JPS61262809A - Controller of robot - Google Patents

Abstract

PURPOSE:To correct easily a teaching point by reading teaching data corresponding to a teaching point number displayed on a display means from a memory device and shifting a robot to the point. CONSTITUTION:When a central processing unit CPU 24 in a robot controller detects that a display point moving function is selected from a teaching box 30 connected to an operation input/output controller 23, it reads the teaching data at the point out of a teaching data memory 27 according to the teaching point number displayed on a display, and transmits a moving command signal to an input/output controller 28 at the robot side. A position deviation detector DX compares the current position of a robot from an encoder EN in a robot main body 10 with the moving command, controls a motor M through a servo amplifier AX and shifts the robot to the indicated point.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot control device, and more particularly to a robot control device that is effective for modifying and changing teaching points once taught and stored during teaching work.

[Conventional technology]

Generally, in the teaching work area of welding robots, etc.
When a teaching point that has been taught and memorized is modified, it is necessary to move the robot to the point where the modification is desired.

Conventionally, in order to move the robot to the above point,
Set the operation mode of the robot to automatic mode and test run the robot in this automatic mode (step test run of automatic operation that does not emit an arc while pressing the start button for each command, or continuous test run that performs continuous automatic operation to emit an arc) The robot was moved to the desired teaching point by running the program while the robot was moving.

[Problem that the invention seeks to solve]

Therefore, it takes time to move the robot to a desired teaching point, and the operating procedure is also cumbersome and inconvenient. It is also possible for the operator to manually move each axis of the robot to directly move the robot to the above point, but since the robot has a large number of axes, moving the robot to that point correctly would be rather complicated, and it would be difficult to sync the robot with the program. There is also the problem of loss of consistency.

The present invention has been made in view of the above-mentioned circumstances, and it is possible to move to a desired teaching point once taught and memorized in a short time and with a simple operation, and it is possible to easily modify or change the teaching point. The purpose is to provide a robot control device that can

[Means for solving problems]

According to the present invention, there is provided a display means for displaying the teaching point number of the robot, a means for displaying an arbitrary teaching point number on the display means, a storage means for storing the teaching data of the robot, and a display means for displaying the robot's current position. a detection means for detecting; a selection means for selecting a display point movement function for moving the robot to a position indicated by the teaching point number displayed on the display means; and when the display point movement function is selected by the selection means ζ. Teaching data corresponding to the teaching point number displayed on the display means is read from the storage means, and the robot is moved to the teaching point based on the read teaching data and data indicating the current position of the robot from the detection means. and control means.

[Effect]

The teaching data corresponding to the desired teaching point number can be read out from the storage means for storing teaching data by displaying the number of the desired teaching point to be corrected or changed among the teaching points once taught. Become. Therefore, when an instruction is given to move the robot to the position indicated by the teaching point number displayed on the display means, the robot is moves toward the teaching point.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a system configuration diagram of a robot to which the present invention is applied, and shows an articulated welding robot. This welding robot mainly includes a robot main body lO, a robot control device 20, a teaching box 30, and a welding power source 40.
etc.

The robot main body IO has an arm consisting of an upper arm 11 and a lower arm 12 and a wrist 13. The arm rotates in the direction of arrow X, the lower arm 12 rotates in the direction of arrow y, and the upper arm 11 rotates in the direction of arrow 2. The wrist 13 can be rotated in the S direction and the S direction. In addition, each of the rotational axes mentioned above is referred to as the Y axis and Y axis, respectively.
These are called the axis, Z axis, B axis, and B axis.

As shown in FIG. 2, the robot control device 20 includes a CRT display 21, a keyboard 22, an operation input/output control device 23, a central processing unit (CPU) 24, a robot control program memory 25, a robot/nodo language program memory 26, It is composed of a teaching data memory 27, a robot-side input/output control device 28, a position deviation detector provided for each axis, and a servo amplifier power 1.

As shown in FIG. 3, the teaching box 30 includes a display 31, a button group 32 used to manually move each axis of the robot, an operation button 33, and a start selection button 34.
, start button 35, change button 36, write button 37,
Push buttons such as ADV button 38 and REV button 39,
End lamp L1, taught lamp L1, display point movement lamp L.

Equipped with indicator lamps such as

Now, a case will be described in which the teaching data of the teaching point number P1103 is corrected as shown in FIG. 4 after the teaching is completed.

In this case, first, by pressing the ADV button 38 or REV button 39 on the teaching box 30 (Fig. 3), the teaching point number pH03 to be changed in the teaching data is displayed in the area where the teaching point number is displayed on the display 31. (See Figure 5).

The teaching point number displayed on the display 31 increases by 1 each time the ADV button 38 is pressed, and decreases by 1 each time the REV button 39 is pressed. ing. In addition, the display 31
When the teaching point with the teaching point number displayed in has already been taught, the taught lamp L2 lights up, and the operator can confirm that the teaching point has been taught from the lighting of the taught lamp L2. can be confirmed.

After confirming that the teaching point to be changed has been taught, the user then presses the start selection button 34. When this start selection button 34 is pressed, the display point movement lamp L3 lights up, and the robot moves from its current position to the teaching point with the teaching point number displayed on the display 31 (display point movement). Preparation is complete.

If the operation button 33 and the start button 35 are pressed at the same time, the robot moves toward the teaching point to be changed while the buttons are pressed.

That is, the CPU 24 (FIG. 2) reads the teaching data indicated by the teaching point number P1103 from the teaching data memory 27 based on the signal indicating the teaching point number P1103 displayed on the display 31 of the teaching box 30; , the current position of the robot is detected by receiving position data from encoders arranged on each axis of the robot body, and based on these data, the position of each axis is determined to move the robot to the teaching point number P1103. A movement command signal is output from the robot side input/output control device 28.

A movement command signal for each axis is applied to a position deviation detector for each axis. Note that since each axis is controlled in the same way, only the Y-axis will be described below.

The position deviation detector DX for the
Position data indicating the current position of the axis is added, and a position deviation signal is output by calculating the deviation between the two person's position data.

This position error signal is amplified by the servo amplifier AX and is applied to the X-axis drive motor M. In this way, the motor M is controlled until the positional deviation in the positional deviation detector DX becomes zero.

The movement control of the robot is FTP control regardless of the movement route, and the movement speed at this time is controlled to be a speed preset in the robot control program memory 25.

When the robot moves to the teaching point indicated by the teaching point number PI 103 as described above, the end lamp L lights up.

When the operator recognizes from the end lamp L that the movement of the robot to the teaching point indicated by the teaching point number P1103 is completed, the operator then manually moves the robot to the teaching point to be changed. In this case, operation button 33 and button group 3
The robot can be moved by simultaneously pressing the button corresponding to the axis to be moved.

When the robot moves to the teaching point to be changed, by pressing the change button 36, the teaching data of the teaching point number pH03 can be rewritten with new teaching data.

Note that the CPU 24 performs the above-described processing in response to the above-mentioned button operations on the teaching box 30, and it goes without saying that the processing content is stored in advance in the robot control program memory 25. Furthermore, since the movement control to the teaching point indicated by the desired teaching point number is FTP control regardless of the movement route, there is a risk that the robot will interfere with the workpiece on the way. After interrupting the simultaneous operation of the operation button 33 and the start button 35 and manually moving the robot to a position where no interference will occur as described above,
Interference can be avoided by simultaneously operating the operation button 33 and activation button 35 again.

Next, as shown in FIG. 6, a description will be given of how to correct and change the teaching points when the positions of the workpiece at the time of teaching and the existing workpiece are misaligned.

Welding robots usually weld workpieces of the same shape using teaching data that has been taught once. In this case, there may be a positional shift between the workpiece at the time of teaching and the existing workpiece, as shown in FIG. 6, due to a workpiece setting error or the like. Therefore, the data corresponding to the positional deviation of each teaching data I is added and used as the teaching data for the current workpiece.

The amount of deviation (trans amount) is determined from the difference (vector amount A) between the welding line starting end position of the workpiece at the time of teaching and the welding line starting end position of the current workpiece. In addition,
The above-mentioned welding line starting end position is determined by once using the robot language for detecting the starting end that involves a search operation, which is stored in the robot language program memory 26 in advance according to the groove shape of the workpiece, etc.
It can be detected by performing automatic operation, and the transformer amount is stored in memory.

Now, consider the case where the teaching point P5 of the workpiece during teaching in FIG. 7 is changed by a vector amount B.

In this case, since the work at the time of teaching does not currently exist, the above changes are made based on the existing work. First, the search for the start end detection is performed in the test run mode of automatic operation (no arc is emitted), and the transformer amount A is saved.

Next, the display point is moved to the current workpiece position S corresponding to the workpiece position P during teaching. At this time, *P5 is displayed on the teaching point number display section of the display 31 of the teaching box 30. Here, the * mark indicates that the transformer amount is valid, and vector iC, which is the same as transformer iA, is added to the teaching data.

Then, when the robot moves to position S and the end lamp L1 lights up, the robot is manually moved to position R and the change button 36 is pressed. As a result, the position data at P5 is changed by the amount indicated by the arrow, and the teaching data at the original position P is rewritten with the data at the position Q, which is moved by the same vector amount B as indicated by the arrow.

Note that the present invention is not limited to welding robots, but can also be applied to other robots where teaching is performed.

〔Effect of the invention〕

As explained above, according to the present invention, it is possible to directly move the robot from the robot's current position to the teaching point H that has been once taught and memorized. The required time can be shortened.

[Brief explanation of drawings]

Figure 1 is a system configuration diagram of the welding robot, and Figure 2 is the system configuration diagram of the welding robot.
3 is a block diagram of the robot control device in the figure, FIG. 3 is a diagram showing details of the panel surface of the teaching pendant, FIGS. 4 and 6 are diagrams used to explain the movement operation according to the present invention, and FIG. FIG. 2 is a diagram showing the contents displayed on the display of the teaching box. 10...Robot body, 11. Upper arm, 12.. Lower arm,
13...Wrist, 20...Robot control device, 24.
Central processing unit (CPU), 25...program memory for robot control, 26 Lohonoto language program memory,
27 Teaching data memory, 30 n.

Claims (5)

[Claims] (1) Display means for displaying the robot's teaching point number, means for displaying an arbitrary teaching point number on the display means, storage means for storing robot teaching data, and detection for detecting the robot's current position. means, selection means for selecting a display point movement function for moving the robot to a position indicated by the teaching point number displayed on the display means, and display on the display means when the display point movement function is selected by the selection means; control means for reading out teaching data corresponding to the teaching point number from the storage means and moving the robot to the teaching point based on the read teaching data and data indicating the current position of the robot from the detection means; equipped robot control device. (2) The apparatus according to claim 1, further comprising means for checking whether or not the teaching data of the teaching point indicated by the teaching point number displayed on the display means is stored in the storage means. Robot control device. (3) The control means moves the robot toward the teaching point while the display point movement function is selected by the selection means and there is an input from the means instructing movement to the teaching point. A control device for a robot according to scope item (1). (4) The robot control device according to claim (3), wherein the means for instructing movement to the teaching point is an operation button and a start button. (5) The robot control device according to claim (1), further comprising means for indicating that the robot has moved to the position indicated by the teaching point number displayed on the display means.