Robot control device

Abstract

A robot control device 30 controls a robot 40 provided with a laser oscillator 42, and comprises a storage unit 355, a selection unit 320, and a processing unit 356. The storage unit 355 stores, for each of models A-C of the laser oscillator 42, processing programs P1, P3 for executing processing to bring the laser oscillator 42 from a state of no processing to a state of completed processing. The selection unit 320 is configured to be capable of selecting the models A-C. The processing unit 356 reads, from the storage unit 355, the processing programs P1a-P1c, P3a-P3c corresponding to the model A-C selected by the selection unit 320 and executes said programs.

Description

Technical Field

[0001] The present invention relates to a robot control device that controls a robot equipped with a laser oscillator.

Background Art

[0002] Among industrial robots, there are those equipped with a processing nozzle on an arm, and the processing nozzle irradiates a steel plate or the like with a laser for processing. The laser output from the laser oscillator is input to the processing nozzle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A laser oscillator cannot output a laser in its initial state just after the power is turned on. Therefore, it is necessary to execute a predetermined startup process to bring the laser oscillator from the initial state to a ready state where laser output is possible. However, the startup process may vary depending on the model of the laser oscillator. Also, the shutdown process for returning the laser oscillator from the ready state to the initial state may vary depending on the model of the laser oscillator.

[0005] Therefore, it was necessary to introduce a PLC (Programmable Logic Controller) into the robot control device, and the system designer had to assemble processing programs such as startup programs and shutdown programs each time according to the model of the laser oscillator used, using a ladder or the like.

[0006] In addition, even when a single robot uses multiple laser oscillators according to the applications at each production site, the system designer has to prepare processing programs such as startup programs and shutdown programs for each model of the laser oscillator to be used.

[0007] This disclosure has been made in view of the above circumstances, and an object thereof is to reduce the work of an operator such as a system designer by eliminating the need to configure processing programs such as startup programs and shutdown programs each time according to the model of the laser oscillator to be used.

Means for Solving the Problem

[0008] A first disclosure is a robot control device that controls a robot equipped with a laser oscillator, and includes a storage unit that stores a processing program for executing a process of changing the laser oscillator from an unprocessed state to a processed state for each model of the laser oscillator, a selection unit configured to be able to select the model, and a processing unit that reads out and executes the processing program corresponding to the model selected by the selection unit from the storage unit.

[0009] According to the first disclosure, if the model is selected by the selection unit, then the processing unit can execute the processing program corresponding to the selected model. Therefore, the operator does not need to configure the processing program each time according to the model of the laser oscillator to be used, and the work is reduced.

[0010] The second disclosure is a robot control device for controlling a robot equipped with a laser oscillator, and includes a startup processing program for executing a process of changing the laser oscillator from an initial state where laser output is impossible to a ready state where laser output is possible, and a shutdown processing program for executing a process of returning the laser oscillator from the ready state to the initial state, each stored in a storage unit for each model of the laser oscillator, a selection unit configured to be able to select the model, and a processing unit that reads out and executes the startup processing program corresponding to the selected model and the shutdown processing program corresponding to the selected model from the storage unit.

[0011] According to the second disclosure, if the model is selected by the selection unit, then subsequently, the processing unit can execute the startup and shutdown processing programs corresponding to the selected model. Therefore, the operator does not need to assemble the startup and shutdown processing programs each time according to the model of the laser oscillator to be used, and the work is reduced.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

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Figure 6

Modes for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments, and can be implemented with appropriate modifications without departing from the spirit of the present invention.

[0014] [First Embodiment] As shown in FIG. 1, the robot 40 includes a plurality of laser oscillators 42 and an arm 45. Here, the plurality of laser oscillators 42 are three, namely, the laser oscillator 42a of model A, the laser oscillator 42b of model B, and the laser oscillator 42c of model C, but it may be two or four or more. Further, the robot 40 may be provided with only any one of these plurality of laser oscillators 42a, 42b, 42c so as to be replaceable with other laser oscillators.

[0015] Each laser oscillator 42 cannot output a laser only by turning on the power. Therefore, in order to output a laser from the laser oscillator 42, it is necessary to execute a predetermined startup process to change from an initial state where laser output is impossible to a ready completion state where laser output is possible.

[0016] The arm 45 is provided with a processing nozzle 452. Any one of the plurality of laser oscillators 42a, 42b, 42c is alternatively connected to the processing nozzle 452. The processing nozzle 452 inputs and irradiates the laser output from the connected laser oscillator 42.

[0017] The robot control device 30 has a teaching operation panel 32 and a control device main body 35. The teaching operation panel 32 has a selection unit 320, a startup instruction unit 321, a processing instruction unit 322, and a shutdown instruction unit 323.

[0018] The selection unit 320 is configured to be able 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 320. Hereinafter, the model of the laser oscillator 42 selected by this selection unit 320 is referred to as the "selected model".

[0019] The start-up instruction unit 321 is configured to be able to instruct the start of the start-up process of the laser oscillator 42. The start-up process is a process of changing the laser oscillator 42 from the initial state as the unprocessed state to the ready-completed state as the processed state. The processing instruction unit 322 is configured to be able to instruct the start of the laser processing by the robot 40. The shutdown instruction unit 323 is configured to be able to instruct the start of the shutdown process of the laser oscillator 42. The shutdown process is a process of returning the laser oscillator 42 from the ready-completed state as the unprocessed state to the initial state as the processed state.

[0020] The teaching operation panel 32 may have these selection unit 320, start-up instruction unit 321, processing instruction unit 322, and shutdown instruction unit 323, for example, in a touch panel, or may have them as physical buttons or the like.

[0021] The control device main body 35 is mainly composed of a computer having a CPU, a RAM, a ROM, etc., and has a storage unit 355 and a processing unit 356.

[0022] The storage unit 355 stores a start-up program P1, which is a processing program for start-up, and a shutdown program P3, which is a processing program for shutdown, for each of the models A to C of the laser oscillators 42a to 42c assumed to be supported by the robot control device 30. That is, the storage unit 355 stores a start-up program P1a and a shutdown program P3a for model A, a start-up program P1b and a shutdown program P3b for model B, and a start-up program P1c and a shutdown program P3c for model C. Further, the storage unit 355 stores a processing program P2. Although there is one processing program P2 in the figure, there may be a plurality of them, for example, according to the application.

[0023] When the start-up of the laser oscillator 42 is instructed by the operation of the start-up instruction unit 321 by the operator, the processing unit 356 reads the start-up program P1 of the selected model from the storage unit 355 and executes it. Therefore, for example, when the selected model is Model A and start-up is instructed, the processing unit 356 executes the start-up program P1a of Model A. On the other hand, for example, when the selected model is Model B and start-up is instructed, the processing unit 356 executes the start-up program P1b of Model B.

[0024] Also, when laser processing is instructed by the operation of the processing instruction unit 322 by the operator, the processing unit 356 executes the processing program P2. Thereby, the robot 40 is controlled to perform laser processing.

[0025] When the shutdown of the laser oscillator 42 is instructed by the operation of the shutdown instruction unit 323 by the operator, the processing unit 356 reads the shutdown program P3 of the selected model from the storage unit 355 and executes it. Therefore, for example, when the selected model is Model A and shutdown is instructed, the processing unit 356 executes the shutdown program P3a of Model A. On the other hand, for example, when the selected model is Model B and shutdown is instructed, the processing unit 356 executes the shutdown program P3b of Model B.

[0026] Next, while referring to FIG. 2, the startup process based on the startup program P1a for model A will be described. In the startup process for model A, first, the robot control device 30 transmits a "laser request" that requests permission for its own control to the laser oscillator 42a. When the laser oscillator 42a receives this, it permits control on the condition that a predetermined requirement is satisfied and transmits a "laser allocation signal" to the robot control device 30. When the robot control device 30 receives this, it transmits a "laser ON request" to the laser oscillator 42a. When the laser oscillator 42a receives this, it sets itself from the initial state to the ready state and transmits a "laser ON signal" to the laser oscillator 42a. When the robot control device 30 receives this, it transmits an "analog control ON request" that requests permission for its own analog control to the laser oscillator 42a. When the laser oscillator 42a receives this, it permits analog control on the condition that a predetermined requirement is satisfied, transmits an "analog control ON signal" to the robot control device, and transmits a "laser ready signal" to the robot control device 30.

[0027] Next, while referring to FIG. 3, the startup process based on the startup program P1b for model B will be described. In the startup process for model B, first, the robot control device 30 transmits an "interlock release request" to the laser oscillator 42b. When the laser oscillator 42b receives this, it releases its own interlock on the condition that a predetermined requirement is satisfied and transmits an "interlock release signal" to the robot control device 30. When the robot control device 30 receives this, it transmits an "analog control request" that requests permission for its own analog control to the laser oscillator 42b. When the laser oscillator 42b receives this, it permits analog control on the condition that a predetermined requirement is satisfied and transmits an "analog control signal" to the robot control device 30. When the robot control device 30 receives this, it transmits a "laser startup request" to the laser oscillator 42b. When the laser oscillator 42b receives this, it sets itself from the initial state to the ready state and transmits a "laser ready signal" to the laser oscillator 42b.

[0028] Next, while referring to FIG. 4, the startup process based on the startup program P1c for model C will be described. In the startup process for model C, first, the laser oscillator 42c transmits a "power-on signal" indicating that it is powered on to the robot control device 30. When the robot control device 30 receives this, it transmits a "start request" to the laser oscillator 42c. When the laser oscillator 42c receives this, it sets itself from the initial state to the ready state and transmits an "active signal" to the robot control device 30. When the robot control device 30 receives this, it transmits a "radiation-permissible request" requesting permission for its own control to the laser oscillator 42c. When the laser oscillator 42c receives this, it permits control on the condition that a predetermined requirement is met and transmits a "laser ready signal" to the robot control device 30.

[0029] As described above, the laser oscillators 42a to 42c of these models A to C have different startup processes. Therefore, the storage unit 355 has different startup programs P1a to P1c for each of models A to C in this way. The same applies to the shutdown programs P3a to P3c. That is, the storage unit 355 has different shutdown programs P3a to P3c for each of models A to C.

[0030] Next, while referring to FIG. 1 again, the procedure for actually controlling the robot 40 using the robot control device 30 will be described. First, the operator connects a desired laser oscillator 42 to the processing nozzle 452. Here, as shown by the solid line in FIG. 1, it is assumed that 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 (that is, model A here) by operating the selection unit 320.

[0031] Next, the operator instructs the startup of the laser oscillator 42a by operating the startup instruction unit 321. Thereby, the startup program P1a for model A is executed, and the laser oscillator 42a changes from the initial state to the ready state.

[0032] Next, the operator instructs laser processing by operating the processing instruction unit 322. Thereby, the processing program P2 is executed, and the object to be processed such as a steel plate is subjected to laser processing.

[0033] Next, the operator instructs the shutdown of the laser oscillator 42a by operating the shutdown instruction unit 323. Thereby, the shutdown program P3a of model A is executed, and the laser oscillator 42a returns from the ready state to the initial state.

[0034] As described above, according to the present embodiment, for example, if model A is selected, the startup process of model A can be executed only by instructing the startup of the laser oscillator 42, and the shutdown process of model A can be executed only by instructing the shutdown. On the other hand, for example, if model B is selected, the startup process of model B can be executed only by instructing the startup of the laser oscillator 42, and the shutdown process of model B can be executed only by instructing the shutdown. Therefore, the operator does not need to assemble the startup program P1 and the shutdown program P3 each time according to the model of the laser oscillator 42 to be used. Therefore, the work of the operator can be reduced.

[0035] [Second Embodiment] Next, the second embodiment will be described with reference to FIG. 5. In this embodiment, the description will focus on the points different from the first embodiment based on the first embodiment, and the description of the same or similar parts as the first embodiment will be omitted as appropriate.

[0036] In this embodiment, the teaching operation panel 32 does not have the startup instruction unit 321 and the shutdown instruction unit 323 described in the first embodiment. Instead, when a model is selected by operating the selection unit 320 by the operator, a control program P including the startup program P1 of the selected model, the processing program P2, and the shutdown program P3 of the selected model is assembled.

[0037] That is, for example, when model A is selected, as shown in FIG. 5 in solid lines, a control program P including the startup program P1a for model A, the machining program P2, and the shutdown program P3a for model A is assembled. On the other hand, for example, when model B is selected, as shown by the dashed line in FIG. 5, a control program P including the startup program P1b for model B, the machining program P2, and the shutdown program P3b for model B is assembled.

[0038] After that, when laser machining is instructed by the operator's operation of the machining instruction unit 322, the control program P is executed by the processing unit 356. Thereby, after the startup program P1 of the selected model is executed, the machining program P2 is executed, and then the shutdown program P3 of the selected model is executed. That is, when the selected model is model A, after the startup program P1a of model A is executed, the machining program P2 is executed, and then the shutdown program P3a of model A is executed. On the other hand, when the selected model is model B, after the startup program P1b of model B is executed, the machining program P2 is executed, and then the shutdown program P3b of model B is executed.

[0039] As described above, according to the present embodiment, for example, if model A is selected, by simply instructing laser machining, the startup process of model A, the laser machining process, and the shutdown process of model A can be sequentially executed. On the other hand, for example, if model B is selected, by simply instructing the execution of laser machining, the startup process of model B, the laser machining process, and the shutdown process of model B can be sequentially executed. Therefore, the operator's work can be reduced more than in the first embodiment.

[0040] Moreover, according to the present embodiment, since the startup program P1, the machining program P2, and the shutdown program P3 are incorporated into the control program P, the startup process and the shutdown process can be performed in synchronization with the laser machining process without waste.

[0041] [Third Embodiment] Next, referring to FIG. 6, the third embodiment will be described. For this embodiment, differences from the second embodiment will be mainly described, and descriptions of the same or similar parts as those in the second embodiment will be omitted as appropriate.

[0042] As shown in FIG. 6, in this embodiment, the teaching operation panel 32 does not have the selection unit 320. Instead, the control device main body 35 has the selection unit 320. The selection unit 320 automatically recognizes models A to C of the laser oscillator 42 connected to the processing nozzle 452 from the connection status, and selects the recognized models A to C.

[0043] That is, for example, as shown by the solid line in FIG. 6, when the laser oscillator 42a of model A is connected to the processing nozzle 452, the selection unit 320 automatically selects model A, and a control program P including the startup program P1a of model A, the processing program P2, and the shutdown program P3a of model A is assembled. On the other hand, as shown by the dashed line in FIG. 6, when the laser oscillator 42b of model B is connected to the processing nozzle 452, the selection unit 320 automatically selects model B, and a control program P including the startup program P1b of model B, the processing program P2, and the shutdown program P3b of model B is assembled.

[0044] Thereafter, similar to the case of the second embodiment, when laser processing is instructed by the operator's operation of the processing instruction unit 322, the control program P is executed by the processing unit 356. Thereby, after the startup program P1 of the selected model is executed, the processing program P2 is executed, and then the shutdown program P3 of the selected model is executed.

[0045] According to this embodiment, even the labor of the operator to select models A to C can be reduced.

[0046] [Other Embodiments] The above embodiments can be implemented with the following modifications, for example.

[0047] The storage unit 355 stores only one of the startup program P1 and the shutdown program P3 for each of models A to C, and the other may be common among models A to C.

[0048] Among some of the three or more types of models, the startup programs P1 may be the same or common, or the shutdown programs P3 may be the same or common. That is, for example, the startup program P1a of model A and the startup program P1b of model B may be the same or common, and only the startup program P1c of model C may be different from the startup programs P1a and P1b of models A and B.

[0049] A part of the processing program P2 may also be different for each of models A to C. That is, the storage unit 355 stores, for each of models A to C, different processing programs for a part of the processing program P2, and the processing program may be set based on the selected model.

Explanation of Signs

[0050] 30 Robot control device 32 Teaching operation panel 320 Selection unit 321 Startup instruction unit 322 Processing instruction unit 323 Shutdown instruction unit 35 Control device main body 355 Storage unit 356 Processing unit 40 Robot 42 Laser oscillator 42a Laser oscillator of model A 42b Laser oscillator of model B 42c Laser oscillator of model C 45 Arm 452 Processing nozzle P1 Startup program P1a Startup program of model A P1b Startup program of model B P1c Startup program of model C P2 Processing Program P3 Roughing Program P3a Roughing Program for Model A P3b Roughing Program for Model B P3c Roughing Program for Model C

Claims

1. A robot control device for controlling a robot equipped with a laser oscillator, comprising: a storage unit that stores a processing program for causing the laser oscillator to execute a process of changing from an unprocessed state to a processed state, for each model of the laser oscillator; a selection unit configured to be able to select the model; a processing unit that reads out and executes the processing program corresponding to the model selected by the selection unit from the storage unit, and has: The processing unit: When a predetermined first model is selected by the selection unit, by reading out and executing the processing program corresponding to the first model from the storage unit, the process of changing the laser oscillator of the first model from the unprocessed state to the processed state is completed; When a second model different from the first model is selected by the selection unit, by reading out and executing the processing program corresponding to the second model from the storage unit, the process of changing the laser oscillator of the second model from the unprocessed state to the processed state is completed. Robot control device.

2. The unprocessed state is an initial state in which laser output is not possible, and the processed state is a ready-completed state in which laser output is possible. The processing program is a startup program for causing the laser oscillator to execute a startup process of changing from the initial state to the ready-completed state. The robot control device according to claim 1.

3. The unprocessed state is a ready-completed state in which laser output is possible, and the processed state is an initial state in which laser output is not possible. The processing program is a shutdown program for causing the laser oscillator to execute a shutdown process of changing from the ready-completed state to the initial state. The robot control device according to claim 1.

4. A robot control device for controlling a robot equipped with a laser oscillator, comprising: a storage unit that stores, for each model of the laser oscillator, a startup processing program for causing the laser oscillator to execute a process of changing from an initial state in which laser output is not possible to a ready-completed state in which laser output is possible, and a shutdown processing program for causing the laser oscillator to execute a process of returning from the ready-completed state to the initial state; a selection unit configured to be able to select the model; ​ ​ A processing unit that reads out and executes from the storage unit the startup processing program corresponding to the selected model selected by the selection unit and the shutdown processing program corresponding to the selected model. The processing unit When a predetermined first model is selected by the selection unit, by reading out and executing from the storage unit the startup processing program corresponding to the first model, the process of bringing the laser oscillator of the first model to the ready state is completed, and by reading out and executing from the storage unit the shutdown processing program corresponding to the first model, the process of returning the laser oscillator of the first model to the initial state is completed. When a predetermined second model is selected by the selection unit, by reading out and executing from the storage unit the startup processing program corresponding to the second model, the process of bringing the laser oscillator of the second model to the ready state is completed, and by reading out and executing from the storage unit the shutdown processing program corresponding to the second model, the process of returning the laser oscillator of the second model to the initial state is completed. Robot control device.

5. The robot control device according to any one of claims 1 to 4, wherein the robot control device has a teaching operation panel, and the processing unit starts the execution of the processing program based on an operation performed on the teaching operation panel.

6. The robot control device according to any one of claims 1 to 4, wherein the processing unit executes a control program in which the processing program corresponding to the model selected by the selection unit and a processing program for causing the robot to perform laser processing are incorporated, thereby executing the processing program and the processing program.

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