KR20140025997A

KR20140025997A - Robot teaching controller and teaching control method

Info

Publication number: KR20140025997A
Application number: KR1020120092829A
Authority: KR
Inventors: 서재원
Original assignee: 대우조선해양 주식회사
Priority date: 2012-08-24
Filing date: 2012-08-24
Publication date: 2014-03-05

Abstract

Disclosed are a robot teaching controller and a teaching control method which enable a general unprofessional worker to easily and promptly set information for robot operation by adding graphical user interface (GUI) to the robot teaching controller. The disclosed robot teaching controller comprises: a welding information input means for controlling gap setting of a welded portion, a work file selection, and a work file performance based on GUI; a control unit for converting the welding information set by the welding information input means into work command data that a controller installed in a robot can recognize; and a work command transport unit for sending the converted work command data in the control unit to the controller installed in the robot. [Reference numerals] (11) Welding member gap setting unit; (12) Work file selection unit; (13) Work file execution unit; (20) Control unit; (30) Work message display unit; (40) Work command transport unit

Description

Robot teaching controller and teaching control method

The present invention relates to a teaching controller and a teaching method for a robot, and more particularly, by adding a graphical user interface (GUI) to a teaching manipulator, non-specialized general workers can easily and quickly set information for robot operation. The present invention relates to a robotic teaching machine and a teaching operation method.

In general, shipbuilding in shipyards constructs a hull using a multi-layered block by repeatedly assembling a panel having a large number of reinforcing members and a large number of such panels.

Usually, when the double hull block is assembled, there is a U-shaped welding site. In the U-shaped weld site, there is a gap between the member and the member depending on the state of cutting and assembly. If there is a gap in the vertical part of the U-Cell, in the case of a color plate (coller plate), or in the case of a gap in the horizontal part of the color plate, set it as small, medium, or large according to the gap size. If a welding operation has already been made, pressing the skip button skips the welding of the portion and automatically moves to another portion.

Various welding robots are used to weld the U-shaped welding site, and a robot teaching manipulator is used to instruct the operation of the robot.

An example of a state of use of the teaching controller for robots is as shown in FIG. 1. In FIG. 1, an operator inputs robot control commands to the robot teaching operator 200 to control the operation of the robot 100. In order to perform such a function, the robot teaching operator 200 is provided with a screen 210 for displaying each robot control item in a menu form and various function keys.

Among the function keys, there are a direction key 230 used to navigate the items displayed on the screen 210, a confirmation key 240 to confirm that the corresponding item is set, a selector 250 for selecting the corresponding item, and the like. . In addition, the direction key 230 has a page up key (Page Up) 231 for scrolling the items on the screen 210 one page back, and a page down key for scrolling the items on the screen 210 one page to the next. Down: 233, the left direction key 232 and the right direction key 234 used to move between items on the current screen 210, and the like.

However, such a teaching controller for robots is mainly used by robot operators (experts) by arranging complicated work files, setting methods, displays, etc. in order to operate the robot.

It is almost impossible for an inexperienced general worker to use such a robotic teaching manipulator, and many skilled periods are required to perform welding work using the robotic teaching manipulator.

Therefore, it is complicated and difficult for an unskilled general worker to weld using a robotic teaching manipulator. Therefore, in the past, a separate user panel was created to allow an unskilled general worker to weld using a robot. Made and used.

This user panel consists of mechanical buttons.

However, the prior art as described above has the advantage that even an inexperienced general worker can be welded using a robot by using a separate user panel, but this causes a problem of additionally developing a separate user panel.

In addition, the use of additional user panels introduces the complexity of requiring software interface work between the controller and the user panel.

In addition, the prior art, because the operator has to set the information for the robot control by the operation of pressing the mechanical button, it also caused a disadvantage that it is difficult to work intuitively.

Therefore, the present invention takes a lot of setting time due to various problems caused by using the existing separate user panel as described above, and complicated work files, setting methods, and displays when using a general robotic teaching controller, and is used by a user. As a solution to all the difficult problems,

The problem to be solved by the present invention is to add a graphical user interface (GUI) to the teaching manipulator to teach the non-professional general operator to quickly and easily set the information for the robot operation using the teaching manipulator and teaching operation method To provide.

Robot teaching instruction according to the present invention for solving the above problems,

Welding information input means for manipulating gap setting of a welding site, selecting a work file and executing a work file based on a graphical user interface (GUI);

A control unit for converting welding information set through the welding information input unit into work command data that can be recognized by a controller installed in the robot;

And a work command transmitter for transmitting the work command data converted by the controller to a controller installed in the robot.

The control unit generates a control signal for displaying a job message,

The display device may further include a job message display unit for displaying a job message on the screen according to a control signal for displaying the job message generated by the controller.

Welding information input means in the above,

A welding member gap setting unit configured to display a gap setting image for setting a welding region gap, and to set a gap with respect to the welding region of the gap setting image;

A work file selection unit for numerically selecting a work file in which a gap for the welding site is set;

And a work file execution unit including a plurality of run buttons for executing the selected work file.

The teaching operation method for a robot according to the present invention for solving the above problems,

(a) setting a gap condition of a member to be welded according to a gap condition selection of an operator input through the welding information input means;

(b) selecting a work file according to the work file number input of the worker;

(c) executing the job file selected in step (b).

In the above (d) when the operation line check of the work file is requested by the worker, the method further comprises displaying the operation line of the current work file on the screen.

In the above step (a)

(a-1) setting a gap of the left vertical welding portion of the member to be welded;

(a-2) setting a gap of the left collar plate of the member to be welded;

(a-3) setting a gap of a bottom horizontal portion of the member to be welded;

(a-4) setting a gap of the right color plate of the member to be welded;

(A-5) characterized in that it comprises the step of setting the gap of the right vertical welding portion of the member to be welded.

In the above step (a)

(a-6) Skip the portion of the left vertical welded part gap of the member to be welded, the gap of the left color plate, the gap of the bottom horizontal part, the gap of the right color plate and the gap of the right vertical welded part that do not need to set the gap condition ( and skipping).

In the step (b)

When you press the button, you can select a work file by using the three-digit numeric button whose number changes from 0 to 9.

In the above step (c)

(c-1) executing the work file when the start button for starting the selected work file is pressed;

(c-2) pausing the work file when the stop button for pausing the work file to be executed is pressed;

(c-3) if the restart button for re-executing the paused work file is pressed, executing the paused work file again from a stop point of the paused work file.

In step (d),

When the mode switch of the teaching operator is placed in the play mode, the operation line of the currently executing command is displayed through the cursor.

According to the present invention, even when an unskilled operator operates the robot using the teaching operator, the setting for the control command can be quickly performed, thereby providing the ease of use.

Further, according to the present invention, when the unskilled worker operates the robot, there is an advantage that the robot can be easily controlled by manipulating the teaching operator without a separate user panel, and thus the unskilled worker can easily manipulate the teaching manipulator. As a result, there is no need to develop a separate user panel for an unskilled worker as in the past, which can reduce costs.

1 is a view showing an example of a state of use of a conventional robot teaching operator,
2 is a block diagram of a teaching controller for robots according to the present invention;
3 is a diagram illustrating an example of a user interface of a robot teaching machine in the present invention;
Figure 4 is a flow chart showing a teaching operation method for a robot according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

&Lt; Example 1 >

2 is a block diagram of the teaching manipulator for a robot according to the present invention, which includes a welding information input unit 10, a control unit 20, a work message display unit 30, and a work command transmission unit 40.

The welding information input means 10 serves to manipulate a gap setting, a work file selection, and a work file execution of a welding site based on a graphical user interface (GUI).

The welding information input means 10 may include a welding member gap setting unit 11 for displaying a gap setting image for setting a welding region gap and setting a gap for the welding portion of the gap setting image; A work file selecting unit 12 for numerically selecting a work file in which a gap with respect to a weld is set; It includes a work file execution unit 13 including a plurality of execution buttons for executing the selected work file.

The control unit 20 converts welding information set through the welding information input unit 10 into work command data that can be recognized by a controller installed in the robot. In addition, the controller 20 also generates a control signal for displaying a job message.

The work command transmitter 40 transmits the work command data converted by the controller 20 to a controller installed in the robot. The work command transmission unit 40 serves to interface data between the teaching operator and the controller installed in the robot.

The job message display unit 30 serves to display a job message on the screen according to a control signal for displaying the job message generated by the controller 20. Such a work message is preferably displayed in the dormant interface area.

The teaching apparatus for a robot according to the present invention configured as described above is configured to process a setting such as setting a type of a U-cell as a welding member, setting a gap of a welding part, or executing a command for robot operation based on a graphical user interface (GUI). By doing so, even an unskilled worker can easily control the welding robot using the teaching manipulator, which will be described in more detail as follows.

First, an unskilled worker (including a skilled worker) sets the gap of the welding part through the welding member gap setting part 11 provided in the welding information input means 10 of the teaching operator. For example, assuming the welding member is a U-cell as shown in the image in FIG. do. Here, the vertical means the gap difference between the left and right longi of the U cell, and the color plate means the gap difference of the color plate attached to the front of the U cell.

In addition, the welding member gap setting unit 11 includes five gap setting buttons (small, medium, large, large, large in FIG. 3) for setting the gap of each welding portion so that the gap can be conveniently set for the five welded portions. Button) and five skip buttons for passing through the weld sites without welding.

Therefore, an inexperienced operator operates the gap setting button to set a gap for an arbitrary welding site, and otherwise, a skip button is operated to prevent welding for a specific welding site.

For example, when setting the gap for the left vertical portion, pressing the gap setting button located in the portion marked left vertical changes the gap condition in the current state. For example, if the current gap state is set to small, press the corresponding gap setting button once to change the gap condition to medium, press it again to change the gap condition, and press it once to change the gap condition to the original small. .

In this way, the unskilled operator sets the gap for the left vertical part. If you do not want to set the gap for the left vertical part, the skip button located directly below the gap setting button sets the gap for the left vertical part. Pressing does not set the gap. In this case, when the skip button is pressed, the corresponding welding part is displayed through the corresponding skip button so that the operator can easily recognize that the welding part is in the skip state. There are various methods of indicating that the skip button is pressed, but the present invention uses a method of changing the color of the skip button.

Through this process, the gap is set or the skip is set for five welded portions. When the gap is set or the skip is set, the controller 20 controls the gap setting value by using a data conversion program stored therein. The information is converted into information and transmitted to the controller installed in the robot through the work command transmitter 40.

For example, the gap condition can be defined as SKIP: 0, small: 1, medium: 2, large: 3, and the weld data transmitted to the controller is left vertical part B100, left color plate B200, bottom horizontal part B300. , Right color plate B400, right vertical area B500.

Therefore, as shown in FIG. 3, assuming that the gap setting buttons are set as small, medium, large, large, or large, the gap is set to B100 = 1, B200 = 2, B300 = 3, B400 = 3, and B500 = 3. Data is passed to the controller.

Since the gap condition is set as a global variable in the controller, it is desirable to start after setting to a value suitable for the corresponding work file before starting the work file.

Meanwhile, the unskilled worker selects the work file through the work file selection unit 12 after setting the gap for the welding member. Here, the work file uses three digit numbers. If you press the number button, the number changes from 0 to 9. For example, if the number of the first digit is 1, press the number button once to change the number to 2, and press the number button again to change the number to 3.

When the work file is selected using the three digit numbers, the control unit 20 transmits the input work file to the controller installed in the robot.

The three-digit number entered here is sent to the controller as a work file name of the form:

For example, a job file name has the form JOB01000.pgm, where JOB is the base name, 01 is the number of the robot, the first robot is 01, and the second robot is 02. 000 is the three digits entered.

When the work file is selected through the process as is well known, and the gap setting for the welding site is completed, the unskilled worker inputs execution of the work file through the work file execution unit 13. There are three buttons to run the work file. That is, a start button for executing the start of the work file, a stop button for pausing the work file to be executed, and a restart button for executing the paused work file again.

When the start button is pressed, the control unit 20 transmits the previously entered gap condition and the work file three-digit number to the controller through the work command transmitter 40 to execute the work file having the three-digit input work file. Be sure to

If the work file having the three-digit number entered here does not exist, the control unit 20 displays an error message through the human interface area, which is the work message display unit 30. The error message may be "ERR1024: JOG file is out of exisrence". When the start button is pressed, it is executed from the very first command of the working file.

When the stop button is pressed, the currently executed work file is paused and the following message is displayed through the work message display unit 30. "UP HOLD STOP".

In addition, when the restart button is pressed, the work file is executed again from the position where the emergency stop and pause were made.

Meanwhile, as another feature of the present invention, when the mode switch of the notification operator is placed in the PLAY mode, the operation line of the currently executing command is indicated by a cursor. only. If the work file is changed to teach mode while the work file is in the UP mode, the work file execution is stopped and the following message is displayed in the human interface area.

"ERR3011: TP HOLD STOP".

In addition, in the present invention, it is also possible to deactivate the gap setting button using the teaching operator.

&Lt; Example 2 >

Figure 4 is a flow chart showing a teaching method for a robot according to the present invention, S represents a step (step), it is performed through the configuration of the robot teaching manipulator shown in FIG.

As shown in Figure 4, the teaching operation method for a robot according to the present invention comprises the steps of (a) setting the gap condition of the member to be welded according to the gap condition of the operator input through the welding information input means (S10) and ; (b) selecting a work file according to the work file number input of the worker (S20); (c) executing the job file selected in step (b) (S30); (d) When the operation line check of the work file is requested by the worker, the operation line of the current work file is displayed on the screen (S40 to S50).

In the teaching operation method for a robot according to the present invention as described above, first, in step S10, an unskilled worker sets a gap condition of a member to be welded through a graphic user interface (GUI) based welding information input means.

Here, in the gap condition, when the welding member is a U-cell as shown in FIG. 3, the gap condition of the left vertical welding portion of the member to be welded is set, the gap condition of the left color plate of the member to be welded is set, and the member to be welded. Setting the gap condition of the bottom horizontal portion of the member, setting the gap condition of the right color plate of the member to be welded, and setting the gap condition of the right vertical welding part of the member to be welded.

If the gap condition of the left vertical welded part gap of the member to be welded, the gap of the left collar plate, the gap of the bottom horizontal part, the gap of the right collar plate and the gap of the right vertical welded part is not necessary, the skip condition is skipped. Will be set.

Next, a job file is selected in step S20. To select a work file, it is preferable to use a three-digit button in which the number is changed from 0 to 9 by pressing any number button.

Through this process, after setting the gap condition of the welding site and selecting the work file, the process moves to step S30 to execute the work file.

It is preferable to use a start button, a stop button, and a restart button to execute a job file.

For example, when the start button for starting the selected work file is pressed, the work file is executed, and when the stop button for pausing the running work file is pressed, the work file is paused. In addition, when the restart button for re-executing the paused work file is pressed, the work file is executed again from the stop point of the paused work file.

If the operation line check request of the work file occurs as in step S40 when the work file is executed, the operation line of the currently executing command is displayed with a cursor. For example, when the mode switch of the teaching manipulator is placed in the play mode, the operation line of the currently executing command is displayed through the cursor.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims and their equivalents. Of course, such modifications are within the scope of the claims.

10 ... Welding information input means
11 ... Weld member gap setting part
12 ... Work file selection section
13 ... Work File Execution Unit
20 ... The control unit
30 ... Job message display
40 ... Work order transmitter

Claims

Welding information input means for manipulating gap setting of a welding site, selecting a work file, and executing a work file based on a graphical user interface (GUI);
A control unit for converting welding information set through the welding information input unit into work command data that can be recognized by a controller installed in the robot;
And a work command transmitter for transmitting the work command data converted by the controller to a controller installed in the robot.

The method of claim 1, wherein the controller generates a control signal for displaying a job message,
And a work message display unit for displaying a work message on a screen according to a control signal for displaying a work message generated by the controller.

The method according to claim 1, wherein the welding information input means,
A welding member gap setting unit configured to display a gap setting image for setting a welding region gap and to set a gap condition for the welding region of the gap setting image;
A work file selection unit for numerically selecting a work file in which a gap for the welding site is set;
And a work file execution unit including a plurality of execution buttons for executing the selected work file.

(a) setting a gap condition of a member to be welded according to a gap condition selection of an operator input through the welding information input means;
(b) selecting a work file according to the work file number input of the worker;
and (c) executing the work file selected in step (b).

The method of claim 4, further comprising: (d) displaying the operation line of the current work file on the screen when the operation line of the work file is requested by the worker.

The method according to claim 4, wherein step (a),
(a-1) setting a gap of the left vertical welding portion of the member to be welded;
(a-2) setting a gap of the left collar plate of the member to be welded;
(a-3) setting a gap of a bottom horizontal portion of the member to be welded;
(a-4) setting a gap of the right color plate of the member to be welded;
(a-5) setting the gap of the right vertical welding portion of the member to be welded.

The method according to claim 5, wherein the step (a),
(a-6) Skip the portion of the left vertical welded part gap of the member to be welded, the gap of the left color plate, the gap of the bottom horizontal part, the gap of the right color plate and the gap of the right vertical welded part that do not need to set the gap condition ( teaching method for a robot, characterized in that it further comprises the step (skip).

The method according to claim 4, wherein step (b),
Teaching operation method for a robot, characterized in that the work file is selected by using the three-digit numeric button that the number is changed from 0 to 9 by pressing the button.

The method according to claim 4, wherein step (c) is,
(c-1) executing the work file when the start button for starting the selected work file is pressed;
(c-2) pausing the work file when the stop button for pausing the work file to be executed is pressed;
and (c-3) if the restart button for re-executing the paused work file is pressed, executing the paused work file again from the stop point of the paused work file.

The method according to claim 4, wherein step (d),
Positioning the mode switch of the teaching manipulator in the play mode, the teaching operation method for the robot, characterized in that for displaying the operation line of the currently executing command through the cursor.