JP7703331B2 - Control device and industrial robot - Google Patents

Description

The present invention relates to a control device and an industrial robot.

Conventionally, industrial robots are known that are equipped with a control device having a calculation processing unit that executes predetermined calculation processing for drive control based on the detection results of a first characteristic detection unit that detects a predetermined first characteristic in the drive unit.

For example, the industrial robot described in Patent Document 1 includes a motor as a drive unit, a temperature sensor as a first characteristic detection unit, and a control device. The temperature sensor detects the motor temperature as the first characteristic. The control device uses a central processing unit (CPU) as an arithmetic processing unit to execute arithmetic processing for controlling the drive of the motor based on the detection result by the temperature sensor.

Japanese Patent Application Publication No. 5-88731

In recent years, as technological innovation in industrial robots advances, it is common for industrial robots to be equipped with multiple sensors that individually detect the temperature and other characteristics of each of the robot's multiple driving parts. In addition, it is conceivable that the system management of the entire production facility can be performed by transmitting the detection results from the sensors from the industrial robot's control device to a main control device in the production facility.

In such a case, in the control device for the industrial robot, communication between the CPU and an output section for individually outputting each of the multiple pieces of sensing data to the main control device is carried out via a common communication line to reduce costs. However, in order to process a large amount of communication data in a short period of time on the common communication line, it becomes necessary to increase the communication speed, which reduces the noise resistance of the communication line. As a result, there is a problem that it becomes impossible to ensure a long communication distance in order to suppress noise interference.

The present invention has been made in view of the above background, and has as its object to provide the following control device and an industrial robot equipped with the same. That is, the control device etc. is capable of communicating over a common communication line between a calculation processing unit and an output unit that individually outputs the detection results of multiple characteristic detection units (e.g., temperature sensors) to an external device such as a main control unit, without increasing the communication speed.

In order to achieve the above object, the present invention provides a control device including an arithmetic processing unit that executes predetermined arithmetic processing for drive control based on a first characteristic detection result that is a detection result by a first characteristic detection unit that detects a predetermined first characteristic of a drive unit of an industrial robot, the control device including a first output unit that outputs, to an external device, each of the first characteristic detection results by a plurality of the first characteristic detection units that individually detect the first characteristics of each of the plurality of drive units, a second output unit that outputs, to an external device, each of the second characteristic detection results that are detection results by a plurality of the second characteristic detection units that individually detect the second characteristics of each of the plurality of drive units, and a third output unit that outputs, to an external device, each of the third characteristic detection results that are detection results by a plurality of the third characteristic detection units that individually detect the third characteristics of each of the plurality of drive units. and a unit, wherein the arithmetic processing unit performs analog/digital conversion on the first characteristic detection results by the plurality of first characteristic detection units, stores the first characteristic detection results consisting of digital signals in the first output unit for each of the driving units, and then outputs a plurality of update signals to the first output unit at different timings to individually update the first characteristic detection results consisting of digital signals , thereby causing the first output unit to individually update the first characteristic detection results by the plurality of first characteristic detection units, and performs analog/digital conversion on the second characteristic detection results by the plurality of second characteristic detection units, stores the second characteristic detection results consisting of digital signals in the second output unit for each of the driving units, and then outputs a plurality of update signals to the first output unit at different timings to individually update the second characteristic detection results consisting of digital signals . and outputting a plurality of update signals to the third output section at different timings to update the third characteristic detection results individually, the third characteristic detection results by the plurality of second characteristic detection sections in the second output section being individually updated, the third characteristic detection results by the plurality of third characteristic detection sections being analog-to-digital converted, the third characteristic detection results consisting of digital signals being stored in the third output section for each of the driving sections, and then outputting a plurality of update signals to the third output section at different timings to update the third characteristic detection results by the plurality of third characteristic detection sections in the third output section individually, the third characteristic detection results by the plurality of third characteristic detection sections being individually updated, and the first characteristic is temperature , the second characteristic is current, and the third characteristic is acceleration; the arithmetic processing unit sets an update period for each of the acceleration detection results by the multiple acceleration detection units as the multiple third characteristic detection units to be shorter than either an update period for each of the temperature detection results by the multiple temperature detection units as the multiple first characteristic detection units, or an update period for each of the current detection results by the multiple current detection units as the multiple second characteristic detection units; and for the multiple acceleration detection results obtained by each of the multiple acceleration detection units, a preceding acceleration detection result and a succeeding acceleration detection result are successively output .

The present invention has the excellent effect of enabling communication between the calculation processing unit and the first output unit, which individually outputs the detection results of the multiple first characteristic detection units to an external device, to be performed over a common communication line without increasing the communication speed.

FIG. 1 is a perspective view showing an industrial robot according to an embodiment. FIG. 2 is a plan view showing the industrial robot. FIG. 2 is a block diagram showing a main part of an electrical circuit of the industrial robot. 13 is a block diagram showing an electric circuit of an SC harness 57 and an output circuit unit 65 in the industrial robot. FIG. 4 is a timing chart showing output timings of various signals in the industrial robot. 6 is a timing chart showing in more detail the output timing of the acceleration detection result in FIG. 5 . 3 is a waveform diagram showing waveforms of various signals. FIG.

Below, an embodiment of a control device and an industrial robot according to the present invention will be described with reference to the drawings. Note that in the following drawings, the actual structure, as well as the scale and number of each structure, may be different in order to make each configuration easier to understand.

Figure 1 is a perspective view showing an industrial robot 1 according to an embodiment. Figure 2 is a plan view showing the industrial robot 1. The industrial robot 1 is a robot for transporting glass substrates, and includes an arm 2, a stand 3, and a lifting unit 4. The lifting unit 4 is held by the stand 3, and is raised and lowered in the vertical direction (the direction of the arrow in Figure 1) by driving a lifting motor (not shown). The arm 2 includes a hand 2A, a forearm 2B, and an upper arm 2C on which the glass substrate is placed, and is held by the lifting unit 4.

The shoulder joint 2D, which is the connection part of the upper arm 2C with the lifting part 4, can rotate in the horizontal direction by driving the first motor 22A. Specifically, the rotational driving force of the first motor 22A is transmitted to the shoulder joint 2D via the first belt 2E, so that the shoulder joint 2D rotates in the horizontal direction. In addition, the elbow joint 2F, which is the connection part between the upper arm 2C and the forearm 2B, can rotate in the horizontal direction by driving the second motor 22B. Specifically, the rotational driving force of the second motor 22B is transmitted to the elbow joint 2F via the second belt 2G, so that the elbow joint 2F rotates in the horizontal direction. In addition, the wrist joint, which is the connection part between the forearm 2B and the hand 2A, can rotate in the horizontal direction by receiving the driving force of the second motor 22B via the belt.

The lifting unit 4 in FIG. 1 can be raised and lowered in the direction of the arrow by rotating the lifting motor forward and backward.

Figure 3 is a block diagram showing the main parts of the electrical circuit of the industrial robot 1. The industrial robot 1 includes a control device 50, a first drive unit 31, a second drive unit 32, a third drive unit 33, a fourth drive unit 34, a fifth drive unit 35, a sixth drive unit 36, a seventh drive unit 37, and an eighth drive unit 38.

The first drive unit 31 includes the first motor (22A in FIG. 2). The first drive unit 31 also includes a first temperature sensor (TpS1) 31a that detects the temperature of the first motor, a first current sensor (EcS1) 31b that detects the value of the current flowing through the first motor, and a first acceleration sensor (AcS1) 31c that detects the acceleration of the first motor. The first temperature sensor 31a outputs a first temperature detection result that is the result of detecting the temperature of the first motor. The first current sensor 31b outputs a first current detection result that is the result of detecting the value of the current flowing through the first motor. The first acceleration sensor 31c outputs a first acceleration detection result that is the result of detecting the acceleration of the first motor.

The temperature is an example of the first characteristic of the drive unit in the present invention. The current value is an example of the second characteristic of the drive unit in the present invention. The acceleration is an example of the third characteristic of the drive unit in the present invention. The temperature sensor is an example of the first characteristic detection unit in the present invention. The current value sensor is an example of the second characteristic detection unit in the present invention. The acceleration sensor is an example of the third characteristic detection unit in the present invention.

The second drive unit 32 includes the second motor (22B in FIG. 2). The second drive unit 32 also includes a second temperature sensor (TpS2) 32a for detecting the temperature of the second motor, a second current sensor (EcS2) 32b for detecting the value of the current flowing through the second motor, and a second acceleration sensor (AcS2) 32c for detecting the acceleration of the second motor. The second temperature sensor 32a outputs a second temperature detection result which is the result of detecting the temperature of the second motor. The second current sensor 32b outputs a second current detection result which is the result of detecting the value of the current flowing through the second motor. The second acceleration sensor 32c outputs a second acceleration detection result which is the result of detecting the acceleration of the second motor.

The third drive unit 33 includes the lift motor described above. The third drive unit 33 also includes a third temperature sensor (TpS3) 33a that detects the temperature of the lift motor, a third current sensor (EcS3) 33b that detects the value of the current flowing through the lift motor, and a third acceleration sensor (AcS3) 33c that detects the acceleration of the lift motor. The third temperature sensor 33a outputs a third temperature detection result that is the result of detecting the temperature of the lift motor described above. The third current sensor 33b outputs a third current detection result that is the result of detecting the value of the current flowing through the lift motor. The third acceleration sensor 33c outputs a third acceleration detection result that is the result of detecting the acceleration of the lift motor.

The fourth drive unit 34 includes a shoulder joint (2D in FIG. 2) as a drive mechanism including gears and the like, and a fourth temperature sensor (TpS4) 34a for detecting the temperature of the shoulder joint. The fourth drive unit 34 also includes a fourth current sensor (EcS4) 34b and a fourth acceleration sensor (AcS4) 34c for detecting the acceleration of the upper arm relative to the shoulder at the shoulder joint. The fourth temperature sensor 34a outputs a fourth temperature detection result as a temperature detection result. The fourth current sensor 34b outputs a fourth current detection result as a current detection result, but in the industrial robot according to the embodiment, since no current detection target is connected to the fourth current sensor 34b, the fourth current sensor 34b outputs zero as the fourth current detection result. The fourth acceleration sensor 34c outputs a fourth acceleration detection result as an acceleration detection result.

The fifth drive unit 35 includes an elbow joint (2F in FIG. 2) as a drive mechanism including gears and the like, and a fifth temperature sensor (TpS5) 35a for detecting the temperature of the elbow joint. The fifth drive unit 35 also includes a fifth current sensor (EcS5) 35b and a fifth acceleration sensor (AcS5) 35c for detecting the acceleration of the forearm relative to the upper arm. The fifth temperature sensor 35a outputs a fifth temperature detection result as a temperature detection result. The fifth current sensor 35b outputs a fifth current detection result as a current detection result, but in the industrial robot according to the embodiment, since no current detection target is connected to the fifth current sensor 35b, the fifth current sensor 35b outputs zero as the fifth current detection result. The fifth acceleration sensor 35c outputs a fifth acceleration detection result as an acceleration detection result.

The sixth drive unit 36 includes a wrist joint (the joint between the forearm 3B and the hand 2A) as a drive mechanism including gears and the like, and a sixth temperature sensor (TpS6) 36a for detecting the temperature of the wrist joint. The sixth drive unit 36 also includes a sixth current sensor (EcS6) 36b and a sixth acceleration sensor (AcS6) 36c for detecting the acceleration of the rotation of the hand relative to the forearm. The sixth temperature sensor 36a outputs a sixth temperature detection result as a temperature detection result. The sixth current sensor 36b outputs a sixth current detection result as a current detection result, but in the industrial robot according to the embodiment, since no current detection target is connected to the sixth current sensor 36b, the sixth current sensor 36b outputs zero as the sixth current detection result. The sixth acceleration sensor 36c outputs a sixth acceleration detection result as an acceleration detection result.

The seventh drive unit 37 includes a first ball screw as a drive mechanism for the lift unit (4 in FIG. 1) and a seventh temperature sensor (TpS7) 37a that detects the temperature of the first ball screw. The seventh drive unit 37 also includes a seventh current sensor (EcS7) 37b and a seventh acceleration sensor (AcS7) 37c that detects the acceleration of the expansion and contraction of the first ball screw. The seventh temperature sensor 37a outputs a seventh temperature detection result that is a temperature detection result. The seventh current sensor 37b outputs a seventh current detection result that is a current detection result, but in the industrial robot according to the embodiment, since a current detection target is not connected to the seventh current sensor 37b, the seventh current sensor 37b outputs zero as the seventh current detection result. The seventh acceleration sensor 37c outputs a seventh acceleration detection result that is an acceleration detection result.

The eighth drive unit 38 includes a second ball screw as a drive mechanism for the lift unit (4 in FIG. 1) and an eighth temperature sensor (TpS8) 38a for detecting the temperature of the second ball screw. The eighth drive unit 38 also includes an eighth current sensor (EcS8) 38b and an eighth acceleration sensor (AcS8) 38c for detecting the acceleration of the expansion and contraction of the second ball screw. The eighth temperature sensor 38a outputs an eighth temperature detection result as a temperature detection result. The eighth current sensor 38b outputs an eighth current detection result as a current detection result, but in the industrial robot according to the embodiment, since a current detection target is not connected to the eighth current sensor 38b, the eighth current sensor 38b outputs zero as the eighth current detection result. The eighth acceleration sensor 38c outputs an eighth acceleration detection result as an acceleration detection result.

The control device 50 includes a CPU 51, a RAM (Random Access Memory) 52, a ROM (Read Only Memory) 53, a first I/O unit 54, and a second I/O unit 55. The control device 50 also includes a SC (Serial Communication) harness 57, and an output circuit section 65.

The output circuit section 65 includes a first digital-to-analog converter (DAC1) 61 as a first output section, a second digital-to-analog converter (DAC2) 62 as a second output section, and a third digital-to-analog converter (DAC3) 63 as a third output section. Hereinafter, the digital-to-analog converter is referred to as a D/A converter.

The temperature detection results by the temperature sensors (TpS1-8) in the eight drive units (31-38) are input to the CPU 51 via the first I/O unit 54. In addition, the current detection results by the current sensors (EcS1-8) in the eight drive units (31-38) are input to the CPU 51 via the first I/O unit 54. In addition, the acceleration detection results by the acceleration sensors (AcS1-8) in the eight drive units (31-38) are input to the CPU 51 via the first I/O unit 54. Based on the detection results of the various characteristics, calculation processing is performed to individually control the drive of the first motor (22A in FIG. 2), the drive of the second motor (22B in FIG. 2), and the drive of the lift motor. Specifically, the detection results of the various characteristics mentioned above are the temperature detection results from each of the eight temperature sensors (31a to 38a), the current detection results from each of the eight current sensors (31b to 38b), and the detection results from each of the eight acceleration sensors (31c to 38c).

The temperature detection results (first to eighth temperature detection results) output individually from each of the eight temperature sensors (31a to 38a) are input individually to the CPU 51 via the first I/O unit 54. The CPU 51 outputs each of the input first to eighth temperature detection results as a digital signal. Each of the output first to eighth temperature detection results is input to the output circuit section 65 via the second I/O unit 55.

The current detection results (first to eighth current detection results) output individually from each of the eight current sensors (31b to 38b) are input individually to the CPU 51 via the first I/O unit 54. The CPU 51 outputs each of the input first to eighth current detection results as a digital signal. Each of the output first to eighth current detection results is input to the output circuit section 65 via the second I/O unit 55.

The acceleration detection results (first to eighth acceleration detection results) output individually from each of the eight acceleration sensors (31c to 38c) are input individually to the CPU 51 via the first I/O unit 54. The CPU 51 outputs each of the input first to eighth acceleration detection results as a digital signal. Each of the output first to eighth acceleration detection results is input to the output circuit section 65 via the second I/O unit 55.

Figure 4 is a block diagram showing the SC harness 57 and the electrical circuit of the output circuit unit 65. The output circuit unit 65 includes a first D/A converter 61 as a first output unit, a second D/A converter 62 as a second output unit, and a third D/A converter 63 as a third output unit. The first D/A converter 61 includes eight memory chips that individually store the first to eighth temperature detection results, which are digital signals. The first D/A converter 61 also converts each of the temperature detection results individually stored in the eight memory chips into an analog signal (Tp1 to Tp8) and outputs it. The eight temperature detection results (Tp1 to Tp8) individually output as analog signals are transmitted to an external main control device through individual signal lines.

The second D/A converter 62 has eight memory chips that individually store the first to eighth current detection results, which are digital signals. The second D/A converter 62 also converts each of the current detection results individually stored in the eight memory chips into an analog signal (Ec1 to Ec8) and outputs it. The eight current detection results (Ec1 to Ec8) individually output as analog signals are transmitted to an external main control device via individual signal lines.

The third D/A converter 63 has eight memory chips that individually store the first to eighth acceleration detection results, which are digital signals. The third D/A converter 63 also converts each of the acceleration detection results individually stored in each of the eight memory chips into an analog signal (Ac1 to Ac8) and outputs it. The eight acceleration detection results (Ac1 to Ac8) individually output as analog signals are transmitted to an external main control device via individual signal lines.

The second I/O unit 55 and the first D/A converter 61 communicate with each other by SPI (Serial Peripheral Interface) via the SC harness 57. To communicate with one D/A converter by SPI, a five-core SC harness is generally used. One of the five cores is used to transmit a chip select (CS) signal. The other core is used to transmit a clock (SCLK) signal. The other core is used to transmit a data transmission (MOSI) signal. The other core is used to transmit a data reception signal (MISO). The other core is used to apply a reference voltage (VREF). In the embodiment, since three D/A converters (61 to 63) are mounted, a 5-core x 5 = 15-core SC harness is generally used, but the increased number of cores results in higher costs.

The CS signal is a signal for selecting which of the eight memory chips in the D/A converter is to store the data, and functions as an update signal (a signal for updating the data in the memory chip) in the present invention. In the three D/A converters (61-63), if each of the four signals excluding the CS signal is communicated over a common communication line, the number of cores in the SC harness can be reduced to 4 cores + 3 cores = 7 cores, thereby reducing costs. However, in order to process a large amount of communication data in a short time over the common communication line, it becomes necessary to increase the communication speed, which reduces the noise resistance of the communication line. As a result, there is a problem that it becomes impossible to ensure a long communication distance in order to suppress noise interference.

Therefore, the industrial robot 1 according to the embodiment has a characteristic configuration which will be described below.
In the control device 50 of the industrial robot 1, the three D/A converters (61 to 63) communicate each of the four signals, except for the CS signal, through a common communication line. This allows the number of cores of the SC harness 57 to be reduced to seven, thereby reducing costs. One of the seven cores is for transmitting a first CS signal (CS1 signal) for the first D/A converter 61 that outputs the temperature detection result. The other core is for transmitting a second CS signal (CS2 signal) for the second D/A converter 62 that outputs the current detection result. The other core is for transmitting a third CS signal (CS3 signal) for the third D/A converter 63 that outputs the acceleration detection result. The other core is a common signal line for commonly transmitting an SCLK signal to the three D/A converters (61 to 63). The other core is a common signal line for commonly transmitting a MOSI signal to the three D/A converters (61 to 63). The remaining core is a common signal line for commonly transmitting a MISO signal from each of the three D/A converters (61 to 63) to the second I/O unit 55. The remaining core is a common signal line for commonly applying VREF to each of the three D/A converters (61 to 63).

Figure 5 is a timing chart showing the output timing of various signals. Also, Figure 6 is a timing chart showing in more detail the output timing of the acceleration detection results in Figure 5. Figure 7 is a waveform diagram showing the waveforms of various signals. In Figures 5 and 6, ch1 to ch89 for temperature refer to the first to eighth temperature detection results. Also, ch1 to ch8 for current refer to the first to eighth current detection results. Also, ch1 to ch8 for acceleration refer to the first to eighth temperature detection results.

As shown in Figures 6 and 7, the CPU 51 outputs temperature ch1 to ch8 (eight temperature detection results) at different timings according to the respective results. This makes it possible to output each of the eight temperature detection results through a common signal line (a combination of one core for the SCLK signal, one core for the MOSI signal, one core for the MISO signal, and one core for the VREF signal), while avoiding the need to increase the communication speed of the temperature detection results.

For each temperature channel, the update period for the temperature detection result is 8.00 [msec]. Since the output frequency of the temperature detection result from a typical temperature sensor is several kHz, an update period for the temperature detection result of 8.00 [msec] allows for accurate detection of temperature changes.

As shown in Figures 6 and 7, the CPU 51 outputs current ch1 to ch8 (eight current detection results) at different timings according to the respective results. This makes it possible to output each of the eight current detection results through a common signal line (a combination of one core for the SCLK signal, one core for the MOSI signal, one core for the MISO signal, and one core for the VREF signal), while avoiding the need to increase the communication speed of the current detection results.

For each current channel, the update period of the current detection result is 8.00 [msec]. Since the output frequency of the current detection result from a typical current sensor is about 1 [kHz], a current detection result update period of 8.00 [msec] allows current changes to be detected with high accuracy. In Figures 5 and 6, three characteristic values, acceleration, temperature, and current, are output during the first 1.0 [msec] period, but the update period for temperature and current is 8.0 [msec]. Therefore, during the period of 2.0 to 7.0 [msec] not shown, temperature and current are not output from the CPU 91, and only acceleration is output from the CPU 91.

The CPU 51 outputs a CS1 signal, which is an update signal for individually updating each of ch1 to ch8 of the temperature (eight temperature detection results), and a CS2 signal for individually updating each of ch1 to ch8 of the current (eight current detection results), at different times. By outputting ch1 to ch8 of the temperature and ch1 to ch8 of the current at different times, it is possible to avoid both an increase in the communication speed of the temperature detection results and an increase in the communication speed of the current detection results.

As shown in FIG. 6, the CPU 51 outputs the CS1 signal, which is an update signal for individually updating acceleration ch1 to ch8 (first acceleration detection result to eighth acceleration detection result), at different timings according to the acceleration detection result. This makes it possible to output each of the eight acceleration detection results through a common signal line (a combination of one core for the SCLK signal, one core for the MOSI signal, one core for the MISO signal, and one core for the VREF signal), while avoiding the need to increase the communication speed of the acceleration detection results.

The CPU 51 outputs a CS1 signal for updating each of ch1 to ch8 for temperature, a CS2 signal for updating each of ch1 to ch8 for current, and a CS3 signal for updating each of ch1 to ch8 for acceleration, at different times. This allows ch1 to ch8 for temperature, ch1 to ch8 for current, and ch1 to ch8 for acceleration to be output at different times. With this configuration, it is possible to achieve all three goals: avoiding an increase in the communication speed of the temperature detection results, avoiding an increase in the communication speed of the current detection results, and avoiding an increase in the communication speed of the acceleration detection results.

The update period for acceleration ch1 to ch8 is shorter than both the update period for temperature ch1 to ch8 and the update period for current ch1 to ch8. For each acceleration channel, the update period for the acceleration detection result is 0.05 msec. Since the output frequency of the acceleration detection result from a typical acceleration sensor is around 10 kHz, an update period for the acceleration detection result of 0.05 msec allows acceleration changes to be detected with high accuracy.

As shown in FIG. 6, the CPU 51 continuously outputs the preceding channel (e.g., ch1) and the following channel (e.g., ch2) for acceleration channels 1 to 8. By continuously outputting each of acceleration channels 1 to 8, which have short update periods, it is possible to efficiently avoid increasing the communication speed of acceleration.

The CPU 51 intermittently outputs the preceding detection result group and the following detection result group for the group of acceleration ch1 to ch8. In addition, the CPU 51 selects and outputs one of the temperature ch1 to ch8 (first temperature detection result to eighth temperature detection result) and the current ch1 to ch8 (first current detection result to eighth current detection result) between the output timing of the preceding detection result group and the output timing of the following detection result group. By repeatedly outputting one of the temperature detection results or one of the current detection results by utilizing the short time that occurs between the preceding detection result group and the following detection result group for acceleration, the following becomes possible. That is, all the temperature detection results and the current detection results can be output every predetermined period (8.00 [msec] in this embodiment).

In addition, according to the control device 50 of the embodiment, by sharing signal lines for each of the temperature channels 1 to 8, the number of low-pass filters for removing noise from each of the channels 1 to 8 can be reduced, thereby reducing costs. In addition, according to the control device 50, by sharing signal lines for each of the current channels 1 to 8, the number of low-pass filters for removing noise from each of the channels 1 to 8 can be reduced, thereby reducing costs. In addition, according to the control device 50, by sharing signal lines for each of the acceleration channels 1 to 8, the number of low-pass filters for removing noise from each of the channels 1 to 8 can be reduced, thereby reducing costs.

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to the embodiment, and various modifications and changes are possible within the scope of the gist of the invention. The embodiment is included within the scope and gist of the invention, and is also included within the scope of the invention and its equivalents described in the claims.

The present invention exhibits unique effects for each of the following aspects.
[First aspect]
The first aspect is a control device (e.g., control device 50) including an arithmetic processing unit (e.g., CPU 51) that executes predetermined arithmetic processing for drive control based on a first characteristic detection result (e.g., temperature detection result), which is a detection result by a first characteristic detection unit that detects a predetermined first characteristic (e.g., temperature) in a drive unit, and is characterized in that the control device includes a first output unit (e.g., first D/A converter 61) that individually outputs the first detection results by a plurality of first characteristic detection units (e.g., temperature sensors 31a to 38a) that individually detect the first characteristics of each of the plurality of drive units (e.g., first drive unit 31 to eighth drive unit 38) to an external device (e.g., main control unit), and the arithmetic processing unit outputs a plurality of update signals (e.g., CS1 signals) for individually updating the first characteristic detection results (e.g., first temperature detection result to eighth temperature detection result) by the plurality of first characteristic detection units, at different timings according to each of the first characteristic detection results.

According to the first aspect, it is possible to output the first characteristic detection results from each of the multiple first characteristic detection units via a common signal line, thereby reducing costs while avoiding the need to increase the communication speed of the first characteristic detection results.

[Second aspect]
A second aspect is a control device comprising the configuration of the first aspect and a second output section which individually outputs to an external device second characteristic detection results which are detection results by a plurality of second characteristic detection sections which individually detect the second characteristics of each of the plurality of drive sections, and is characterized in that the arithmetic processing section outputs a plurality of update signals for individually updating each of the second characteristic detection results by the plurality of second characteristic detection sections at mutually different timings according to each of the second characteristic detection results.

According to the second aspect, it is possible to output the second characteristic detection results from each of the multiple second characteristic detection units via a common signal line, thereby reducing costs while avoiding the need to increase the communication speed of the second characteristic detection results.

[Third aspect]
A third aspect is a control device having the configuration of the second aspect, and characterized in that the calculation processing unit outputs, at different timings, a plurality of update signals for individually updating each of the first characteristic detection results by the plurality of first characteristic detection units, and a plurality of update signals for individually updating each of the second characteristic detection results by the plurality of second characteristic detection units.

According to the third aspect, by outputting a plurality of first characteristic detection results and a plurality of second characteristic detection results at different times, it is possible to avoid both increasing the communication speed of the first characteristic detection results and increasing the communication speed of the second characteristic detection results.

[Fourth aspect]
A fourth aspect is a control device comprising the configuration of the third aspect and a third output section which individually outputs to an external device third characteristic detection results which are detection results by a plurality of third characteristic detection sections which individually detect the respective third characteristics of a plurality of the driving sections, and is characterized in that the arithmetic processing section outputs update signals for individually updating the respective third characteristic detection results by the plurality of third characteristic detection sections at mutually different timings according to the respective third characteristic detection results.

According to the fourth aspect, it is possible to output each of the characteristic detection results from the multiple third characteristic detection units via a common signal line, thereby reducing costs while avoiding the need to increase the communication speed of the third characteristic detection results.

[Fifth aspect]
A fifth aspect is a control device having the configuration of the fourth aspect, characterized in that the arithmetic processing unit outputs, at different timings, a plurality of update signals for individually updating each of the first characteristic detection results by the plurality of first characteristic detection units, a plurality of update signals for individually updating each of the second characteristic detection results by the plurality of second characteristic detection units, and a plurality of update signals for individually updating each of the third characteristic detection results by the plurality of third characteristic detection units.

In the fifth aspect, the first characteristic detection result by each of the multiple first characteristic detection units, the second characteristic detection result by each of the multiple second characteristic detection units, and the third characteristic detection result by each of the multiple third characteristic detection units are output at different times. With this configuration, it is possible to achieve all three of the following: avoiding an increase in the communication speed of the first characteristic detection result, avoiding an increase in the communication speed of the second characteristic detection result, and avoiding an increase in the communication speed of the third characteristic detection result.

[Sixth aspect]
A sixth aspect is a control device having the configuration of the fifth aspect, wherein the first characteristic is temperature, the second characteristic is current, and the third characteristic is acceleration, and the arithmetic processing unit sets an update period of each of the acceleration detection results by a plurality of acceleration detection units as the plurality of third characteristic detection units to be shorter than either an update period of each of the temperature detection results by a plurality of temperature detection units as the plurality of first characteristic detection units, or an update period of each of the current detection results by a plurality of current detection units as the plurality of second characteristic detection units, and continuously outputs a preceding acceleration detection result and a succeeding acceleration detection result for the multiple acceleration detection results obtained by each of the multiple acceleration detection units.

According to the sixth aspect, it is possible to efficiently avoid increasing the communication speed of multiple acceleration detection results that have a short update cycle.

[Seventh aspect]
A seventh aspect is a control device having the configuration of the sixth aspect, characterized in that the arithmetic processing unit intermittently outputs a preceding group of detection results and a succeeding group of detection results for a group of detection results in which a plurality of acceleration detection results obtained by each of a plurality of the acceleration detection units are continuously output, and selects and outputs one of a plurality of the temperature detection results obtained by each of the plurality of the temperature detection units and a plurality of the current detection results obtained by each of the plurality of the current detection units between the output timing of the preceding group of detection results and the output timing of the succeeding group of detection results.

According to the seventh aspect, the temperature detection results from each of the multiple temperature detection sections, the current detection results from each of the multiple current detection sections, and the acceleration detection results from each of the multiple acceleration detection sections can all be output at a predetermined period.
[Eighth aspect]
An eighth aspect is an industrial robot (e.g., industrial robot 1) equipped with a control device, characterized in that the robot includes a plurality of the drive units and a plurality of the first characteristic detection units, and the control device is any of the control devices of the first to eighth aspects.

1... industrial robot, 31... first drive unit, 31a... first temperature sensor (first characteristic detection unit), 31b... first current sensor (second characteristic detection unit), 31c... first acceleration sensor (third characteristic detection unit), 32... second drive unit, 32a... second temperature sensor (first characteristic detection unit), 32b... second current sensor (second characteristic detection unit), 32c... second acceleration sensor (third characteristic detection unit), 33... third drive unit, 33a... third temperature sensor (first characteristic detection unit), 33b... third current sensor (second characteristic detection unit), 31c... first acceleration sensor (third characteristic detection unit), 34... fourth drive unit, 34a... fourth temperature sensor (first characteristic detection unit), 34b... fourth current sensor (second characteristic detection unit), 34c... fourth acceleration sensor (third characteristic detection unit), 35... fifth drive unit, [0033] 35a...5th temperature sensor (first characteristic detection section), 35b...5th current sensor (second characteristic detection section), 35c...5th acceleration sensor (third characteristic detection section), 36...6th drive section, 36a...6th temperature sensor (first characteristic detection section), 36b...6th current sensor (second characteristic detection section), 36c...6th acceleration sensor (third characteristic detection section), 37...7th drive section, 37a...7th temperature sensor (first characteristic detection section), 37b...7th current sensor (second characteristic detection section), 37c...7th acceleration sensor (third characteristic detection section), 38...8th drive section, 38a...8th temperature sensor (first characteristic detection section), 38b...8th current sensor (second characteristic detection section), 31c...8th acceleration sensor (third characteristic detection section), 50...control device, 51a...CPU (arithmetic processing section)

Claims (3)

A control device including a calculation processing unit that executes a predetermined calculation process for drive control based on a first characteristic detection result, which is a detection result by a first characteristic detection unit that detects a predetermined first characteristic in a drive unit of an industrial robot,
a first output section configured to output, to an external device, each of the first characteristic detection results obtained by the first characteristic detection sections configured to individually detect the first characteristics of each of the driving sections;
a second output section configured to output, to an external device, second characteristic detection results that are detection results by a plurality of second characteristic detection sections that individually detect the second characteristics of the plurality of drive sections;
a third output unit configured to output, to an external device, third characteristic detection results that are detection results by a plurality of third characteristic detection units that individually detect the third characteristics of the plurality of drive units ,
The arithmetic processing unit,
performing analog/digital conversion on the first characteristic detection results by the plurality of first characteristic detection units, storing the first characteristic detection results consisting of digital signals in the first output unit for each of the driving units, and then outputting a plurality of update signals for individually updating the first characteristic detection results consisting of digital signals to the first output unit at mutually different timings, thereby individually updating the first characteristic detection results by the plurality of first characteristic detection units in the first output unit;
performing analog/digital conversion on the second characteristic detection results by the plurality of second characteristic detection units, storing the second characteristic detection results constituted by digital signals in the second output unit for each of the driving units, and then outputting a plurality of update signals for individually updating the second characteristic detection results constituted by digital signals to the second output unit at different timings, thereby individually updating the second characteristic detection results by the plurality of second characteristic detection units in the second output unit;
performing analog-to-digital conversion on the third characteristic detection results by the plurality of third characteristic detection units, storing the third characteristic detection results constituted by digital signals in the third output unit for each of the driving units, and then outputting a plurality of update signals for individually updating the third characteristic detection results constituted by digital signals to the third output unit at different timings, thereby individually updating the third characteristic detection results by the plurality of third characteristic detection units in the third output unit;
outputting, at different timings, a plurality of update signals for individually updating the first characteristic detection results by the plurality of first characteristic detection units, a plurality of update signals for individually updating the second characteristic detection results by the plurality of second characteristic detection units, and a plurality of update signals for individually updating the third characteristic detection results by the plurality of third characteristic detection units ;
the first property is temperature;
the second characteristic is a current;
the third characteristic is acceleration;
the arithmetic processing unit sets an update period of each of the acceleration detection results by the multiple acceleration detection units as the multiple third characteristic detection units to be shorter than any of an update period of each of the temperature detection results by the multiple temperature detection units as the multiple first characteristic detection units and an update period of each of the current detection results by the multiple current detection units as the multiple second characteristic detection units, and successively outputs a preceding acceleration detection result and a succeeding acceleration detection result for the multiple acceleration detection results obtained by each of the multiple acceleration detection units.
A control device comprising: the arithmetic processing unit intermittently outputs a preceding group of detection results and a succeeding group of detection results for a group of detection results obtained by successively outputting a plurality of the acceleration detection results obtained by each of the plurality of acceleration detection units, and selects and outputs one of the plurality of temperature detection results obtained by each of the plurality of temperature detection units and the plurality of current detection results obtained by each of the plurality of current detection units between the output timing of the preceding group of detection results and the output timing of the succeeding group of detection results;
The control device according to claim 1 . An industrial robot having a control device,
A plurality of the driving units and a plurality of the first characteristic detecting units are provided,
The control device is the control device according to claim 1 or 2 .
1. An industrial robot comprising:

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