wireless communication is disconnected, the timing of executing each process can be determined based on the burst synchronization signal 14.

[0121] Furthermore, the operation data to be transmitted may be a programming language defining the operation of the robot device 100 .

[0122] In the first exemplary embodiment, the execution operation data instruction signal 15 determines the operation data to be executed while the wireless communication via the antenna 13 is maintained.

[0123] However, since the burst synchronization signal 14 is transmitted using an electric wire via the power supply cable 1 , the possibility that the burst synchronization signal 14 is disconnected is low.

[0124] In the second exemplary embodiment, operation data to be executed can be determined based on burst synchronization signal 14 regardless of whether wireless communication via antenna 13 is disconnected.

[0125] The following will describe the hardware and control system configurations that are different from those in the first exemplary embodiment with reference to the drawings. In addition, points similar to those in the first exemplary embodiment have similar configurations and actions as described above, and their detailed description is omitted.

[0126] Fig. 9 is a schematic diagram showing a wireless signal 20 and a burst synchronization signal 14 transmitted in the second exemplary embodiment.

[0127] If sent Fig. 9The first wireless signal 20 - 1 shown on the left side, the handheld motor driver 301 uses the corresponding operation data 1 to control the motor 311 based on the first pulse train signal 14 - 1.

[0128] If sent Fig. 9 The second pulse train signal 14 - 2 shown on the right side, the handheld motor driver 301 uses the corresponding operation data 2 to control the motor 311 based on the second pulse train signal 14 - 2.

[0129] In the above manner, the operation up to about m-1 seconds can be continued based on the first wireless signal 20-1 and the burst synchronization signal 14, regardless of whether the wireless communication is disconnected, and the first wireless signal 20-1 contains the operation data m up to about m-1 seconds.

[0130] Then, if you send Fig. 9 If the (m+1)th wireless signal 20-(m+1) is shown on the right side of , the control of the motor 311 can continue as described above.

[0131] As described above, according to the second exemplary embodiment, the robot body 300 is operated based on the pulse train synchronization signal 14 superimposed on the power cable 1 using the pre-transmitted operation data, thereby controlling the robot body 300 while reducing or preventing the occurrence of erroneous operations and maintaining real-time performance.

[0132] Furthermore, compared with the first exemplary embodiment, the execution operation data instruction signal 15 is eliminated in the present exemplary embodiment.

[0133] Furthermore, since the execution operation data instruction signal 15 is eliminated, the pulse train synchronization signal 14 and the execution operation data instruction signal 15 do not have to be temporally correlated with each other, so that the control load on the handheld motor driver 301 is reduced.

[0134] Although communication performed through the manipulator main body 300 arranged as an end effector on the robot arm main body 200 is described as an example in the first exemplary embodiment, the configuration is not limited to the above configuration.

[0135] For example, the present exemplary embodiment is also applicable to a case where the antenna 13 is arranged in each joint of the robot arm body 200 to wirelessly control a motor that drives the joint of the robot arm body 200 .

[0136] The following will describe the hardware and control system configuration in the third exemplary embodiment with reference to the accompanying drawings. In addition, similar points to the first exemplary embodiment have similar configurations and actions as described above, and their detailed description is omitted.

[0137] Fig.10 1 is a schematic diagram showing the robot device 100 according to the present exemplary embodiment. The difference from the first exemplary embodiment is that the antenna 13 is arranged in each of the joints J1 to J4 of the robot arm main body 200 .

[0138] An arm motor driver 50 for motor control is arranged in each of the motors 211 to 214 respectively arranged in the joints J1 to J4 .

[0139] The arm motor driver 50 includes Figure 6 The processing unit shown.

[0140] Furthermore, the power cable 1 supplies power to the motors 211 to 214. The power cable 1 branches to supply power to the motors 211 to 214.

[0141] Fig.11 2 is a block diagram which is a simplified control block diagram of the joint J2 of the robot arm body 200 according to the present exemplary embodiment.

[0142] exist Fig.11 In the embodiment, the control device 400 transmits operation data and a synchronization signal to the arm motor driver 50 based on a command value input by a user using the external input device 500 .

[0143] The arm motor driver 50 receives a control signal from the control device 400 and rotates the motor 212 at a certain angle and speed in a target direction.

[0144] The rotating shaft 49 of the motor 212 is coupled to the reduction gear 47 via the pulley 42 and the belt 46 .

[0145] The rotation of the rotating shaft 49 of the motor 212 is input to the reduction gear 47 , and the rotation speed is reduced by the reduction gear 47 , and the rotation with increased torque is sent to the connecting rod 202 to drive the connecting rod 202 .

[0146] Since the control device 400 needs to recognize the rotation angle of the motor 212 , a motor encoder 44 is provided in the motor 212 , and the motor encoder 44 transmits the rotation angle of the motor 212 to the control device 400 .

[0147] Types of the motor encoder 44 include a magnetic encoder and an optical encoder. Functions of the encoder include an absolute encoder function and an incremental encoder function.

[0148] Incremental encoders detect the angle of the motor in a single rotation, while absolute encoders can even count the number of rotations of the motor over multiple revolutions.

[0149] In the case where the motor encoder 44 is arranged in the joint of the robot arm, since the motor 212 rotates a plurality of times, an absolute encoder is used.

[0150] The angle information on the motor 212 detected by the motor encoder 44 is transmitted to the control device 400 via wireless communication using the antenna 13 .

[0151] In the present exemplary embodiment, a node control method is adopted in which the arm motor driver 50 is arranged to each joint.

[0152] In the node control method, power is supplied and control signals are sent to the arm motor drivers 50 arranged in the respective joints and the arm motor drivers 50 are operated, so that pulse width modulation (PWM) noise is less likely to be generated and the influence of the noise is small.

[0153] When the control device 400 transmits the operation data to the arm motor driver 50 via wireless communication using the power cable 1, the same Figure 8 The method described in the first exemplary embodiment or the method described above with reference to Fig. 9 The operation data is transmitted by a method similar to the method described in the second exemplary embodiment.

[0154] In the above-described manner, even in the case of controlling the motors 212 at the respective joint portions of the robot arm main body 200 via wireless communication, control can be performed while preventing or reducing the occurrence of erroneous operations and maintaining real-time performance.

[0155] According to the present exemplary embodiment, communication cables for wiring to respective joints of the robot arm body 200 may be omitted, so that an increase in thickness of the links of the robot arm body 200 is reduced or prevented, and wiring durability is increased.

[0156] The above description specifies that the processing according to the first exemplary embodiment and the second exemplary embodiment is performed by the control device 400. Alternatively, a control program of software capable of executing the above functions and a recording medium recording the program may be installed in the external input device 500 to implement the processing.

[0157] Therefore, a software control program capable of executing the above-mentioned functions, a recording medium recording the program, and a communication device are all included in the scope of the present invention.

[0158] Furthermore, although the case where the computer-readable recording medium is a read-only memory (ROM) or a random access memory (RAM) and the control program is stored in the ROM or RAM is described in the exemplary embodiment, the present invention is not limited to the above form.

[0159] The control program for implementing the present invention may be stored in any recording medium readable by a computer. For example, a hard disk drive (HDD), an external storage device, or a recording disk may be used as a recording medium for supplying the control program.

[0160] Other embodiments

[0161] The embodiments of the present invention may also be implemented by reading and executing computer executable instructions (e.g., one or more programs) recorded on a storage medium (which may also be more completely referred to as a "non-transitory computer-readable storage medium") to perform one or more functions in the above-mentioned embodiments, and / or a computer of a system or device including one or more circuits (e.g., an application-specific integrated circuit (ASIC)) for performing one or more functions in the above-mentioned embodiments, and the embodiments of the present invention may be implemented by, for example, reading and executing the computer executable instructions from the storage medium by the computer of the system or device to perform one or more functions in the above-mentioned embodiments, and / or controlling the one or more circuits to perform one or more functions in the above-mentioned embodiments. The computer may include one or more processors (e.g., a central processing unit (CPU), a microprocessing unit (MPU)), and may include a network of separate computers or separate processors to read and execute the computer executable instructions. The computer executable instructions may be provided to the computer, for example, from a network or the storage medium. The storage medium may include, for example, a hard disk, a random access memory (RAM), a read-only memory (ROM), a memory of a distributed computing system, an optical disk (such as a compact disc (CD), a digital versatile disc (DVD), or a Blu-ray disc (BD) TM ), flash memory devices, memory cards, etc.

[0162] The embodiments of the present invention may also be implemented by providing software (program) for performing the functions of the above-described embodiments to a system or device via a network or various storage media, and a computer or a central processing unit (CPU) or a microprocessing unit (MPU) of the system or device reads and executes the program.

[0163] In the above-described various exemplary embodiments, although antenna 13 is disposed on control device 400 and control device 400 transmits control signals and performs control via wireless communication path 12 , antenna 13 may be disposed in an area other than control device 400 to transmit control signal 12 .

[0164] Although the power cable 1 is described as a cable that transmits a burst synchronization signal in the above various exemplary embodiments, the cable is not limited to the above cables. Various cables that connect an information terminal to a network, such as a local area network (LAN) cable or a universal serial bus (USB) cable, may be used.

[0165] Although the antenna 13 is used for wireless communication in the above-mentioned various exemplary embodiments, the configuration is not limited to the above configuration. For example, an information terminal such as a smartphone or a personal computer (PC) having a wireless communication function (such as a Wi-Fi wireless communication function) may be used as the control device 400 to perform wireless communication with the robot device 100.

[0166] Although the robot device 100 using an articulated robot arm having a plurality of joints is described in the above various exemplary embodiments, the number of joints is not limited to the above number. Although a vertical multi-axis configuration is described as a form of the robot device 100, a configuration equivalent to the above configuration may be realized using joints of a different form such as a parallel link type.

[0167] Although the configuration example of the robot device 100 is described with reference to the drawings showing examples according to the exemplary embodiments in the above-mentioned various exemplary embodiments, the configuration is not limited to the above-mentioned configuration, and those skilled in the art may change the design as needed. The respective motors arranged in the robot device 100 are not limited to the above-mentioned configuration, and the driving source for driving the respective joints may be a device such as an artificial muscle.

[0168] Although the robot device 100 is described as an example in the above various exemplary embodiments, the implementation is not limited to the above implementation. For example, a production device including a hand or a tool attached to a part moved by various moving mechanisms may be implemented. Specifically, a production device including a linear guide as a moving mechanism may be implemented, and a production device including a belt conveyor as a moving device may be implemented.

[0169] In addition, the above-mentioned various exemplary embodiments are applicable to a machine that can automatically perform operations such as expansion / contraction, bending / stretching, upward / downward movement, left / right movement, or turning operations or a combination thereof based on information in a storage device set for a control device.

[0170] While the present disclosure has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. A communication device, comprising: a transmitting device configured to transmit operating data for the device; a receiving device configured to receive the operation data; a wireless communication unit, via which the transmitting device and the receiving device communicate with each other wirelessly; as well as a cable configured to connect the transmitting device and the receiving device, The sending device uses the wireless communication unit to send at least two predetermined operation data as the operation data to the receiving device, and each of the at least two predetermined operation data is used to indicate the operation of the device in a predetermined period of time. wherein the sending device sends a synchronization signal to the receiving device via the cable, the synchronization signal indicating a timing for executing the predetermined operation data, and Here, in a case where the communication via the wireless communication unit is disconnected, the receiving device selects predetermined operation data to be executed from among the operation data based on the synchronization signal, and executes the predetermined operation data.

2. The communication device according to claim 1, wherein: The transmitting means transmits the operation data and designation information that designates predetermined operation data to be executed from among the operation data, using the wireless communication unit.

3. The communication device according to claim 2, in, The receiving device selects predetermined operation data to be executed from among the operation data based on the designation information while maintaining the wireless communication via the wireless communication unit, and Wherein, when the communication via the wireless communication unit is disconnected, the receiving device changes the control reference from the designated information to the synchronization signal, selects predetermined operation data to be executed from among the operation data based on the synchronization signal, and executes the predetermined operation data.

4. The communication device according to claim 1, wherein: The cable is a cable that supplies power to the device.

5. The communication device according to claim 4, wherein: The receiving device includes a synchronization separation unit configured to separate the synchronization signal from power supplied by the cable.

6. The communication device according to claim 1, wherein: A time series order is set for the predetermined operation data, and the transmitting device transmits the predetermined operation data together to the receiving device in one transmission process using the wireless communication unit.

7. The communication device according to claim 1, wherein: The predetermined operation data corresponds to an operation for one second or one process to be performed by the device.

8. The communication device according to claim 1, wherein: The transmitting device transmits the operation data first, and transmits the synchronization signal after transmitting the operation data.

9. A production device comprising: The communication device according to any one of claims 1 to 8; as well as A device including a moving mechanism and a driving source moved by the moving mechanism.

10. A robotic device comprising: The communication device according to any one of claims 1 to 8; as well as A robotic arm including an end effector.

11. A communication method of a communication device, the communication device comprising: a transmitting device configured to transmit operating data for the device; a receiving device configured to receive said operating data for said device; a wireless communication unit, via which the transmitting device and the receiving device communicate with each other wirelessly; as well as a cable configured to connect the transmitting device and the receiving device, The sending device uses the wireless communication unit to send at least two predetermined operation data as the operation data to the receiving device, and each of the at least two predetermined operation data is used to indicate the operation of the device in a predetermined period of time. wherein the sending device sends a synchronization signal to the receiving device via the cable, the synchronization signal indicating a timing for executing the predetermined operation data, and Here, in a case where the communication via the wireless communication unit is disconnected, the receiving device selects predetermined operation data to be executed from among the operation data based on the synchronization signal, and executes the predetermined operation data.

12. A transmitting device that wirelessly transmits operating data for a device to the device, the device comprising a cable and a control unit, in, The transmitting device uses a wireless communication unit to transmit at least two predetermined operation data as the operation data to the control unit, each of the at least two predetermined operation data being used to indicate the operation of the device in a predetermined period of time, wherein the sending device sends a synchronization signal to the control unit via the cable, the synchronization signal indicating the timing of executing the predetermined operation data, and Here, in a case where the communication via the wireless communication unit is disconnected, the control unit selects predetermined operation data to be executed from among the operation data based on the synchronization signal, and executes the predetermined operation data.

13. A method of manufacturing an article using the production device according to claim 9.

14. A method of manufacturing an object using the robotic device according to claim 10. 15 . A non-transitory computer-readable recording medium storing a control program for executing the communication method according to claim 11 .

16. A method for transmitting a device, wherein the device transmits operation data for the device to a device in a wireless manner, the device comprising a cable and a control unit, in, The transmitting device uses a wireless communication unit to transmit at least two predetermined operation data as the operation data to the control unit, each of the at least two predetermined operation data being used to indicate the operation of the device in a predetermined period of time, wherein the sending device sends a synchronization signal to the control unit via the cable, the synchronization signal indicating the timing of executing the predetermined operation data, and Here, in a case where the communication via the wireless communication unit is disconnected, the control unit selects predetermined operation data to be executed from among the operation data based on the synchronization signal, and executes the predetermined operation data.

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