JP2015134396A - Control system for controlling industrial robot, control device, method for manufacturing weldment and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce work of creating programs when an industrial robot and peripheral devices are made to operate in conjunction with each other.SOLUTION: The welding robot system includes: a first control device 30 for controlling a first welding robot and peripheral devices; and a second control device 60 connected to the first control device 30 through a network, for controlling a second welding robot. The first control device 30 includes: a first teaching program storage unit 31 for storing teaching programs in which operation to be executed by the first welding robot and the peripheral devices is described; a first route calculation unit 33 for, on the basis of the teaching program, creating information about operation of the first welding robot and the peripheral devices; and a first robot drive unit 34 for controlling the first welding robot and the peripheral devices. The second control device 60 includes: a second command interpretation unit 62 for obtaining the teaching program; a second route calculation unit 63 for, on the basis of the teaching program, creating information about operation of the second welding robot, so that the second welding robot works in conjunction with the peripheral devices; and a second robot drive unit 64 for controlling the second welding robot.

Description

  The present invention relates to a control system, a control device, a welded article manufacturing method, and a program for controlling an industrial robot.

  An industrial robot such as a welding robot that performs welding and its peripheral devices operate so as to execute work set by the teaching data by providing the teaching data. The teaching data is composed of, for example, a set of programs describing operations to be executed by the robot or peripheral device.

  For example, Patent Document 1 discloses a robot control method for controlling each robot so that a plurality of robots controlled by independent control units move synchronously on a movement path connecting a plurality of teaching points provided for each robot. Is described. This control method supplies movement information of one of the plurality of robots from the control unit of the robot to the control units of the remaining robots at least once in the process of movement of the plurality of robots between two adjacent teaching points. A movement information supply step and a speed adjustment step of adjusting the speeds of the remaining robots based on the movement information so that all the robots simultaneously arrive at the next teaching point are provided.

  Japanese Patent Application Laid-Open No. H10-228667 discloses an industrial use including a work handling apparatus having a work and a first joint means for moving the work, and a tool moving apparatus having a tool and a second joint means for moving the tool. A control method for moving a work and a tool on a trajectory between two consecutive teaching points in a robot system is described.

JP 2003-285287 A Japanese Patent No. 3098618

In a system composed of an industrial robot and its peripheral devices, the devices may be controlled to operate in conjunction with each other. In such a case, a program is created in consideration of the relationship between the operation of industrial robots and peripheral devices. However, it is desirable to reduce the time required for creating such a program.
An object of the present invention is to reduce the work of creating a program when linking an industrial robot and a peripheral device.

For this purpose, the present invention provides a first control device that controls the first robot and peripheral devices, and a second control device that is connected to the first control device via a communication line and controls the second robot. The first control device includes a storage unit that stores a teaching program in which operations to be executed by the first robot and the peripheral device are described, and based on the teaching program stored by the storage unit, First generation means for generating information related to the operation of the first robot and the peripheral device, and the first generated by the first generation means so that the first robot and the peripheral device operate in conjunction with each other. And a first control means for controlling the first robot and the peripheral device based on information on the operation of the robot and the peripheral device, and the second control device is stored in the storage means. A program acquisition unit for acquiring the stored teaching program or a teaching program created based on the teaching program, and the first unit connected to the apparatus based on the teaching program acquired by the program acquisition unit. A second generation unit configured to generate information relating to the operation of the second robot so that the robot operates in conjunction with the peripheral device not connected to the own device; and the second generation unit generated by the second generation unit. A control system comprising: second control means for controlling the second robot based on information on the operation of the two robots.
The first control device is in a standby state before the first robot is controlled when an input for starting control of the first robot is performed at the first operation terminal connected to the first control device. The second control device further includes a first operation unit connected to the second control terminal after the first notification unit is notified that the first robot is in a standby state. When an input for starting the control of the second robot is performed, a second notification means for notifying that the standby state of the first robot is released is further provided.
Further, the first notification means notifies that the operation of the first robot is stopped when the operation of the first robot is stopped, and the second control means is configured to notify the first notification means by the first notification means. When it is notified that the operation of the robot is to be stopped, control is performed so as to stop the operation of the second robot.

Further, from another point of view, the present invention is based on a program acquisition unit that acquires a teaching program in which operations to be executed by the robot and peripheral devices are described, and the teaching program acquired by the program acquisition unit, Generating means for generating information related to the operation of the robot so that the robot connected to the own apparatus operates in conjunction with a peripheral device not connected to the own apparatus; and the operation of the robot generated by the generating means And a control means for controlling the robot connected to the self-device based on the information on the control device.
The control device further includes a position information acquisition unit that acquires information on a position where the peripheral device exists from a control unit that controls the peripheral device before the control of the robot by the control unit is started. The generating means generates information related to the operation of the robot based on the information on the position where the peripheral device exists acquired by the position information acquiring means.
Further, the position information acquisition unit acquires information on a position where the peripheral device exists based on the teaching program acquired by the program acquisition unit after the control of the robot by the control unit is started. It is characterized by that.

  Furthermore, from another viewpoint, the present invention is controlled by a first robot and peripheral devices controlled by the first control device, and a second control device connected to the first control device via a communication line. A welded article manufacturing method using the second robot, wherein the first robot and the peripheral device are linked to each other based on a teaching program in which operations to be executed by the first robot and the peripheral device are described. And generating the information related to the operation of the first robot and the peripheral device, and based on the generated information related to the operation of the first robot and the peripheral device. Based on the step of controlling the apparatus and performing welding on the workpiece, the teaching program or a teaching program created based on the teaching program, Generating information related to the operation of the second robot so that the second robot connected to the second control device operates in conjunction with the peripheral device not connected to the second control device; Controlling the second robot on the basis of the generated information related to the operation of the second robot, and performing welding on the weldment.

  From another point of view, the present invention connects a computer with a function for acquiring a teaching program in which an operation to be executed by a robot and a peripheral device is described in a computer, and the acquired teaching program. Based on the function of generating information related to the operation of the robot and the generated information related to the operation of the robot so that the generated robot operates in conjunction with a peripheral device not connected to the own device. This is a program for realizing a function of controlling a connected robot.

  According to the present invention, it is possible to reduce the work of creating a program when linking an industrial robot and a peripheral device.

It is a figure which shows an example of schematic structure of the welding robot system which concerns on this Embodiment. It is a block diagram which shows the function structural example of the 1st control apparatus and 2nd control apparatus which concern on this Embodiment. It is the flowchart which showed an example of the process sequence by a 1st control apparatus. It is the flowchart which showed an example of the process sequence by a 2nd control apparatus. It is the sequence figure which showed an example of a series of processes until a 1st welding robot, a 2nd welding robot, and a positioner reach the first teaching point. It is the sequence diagram which showed an example of a series of processes performed by the confirmation operation | movement of a 1st welding robot and a 2nd welding robot. It is a figure which shows the hardware structural example of the 1st control apparatus and 2nd control apparatus which concern on this Embodiment.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. First, an outline of the present embodiment will be described.
In a welding robot system, peripheral devices may be controlled together with the welding robot. Examples of the peripheral device include a positioner that is a device that moves and rotates a workpiece to be welded to determine the position of the workpiece, and a slider that is a device that moves a welding robot.

Here, the operations to be executed by the welding robot and peripheral devices are defined in the teaching program. For example, when the peripheral device and the welding robot are linked, a teaching program is created so that the operation of each device is linked. The teaching program created here includes peripheral device information in addition to welding robot information, and even if this teaching program is used as it is, a single welding robot may not operate. That is, in the case where a single welding robot is interlocked in addition to the peripheral device and the welding robot, the operator can execute a teaching program for the welding robot connected to the peripheral device and a teaching program for the single welding robot. It is possible to create them separately. In addition, in order to link a single welding robot with a peripheral device, the operator considers the operation of a peripheral device that is not connected to the single welding robot, and also teaches a teaching program for a single welding robot. Is required to create.
Therefore, in the following, a procedure for realizing a reduction in teaching program creation work will be described.

<System configuration>
First, the welding robot system 1 according to the present embodiment will be described. FIG. 1 is a diagram illustrating an example of a schematic configuration of a welding robot system 1 according to the present embodiment.
As shown in FIG. 1, a welding robot system 1 as an example of a control system is a first welding robot 10 that performs various operations related to welding, and an object to be welded, and a position of a workpiece 21 as an example of a welded product. A first control unit 30 for controlling the first welding robot 10 and the positioner 20, and a first teaching pendant 40 used for setting a welding operation, creating a teaching program, and the like. Further, the welding robot system 1 is used for a second welding robot 50 that performs various operations relating to welding, a second control device 60 that controls the second welding robot 50, settings relating to welding operations, creation of a teaching program, and the like. And a second teaching pendant 70. Further, the first control device 30 and the second control device 60 are connected via a network 80.

A first welding robot 10 as an example of a first robot includes an arm having an articulation, and performs various operations related to welding based on a teaching program. A welding torch 11 for performing a welding operation on the workpiece 21 is provided at the tip of the arm of the first welding robot 10.
The positioner 20 has a joint and adjusts the position of the workpiece 21 based on the teaching program.

  The first control device 30 stores a previously taught teaching program, reads the stored teaching program, and controls the operations of the first welding robot 10 and the positioner 20. For example, the teaching program may be transmitted from the teaching pendant 40 or may be generated by a teaching program generating device (not shown) and transmitted by data communication. In addition, the teaching program may be transferred to the first control device 30 via a removable storage medium such as a memory card, for example.

  The first teaching pendant 40 as an example of the first operation terminal is used by the operator to make settings related to the welding work and to create a teaching program in order to perform the welding work by the first welding robot 10. The Further, the first teaching pendant 40 has an input button for operating the first welding robot 10. Examples of the input button include a start button for starting the operation of the first welding robot 10 and a forward key for moving the first welding robot 10 forward. Further, for example, when the start button and the advance key are pressed by the operator, the first welding robot 10 performs a confirmation operation for confirming a moving path or the like during welding work on the workpiece 21. In the confirmation operation, the first welding robot 10 operates based on the teaching program, and whether the first welding robot 10 moves along the teaching point of the welding operation or whether the welding operation is normally executed by the welding torch 11. Etc. are confirmed by the operator.

  The second welding robot 50 as an example of the second robot has the same function as that of the first welding robot 10, includes an arm having an articulation, and performs various operations related to welding based on the teaching program. A welding torch 51 for performing a welding operation on the workpiece 21 is provided at the tip of the arm of the second welding robot 50.

  The second control device 60 receives the teaching program from the first control device 30 via the network 80 as an example of a communication line, and controls the operation of the second welding robot 50 based on the received teaching program. However, the teaching program may be transferred from the first control device 30 to the second control device 60 via a removable storage medium such as a memory card, for example.

  The second teaching pendant 70 as an example of the second operation terminal has the same function as the first teaching pendant 40, and in order to perform the welding operation by the second welding robot 50, the operator makes settings related to the welding operation. Or used to create teaching programs. Similarly to the first teaching pendant 40, the second teaching pendant 70 has input buttons such as a start button and a forward key. Then, for example, when the start button and the forward key are pressed by the operator, the confirmation for confirming the movement path or the like at the time of welding work on the workpiece 21 in the second welding robot 50 as in the first welding robot 10. Operation is performed.

  The network 80 is a communication unit used between the first control device 30 and the second control device 60, and can be configured by, for example, a LAN (Local Area Network) based on Ethernet (registered trademark).

  Here, in the present embodiment, the first welding robot 10 and the second welding robot 50 move in synchronization with a plurality of teaching points provided in the movement path according to the conventional technique, and It is assumed that the teaching points are controlled in conjunction so that they arrive at the same time.

  For example, the first control device 30 calculates the movement time from the point at which the first welding robot 10 is located until the next teaching point of the first welding robot 10 is reached, for example, for every fixed period, and the calculated movement time. Is notified to the second control device 60. When the second control device 60 receives the movement time of the first welding robot 10 from the first control device 30, the first welding robot 10 and the second welding robot 50 arrive at the next teaching point at the same time. The speed of the second welding robot 50 is adjusted based on the received moving time.

  However, in the notification of the movement time, the first control device 30 is not limited to the configuration in which the movement time is calculated and notified at regular intervals, and the first welding robot 10 and the second welding robot 50 have two teachings. What is necessary is just to notify at least once in the process of moving between points. Furthermore, in adjusting the speed, the second control device 60 may adjust the speed of the second welding robot 50 in consideration of the time required for communication between the first control device 30 and the second control device 60. good.

  As described above, the first control device 30 notifies the second control device 60 of the movement time of the first welding robot 10, so that the second control device 60 can set the two welding robots to the next teaching point. The speed of the second welding robot 50 is adjusted so as to arrive at the same time. In addition, since the movement time is notified before each welding robot arrives at the next teaching point, for example, even if the speed and movement path of the first welding robot 10 and the second welding robot 50 are changed, each welding robot is changed. The robot is controlled to arrive at each teaching point simultaneously.

  Further, in the present embodiment, the first welding robot 10 and the positioner 20 are moved synchronously with respect to a plurality of teaching points provided on the movement path according to the conventional technique, and simultaneously with the respective teaching points of each device. It shall be controlled in conjunction with arrival.

  For example, the first control device 30 determines the position and path of the welding torch 11 of the first welding robot 10 in a coordinate system based on the workpiece 21 moved or rotated by the positioner 20 (hereinafter referred to as a workpiece coordinate system). calculate. And the 1st control apparatus 30 updates the position of the welding torch 11 in a workpiece | work coordinate system for every fixed period, and based on the updated position of the welding torch 11, the joint position of the 1st welding robot 10 and the positioner 20 is obtained. Calculate and drive each joint. In this way, the first control device 30 maintains the posture and speed of the welding torch 11 with respect to the workpiece 21 while simultaneously operating the first welding robot 10 and the positioner 20, and the first welding robot 10 and the positioner 20 are respectively Control to arrive at the teaching point at the same time.

<Functional configuration of control device>
Next, functional configurations of the first control device 30 and the second control device 60 will be described. FIG. 2 is a block diagram illustrating a functional configuration example of the first control device 30 and the second control device 60 according to the present embodiment.
First, the functional configuration of the first control device 30 will be described. As shown in FIG. 2, the first control device 30 includes a first teaching program storage unit 31 that stores a teaching program, a first command interpretation unit 32 that outputs a command of the teaching program to a first path calculation unit 33, A first path calculation unit 33 that calculates information on the movement path of the first welding robot 10 and the positioner 20 (hereinafter, information on the movement path is referred to as movement information). The first controller 30 also moves the first welding robot 10 to the target position based on the calculated movement information, and moves the positioner 20 to the target position based on the calculated movement information. A positioner driving unit 35 to be moved.

  A first teaching program storage unit 31 as an example of a storage unit stores a teaching program taught in advance. The stored teaching program is output to the first command interpretation unit 32 in response to a request from the first command interpretation unit 32. Here, the teaching program includes information such as a target position of movement and a moving speed regarding the device to be controlled.

  The first command interpretation unit 32 as an example of the first notification unit receives an input from the operator, and acquires a teaching program corresponding to the received input content from the first teaching program storage unit 31. The input from the operator may be performed, for example, when the operator directly operates the first control device 30 or when the operator operates the first teaching pendant 40 (see FIG. 1). . Then, the first command interpretation unit 32 outputs the acquired instruction of the teaching program to the first path calculation unit 33.

  Further, the first command interpreter 32 receives a teaching program used by the second control device 60 from the teaching programs stored in the first teaching program storage unit 31 based on the input from the operator via the network 80. To the second control device 60. However, as described above, the teaching program may be transferred to the second control device 60 via a storage medium such as a memory card.

  Furthermore, when the first command interpretation unit 32 receives an input for pressing the start button and the advance key of the teaching pendant 40 by the operator as the confirmation operation, the first instruction robot 32 confirms that the first welding robot 10 is in a standby state for the confirmation operation. 2 Notify the control device 60. When notified by the second control device 60 to cancel the standby state, the first command interpreter 32 cancels the standby state of the first welding robot 10 and stores the first teaching program for the confirmation operation. The teaching program is acquired from the unit 31 and output to the first route calculation unit 33.

  In addition, the first command interpreter 32 receives an input for pressing the start button and the advance key of the teaching pendant 40 after the second controller 60 is notified that the second welding robot 50 is in the standby state for the confirmation operation. If accepted, the second control device 60 is notified to cancel the standby state of the second welding robot 50. Then, the first command interpretation unit 32 acquires the teaching program from the first teaching program storage unit 31 and outputs it to the first route calculation unit 33 for the confirmation operation.

  Then, when the first welding robot 10 stops in the confirmation operation, the first command interpretation unit 32 notifies the second control device 60 that the first welding robot 10 stops. When the first command interpreter 32 receives a notification from the second controller 60 that the second welding robot 50 is stopped in the confirmation operation, the first command interpreter 32 stops the first welding robot 10 with respect to the first robot drive unit 34. The positioner drive unit 35 is notified to stop the positioner 20.

  The first path calculation unit 33 as an example of the first generation unit performs the first welding so that the first welding robot 10 and the positioner 20 operate in conjunction with each other based on the command acquired from the first command interpretation unit 32. The movement information of the robot 10 and the positioner 20 is calculated. Here, the 1st path | route calculation part 33 calculates the movement information until the 1st welding robot 10 moves to the target position based on the acquired instruction | command as movement information of the 1st welding robot 10. FIG. Further, the first path calculation unit 33 calculates movement information until the positioner 20 moves to the target position based on the acquired command as movement information of the positioner 20.

  Further, as described above, since the first welding robot 10 and the positioner 20 are controlled so as to move in synchronization, the first path calculation unit 33 calculates the movement information of the first welding robot 10 in the positioner 20. Consider moving. That is, the first path calculation unit 33 calculates the position and path of the welding torch 11 in the workpiece coordinate system with the workpiece 21 as a reference, and calculates movement information of the first welding robot 10 and the positioner 20.

  Here, the movement information is information such as a target position designated for each apparatus such as the first welding robot 10 and the positioner 20, a movement route to the target position, a movement time, and a movement speed. Then, the first path calculation unit 33 outputs the calculated movement information of the first welding robot 10 to the first robot drive unit 34, and outputs the calculated movement information of the positioner 20 to the positioner drive unit 35.

Further, as described above, since the first welding robot 10 and the second welding robot 50 are controlled to move in synchronization with each other, the first path calculation unit 33 starts from the point where the first welding robot 10 is located. The movement time until the teaching point is reached is notified to the second control device 60 at regular intervals, for example.
Furthermore, the first route calculation unit 33 transmits information on the current position of the positioner 20 to the second control device 60 in response to a request from the second control device 60. The transmitted current position of the positioner 20 is used for calculation of movement information by the second route calculation unit 63, and details will be described later.

  The first robot drive unit 34 as an example of the first control means moves the first welding robot 10 to the target of the first welding robot 10 based on the movement information of the first welding robot 10 acquired from the first path calculation unit 33. Move to position. Further, when the first robot driving unit 34 is notified by the first command interpretation unit 32 to stop the first welding robot 10 in the confirmation operation of the first welding robot 10, the first robot driving unit 34 stops the first welding robot 10. .

  The positioner driving unit 35 as an example of the first control unit moves the positioner 20 to the target position of the positioner 20 based on the movement information of the positioner 20 acquired from the first path calculation unit 33. Further, the positioner driving unit 35 stops the positioner 20 when notified by the first command interpreting unit 32 to stop the positioner 20 in the confirmation operation of the first welding robot 10.

  Next, the functional configuration of the second control device 60 will be described. As shown in FIG. 2, the second control device 60 includes a second teaching program storage unit 61 that stores a teaching program, a second command interpretation unit 62 that outputs a command of the teaching program to the second path calculation unit 63, And a second path calculation unit 63 that calculates movement information of the second welding robot 50 and the positioner 20. The second control device 60 also stores a second robot driving unit 64 that moves the second welding robot 50 to the target position based on the calculated movement information, and a positioner path storage that stores the calculated movement information of the positioner 20. Part 65.

  The second teaching program storage unit 61 stores the teaching program transmitted from the first control device 30. The stored teaching program is output to the second command interpretation unit 62 in response to a request from the second command interpretation unit 62.

  Similar to the first command interpretation unit 32, the second command interpretation unit 62 as an example of the program acquisition unit and the second notification unit accepts an input from the operator, and a second teaching program corresponding to the received input content is received. Obtained from the teaching program storage unit 61. Then, the second command interpretation unit 62 converts the teaching program in accordance with the operation of the second welding robot 50, and then outputs the converted teaching program command to the second path calculation unit 63.

  For example, when the first welding robot 10 and the second welding robot 50 operate symmetrically with respect to the workpiece 21, the second command interpretation unit 62 performs the operations of the first welding robot 10 and the second welding robot 50. The teaching program is converted to be symmetric. However, the 2nd command interpretation part 62 should just convert a teaching program according to operation | movement of the 2nd welding robot 50 which an operator desires, and shall convert a teaching program how. Further, when the operation of the second welding robot 50 may be performed using the teaching program of the first control device 30 as it is, the second command interpreting unit 62 is used without converting the teaching program. To do.

  In addition, the second command interpretation unit 62 receives an input of a setting by the operator so as to calculate movement information of the positioner 20 that is not controlled by the second control device 60. Therefore, the second command interpretation unit 62 acquires the teaching program and outputs it to the second path calculation unit 63 even if the teaching program includes information on the positioner 20 that is not the control target.

  Further, similarly to the first command interpretation unit 32, when the second command interpretation unit 62 receives an input for pressing the start button and the advance key of the teaching pendant 70 by the operator as the confirmation operation, the second welding robot 50 The first control device 30 is notified that the confirmation operation is in a standby state. Then, when notified by the first control device 30 to cancel the standby state, the second command interpretation unit 62 cancels the standby state of the second welding robot 50 and stores the second teaching program for the confirmation operation. The teaching program is acquired from the unit 61 and is output to the second path calculating unit 63.

  The second command interpreter 62 receives an input for pressing the start button and the advance key of the teaching pendant 70 after the first controller 30 is notified that the first welding robot 10 is in the standby state for the confirmation operation. When accepted, the first control device 30 is notified to cancel the standby state of the first welding robot 10. Then, the second command interpretation unit 62 acquires the teaching program from the second teaching program storage unit 61 and outputs it to the second route calculation unit 63 for the confirmation operation.

  Moreover, the 2nd command interpretation part 62 notifies the 1st control apparatus 30 that the 2nd welding robot 50 stops, when the 2nd welding robot 50 stops in confirmation operation | movement. Further, upon receiving a notification from the first control device 30 that the first welding robot 10 is stopped in the confirmation operation, the second command interpretation unit 62 stops the second welding robot 50 with respect to the second robot drive unit 64. Notify me to let you.

  The second path calculation unit 63 as an example of the generation unit, the second generation unit, and the position information acquisition unit is configured so that the second welding robot 50 is interlocked with the positioner 20 based on the command acquired from the second command interpretation unit 62. The movement information of the second welding robot 50 and the positioner 20 is calculated so as to operate. Here, the 2nd path | route calculation part 63 calculates the movement information until the 2nd welding robot 50 moves to the target position based on the acquired instruction | command as movement information of the 2nd welding robot 50. FIG. Further, the second path calculation unit 63 calculates movement information until the positioner 20 moves to the target position based on the acquired command as movement information of the positioner 20.

  Here, although the 2nd control apparatus 60 and the positioner 20 are not connected, the 2nd path | route calculation part 63 acquires the present position of the positioner 20 from the 1st control apparatus 30, and makes the target position from the acquired present position. The movement information of the positioner 20 is calculated on the assumption that the positioner 20 moves toward the target. Similarly to the first path calculation unit 33, the second path calculation unit 63 takes into account the movement of the positioner 20 in calculating the movement information of the second welding robot 50. That is, the second path calculation unit 63 calculates the position and path of the welding torch 51 in the workpiece coordinate system with the workpiece 21 as a reference, and calculates the movement information of the second welding robot 50 and the positioner 20. Next, the second path calculation unit 63 outputs the calculated movement information of the second welding robot 50 to the second robot drive unit 64 and stores the calculated movement information of the positioner 20 in the positioner path storage unit 65.

  Further, as described above, since the first welding robot 10 and the second welding robot 50 are controlled to move synchronously, the second path calculation unit 63 receives the first welding received from the first control device 30. The speed of the second welding robot 50 is adjusted based on the movement time of the robot 10.

  Based on the movement information of the second welding robot 50 acquired from the second path calculation unit 63, the second robot driving unit 64 as an example of the control unit and the second control unit converts the second welding robot 50 into the second welding robot. Move to 50 target positions. Further, the second robot drive unit 64 stops the second welding robot 50 when notified by the second command interpretation unit 62 to stop the second welding robot 50 in the confirmation operation of the second welding robot 50. .

  The positioner route storage unit 65 stores the movement information of the positioner 20 output from the second route calculation unit 63.

<Processing procedure of first control device>
Next, the process procedure of the 1st control apparatus 30 for operating the 1st welding robot 10 and the positioner 20 is demonstrated. FIG. 3 is a flowchart illustrating an example of a processing procedure performed by the first control device 30. Further, in the teaching program used in the process of FIG. 3, a plurality of teaching points are defined as target positions of the first welding robot 10 and the positioner 20.

  First, the first command interpretation unit 32 receives an operation start input from the operator (step 101), and acquires a teaching program corresponding to the received input content from the first teaching program storage unit 31 (step 102). Then, the first command interpretation unit 32 outputs the acquired instruction of the teaching program to the first path calculation unit 33. Next, the 1st path | route calculation part 33 calculates the movement information of the 1st welding robot 10 and the positioner 20 based on the acquired command (step 103). Then, the first path calculation unit 33 outputs the calculated movement information of the first welding robot 10 to the first robot drive unit 34, and outputs the calculated movement information of the positioner 20 to the positioner drive unit 35.

  Next, the first robot drive unit 34 moves the first welding robot 10 to the teaching point that is the target position of the first welding robot 10 based on the acquired movement information of the first welding robot 10. Further, the positioner driving unit 35 moves the positioner 20 to the teaching point that is the target position of the positioner 20 based on the acquired movement information of the positioner 20 (step 104). Here, if an instruction to execute welding is included in the teaching program, the welding torch 11 welds the workpiece 21 and manufactures a welded product. And after the movement of the 1st welding robot 10 and the positioner 20 is completed, the 1st path | route calculation part 33 acquires the present position of the 1st welding robot 10 and the positioner 20 (step 105).

  The first path calculation unit 33 requests the first command interpretation unit 32 for a command for moving the first welding robot 10 and the positioner 20 to the next teaching point. Then, the first command interpretation unit 32 determines whether or not the current teaching point that has arrived is the final teaching point (step 106). If it is the final teaching point (Yes in step 106), the first control device 30 and the positioner 20 have reached the final target position, and thus this processing flow ends. On the other hand, if it is not the final teaching point (No in Step 106), the process proceeds to Step 102, and the first instruction interpreting unit 32 continues to acquire the teaching program from the first teaching program storage unit 31.

<Processing procedure of second control device>
Next, a processing procedure of the second control device 60 for operating the second welding robot 50 will be described. FIG. 4 is a flowchart illustrating an example of a processing procedure performed by the second control device 60. In parallel with the second control device 60 controlling the second welding robot 50 according to the procedure shown in FIG. 4, the first control device 30 controls the first welding robot 10 and the positioner 20 according to the procedure shown in FIG. It shall be. Furthermore, it is assumed that a plurality of teaching points are determined as target positions of the second welding robot 50 in the teaching program used in the processing of FIG.

  First, the second command interpretation unit 62 receives an operation start input from an operator (step 201), and acquires a teaching program corresponding to the received input content from the second teaching program storage unit 61 (step 202). Here, the teaching program acquired by the second command interpreting unit 62 is the same program as the teaching program acquired by the first command interpreting unit 32 in step 102. It is assumed that the input from the operator in step 201 is performed almost simultaneously with the input from the operator in step 101. However, since the first welding robot 10 and the second welding robot 50 are controlled so as to move synchronously, even if there is a deviation in the timing of the input from the operator, the teaching points are almost at the respective teaching points. You will arrive at the same time. Then, the second command interpretation unit 62 converts the acquired teaching program according to the operation of the second welding robot 50, and then outputs the converted teaching program command to the second path calculation unit 63.

  Next, the second route calculation unit 63 requests information on the current position of the positioner 20 from the first control device 30 (step 203), and the first route calculation unit 33 of the first control device 30 receives the positioner 20 information. Is acquired (step 204). Then, the second path calculation unit 63 obtains the movement information of the second welding robot 50 and the positioner 20 based on the command acquired from the second command interpretation unit 62 and also considering the acquired current position of the positioner 20. Calculate (step 205).

  Then, the second path calculation unit 63 outputs the calculated movement information of the second welding robot 50 to the second robot drive unit 64 and stores the calculated movement information of the positioner 20 in the positioner path storage unit 65. In addition, the movement information of the positioner 20 calculated by the second path calculation unit 63 in step 205 is the same as the movement information of the positioner 20 calculated by the first path calculation unit 33 in step 103, and the second welding robot 50. Is moved in conjunction with the positioner 20 controlled by the first control device 30.

  Next, the second robot drive unit 64 moves the second welding robot 50 to the teaching point that is the target position of the second welding robot 50 based on the acquired movement information of the second welding robot 50 (step 206). ). Here, if an instruction to execute welding is included in the teaching program, the welding torch 51 welds the workpiece 21 and manufactures a welded product. Then, after the movement of the second welding robot 50 is completed, the second path calculation unit 63 acquires the current position of the second welding robot 50 and teaches the target position based on the instruction of the teaching program from the positioner path storage unit 65. A point is acquired and reflected as the current position of the positioner 20 (step 207).

  In addition, the second path calculation unit 63 requests the second command interpretation unit 62 for a command for moving the second welding robot 50 to the next teaching point. Then, the second command interpretation unit 62 determines whether or not the current teaching point that has arrived is the final teaching point (step 208). If it is the final teaching point (Yes in Step 208), the second welding robot 50 has reached the final target position, and thus this processing flow ends. On the other hand, if it is not the final teaching point (No in Step 208), the second command interpretation unit 62 continues to acquire the teaching program from the second teaching program storage unit 61 (Step 209), and proceeds to Step 205.

<Example of processing related to operation of each device>
Next, a series of processes for operating the first welding robot 10, the second welding robot 50, and the positioner 20 will be described. FIG. 5 is a sequence diagram showing an example of a series of processes until the first welding robot 10, the second welding robot 50, and the positioner 20 reach the first teaching point. In the process shown in FIG. 5, it is assumed that the first welding robot 10 moves from the movement start point A0 to the first teaching point A1, and the second welding robot 50 moves from the movement start point B0 to the first teaching point B1. Further, it is assumed that the positioner 20 moves from the movement start point C0 to the first teaching point C1. Furthermore, it is assumed that the second teaching program storage unit 61 stores a teaching program transmitted from the first control device 30 in advance.

  First, the first command interpretation unit 32 receives an operation start input from the operator, and acquires a teaching program corresponding to the received input content from the first teaching program storage unit 31 (step 301). Similarly to the first command interpretation unit 32, the second command interpretation unit 62 accepts an operation start input from the operator, and uses the same teaching program acquired by the first command interpretation unit 32 as the second teaching program. Obtained from the storage unit 61 (step 302). Then, the first command interpretation unit 32 outputs the acquired instruction of the teaching program to the first path calculation unit 33. The second command interpretation unit 62 converts the acquired teaching program in accordance with the operation of the second welding robot 50, and then outputs the converted teaching program command to the second path calculation unit 63.

  Next, when the second path calculation unit 63 requests information on the current position of the positioner 20 from the first control device 30 (step 303), the first path calculation unit 33 responds to the request by the positioner 20. Is transmitted to the second route calculation unit 63 (step 304). And the 2nd path | route calculation part 63 acquires the information of the present position (point C0) of the positioner 20 (step 305).

  Next, the first path calculation unit 33 calculates movement information of the first welding robot 10 and the positioner 20 based on the command acquired from the first command interpretation unit 32 (step 306). Here, the first path calculation unit 33 calculates the movement information of the first welding robot 10 until the first welding robot 10 moves from the current position (point A0) to the teaching point (point A1). . Further, the first path calculation unit 33 calculates, as movement information of the positioner 20, movement information until the positioner 20 moves from the current position (point C0) to the teaching point (point C1).

  Then, the first robot driving unit 34 moves the first welding robot 10 to the teaching point (point A1) of the first welding robot 10, and the positioner driving unit 35 moves the positioner 20 to the teaching point (point C1) of the positioner 20. (Step 307). After the movement of the first welding robot 10 and the positioner 20 is completed, the first path calculation unit 33 acquires the current position (point A1) of the first welding robot 10 and the current position (point C1) of the positioner (step 308). . Then, the first welding robot 10 and the positioner 20 are controlled until the final teaching point is reached.

  Further, the second path calculation unit 63 calculates movement information of the second welding robot 50 and the positioner 20 based on the command acquired from the second command interpretation unit 62 (step 309). Here, the second path calculation unit 63 calculates, as movement information of the second welding robot 50, movement information until the second welding robot 50 moves from the current position (point B0) to the teaching point (point B1). . Further, the second path calculation unit 63 uses the positioner 20 as movement information until the positioner 20 moves from the current position (point C0) of the positioner 20 acquired from the first control device 30 to the teaching point (point C1). The movement information is calculated.

And the 2nd robot drive part 64 moves the 2nd welding robot 50 to the teaching point (point B1) of the 2nd welding robot 50 (step 310). In addition, after the movement of the second welding robot 50 is completed, the second path calculation unit 63 acquires the current position (point B1) of the second welding robot 50 and is the target position of the positioner 20 based on the instruction of the teaching program. The teaching point (point C1) is reflected as the current position of the positioner 20 (step 311). The second welding robot 50 is then controlled until the final teaching point is reached. At that time, the second path calculation unit 63 does not request the information on the current position of the positioner 20 as in step 303, and the positioner 20 arrives at the target position based on the instruction of the teaching program as in step 311. The movement information of the second welding robot 50 and the positioner 20 is calculated.
In addition, the processing of the first control device 30 in the above steps 301 and 304 to 308 is performed in parallel with the processing of the second control device 60 in steps 302, 303, 305, and 309 to 311.

  As described above, the first control device 30 controls the operations of the first welding robot 10 and the positioner 20, and the second control device 60 controls the operations of the second welding robot 50. The second control device 60 does not control the operation of the positioner 20, but calculates the movement information of the positioner 20 based on the teaching program of the first control device 30, and the positioner 20 moves based on the calculated movement information. As a result, the operation of the second welding robot 50 is controlled. Then, in order to operate the first welding robot 10, the second welding robot 50 and the positioner 20 in conjunction with each other, the second welding robot 50 is operated using the teaching program of the first welding robot 10. Creation work is reduced.

  Further, since the second path calculation unit 63 requests the first control device 30 for the current position of the positioner 20 at the time when the second welding robot 50 starts to operate, the second welding robot 50 can easily work with other devices. Thus, problems such as contact of each device are suppressed. Further, the second path calculation unit 63 does not request the current position of the positioner 20 from the first control device 30 after the operation of the second welding robot 50 is started, and the positioner 20 arrives at the target position based on the instruction of the teaching program. As a result, movement information of the second welding robot 50 and the positioner 20 is calculated. Therefore, compared with a configuration in which the second path calculation unit 63 constantly requests the current position of the positioner 20, the influence of communication failure such as communication delay is suppressed.

  Moreover, although the 1st path | route calculation part 33 transmitted the information of the movement start point C0 as the present position of the positioner 20 in step 304, it is not restricted to such a structure. For example, when the first path calculation unit 33 transmits the current position of the positioner 20, the movement of the positioner 20 may already be started by the processing in step 307. In this case, the first path calculation unit 33 transmits not the information of the movement start point C0 but the information of the current position of the positioner 20 (for example, the point C2 between the point C0 and the point C1) as the current position of the positioner 20. Just do it.

<Checking procedure>
Next, the confirmation operation by the first welding robot 10 and the second welding robot 50 will be described. FIG. 6 is a sequence diagram illustrating an example of a series of processes executed in the confirmation operation of the first welding robot 10 and the second welding robot 50. In the following process, it is assumed that the first teaching pendant 40 first performs an operation on the start button and the forward key while the first welding robot 10 and the second welding robot 50 are stopped. In addition, it is assumed that the first welding robot 10 stops first while the first welding robot 10 and the second welding robot 50 are operating.

  First, when the start button and the forward key (input button) of the first teaching pendant 40 are pressed (ON) by the operator (step 401), the first welding robot 10 enters the standby state before starting the confirmation operation. Become. Then, the first command interpretation unit 32 notifies the second control device 60 that the first welding robot 10 is in the standby state for the confirmation operation (step 402).

  Next, when the start button and the forward key (input button) of the second teaching pendant 70 are pressed (ON) by the operator (step 403), the second command interpretation unit 62 is in a standby state of the first welding robot 10. Is notified to the first controller 30 (step 404). When the first command interpretation unit 32 receives a notification from the second command interpretation unit 62 to cancel the standby state, the first command interpretation unit 32 cancels the standby state of the first welding robot 10 (step 405). Then, the first command interpretation unit 32 acquires a teaching program from the first teaching program storage unit 31, and outputs the acquired teaching program command to the first route calculation unit 33. Further, the first robot drive unit 34 moves the first welding robot 10 and the positioner 20 based on the movement information of the first welding robot 10 and the positioner 20 calculated by the first path calculation unit 33 and performs a confirmation operation. Execute (step 406).

  In addition, the second command interpreting unit 62 notifies the first control device 30 to release the standby state in step 404, then acquires the teaching program from the second teaching program storage unit 61, and acquires the instruction of the acquired teaching program Is output to the second route calculation unit 63. Then, based on the second welding robot 50 and the positioner 20 movement information calculated by the second path calculation unit 63, the second robot drive unit 64 moves the second welding robot 50 to execute a confirmation operation (step). 407).

  When the first welding robot 10 stops, the first command interpretation unit 32 notifies the second control device 60 that the first welding robot 10 stops (step 408). When receiving the notification that the first welding robot 10 is stopped, the second command interpretation unit 62 notifies the second robot driving unit 64 to stop the second welding robot 50, and the second robot driving unit 64 stops the second welding robot 50 (step 409).

  As described above, in the confirmation operation by the first welding robot 10 and the second welding robot 50, the operation of the first welding robot 10 and the second welding robot 50 is started by notifying the standby state and releasing the standby state. Timing is adjusted. Moreover, the timing of the operation stop of the 1st welding robot 10 and the 2nd welding robot 50 is united by notifying that it will stop. For this reason, in the confirmation operation, since the operation start timing and operation stop timing of the first welding robot 10 and the second welding robot 50 are different, problems such as contact of each device are suppressed.

  In the process shown in FIG. 6, the first welding robot 10 is put into a standby state by the operation of the first teaching pendant 40, but the second welding robot 50 is put into a standby state by the operation of the second teaching pendant 70. It's also good. In the process shown in FIG. 6, the first welding robot 10 is stopped earlier than the second welding robot 50, but the second welding robot 50 may be stopped first.

  In the present embodiment, the second command interpretation unit 62 of the second control device 60 converts the teaching program. However, the present invention is not limited to such a configuration. For example, the first command interpreter 32 of the first control device 30 may convert the teaching program, and a PC (Personal Computer) provided separately from the first control device and the second control device 60 may be used. Conversion may also be performed.

  Further, in the present embodiment, the second teaching program storage unit 61 of the second control device 60 stores the teaching program transmitted from the first control device 30. For example, the first control device 30 It is also possible to store a corrected teaching program that has been corrected by the operator based on the teaching program. In this case, the teaching program acquired by the second instruction interpretation unit 62 in step 202 of FIG. 4 or step 302 of FIG. 5 is a modification of the teaching program acquired by the first instruction interpretation unit 32. Further, the second teaching program storage unit 61 may store a teaching program directly created by an operator for controlling the second welding robot 50. At that time, the operator may create a teaching program to be stored in the second teaching program storage unit 61 based on the teaching program stored in the first control device 30.

  In the present embodiment, the second control device 60 may determine whether or not the positioner 20 is actually moving along the calculated movement information. Here, for example, the second control device 60 periodically acquires the current position of the positioner 20 from the first control device 30, and the position of the positioner 20 based on the movement information calculated by the second control device 60 is actually It may be determined whether or not the current position is met. Then, if the second control device 60 determines that the position of the positioner 20 based on the movement information does not match the actual current position, for example, an error is generated and the operator is notified accordingly. Also good.

  In the present embodiment, the first welding robot 10 and the second welding robot 50 are controlled so as to arrive at the teaching points at the same time. However, instead of arriving at all the teaching points at the same time, It may be controlled so as to arrive at a predetermined teaching point at the same time. For example, at the start of arc generation for the workpiece 21, the processing of each welding robot is controlled to be executed at the same time, and each welding robot is controlled to arrive separately at a teaching point far from the workpiece 21. It is good to be done.

  Furthermore, in this Embodiment, although the welding robot system 1 was provided with the positioner 20 as a peripheral device, it is not restricted to such a structure. For example, the welding robot system 1 may include other peripheral devices such as a slider instead of the positioner 20 or in addition to the positioner 20. In addition, although the first control device 30 controls peripheral devices, the second control device 60 may control other peripheral devices in addition to the control.

  In the present embodiment, the welding robot system 1 includes the two welding robots of the first welding robot 10 and the second welding robot 50. However, the present invention is not limited to such a configuration. It is good also as providing the welding robot more than a stand.

<Hardware configuration of control device>
Next, the hardware configuration of the first control device 30 and the second control device 60 will be described. FIG. 7 is a diagram illustrating a hardware configuration example of the first control device 30 and the second control device 60 according to the present embodiment.
The first control device 30 and the second control device 60 include, for example, a CPU (Central Processing Unit) 91 which is a calculation means, a volatile memory 92 and a nonvolatile memory 93 which are storage means, as shown in the figure. Here, the CPU 91 executes various programs such as an OS (Operating System) and application software. The volatile memory 92 is a storage area for storing various programs and data used for execution thereof, and the nonvolatile memory 93 is a storage area for storing input data for various programs, output data from various programs, and the like. is there.

  Furthermore, the first control device 30 and the second control device 60 read and write data to and from a communication interface (hereinafter referred to as “communication I / F”) 94 for performing communication with the outside. And a driver 95 for performing. FIG. 7 is merely an example of a hardware configuration, and the first control device 30 and the second control device 60 are not limited to the illustrated configuration.

  And in the 1st control apparatus 30 and the 2nd control apparatus 60, the program for implement | achieving each function shown in FIG. 2 is implemented in the first control device 30 and the second control device 60 by loading the program into the volatile memory 92 and executing processing based on the program by the CPU 91. The Further, the first teaching program storage unit 31 and the second teaching program storage unit 61 are realized by a storage area such as a nonvolatile memory 93, and the positioner path storage unit 65 is a storage area such as a volatile memory 92, for example. It is realized by.

<Description of the program>
The processing performed by the second control device 60 in the present embodiment described above is prepared as a program such as application software as described above.

  Therefore, the processing performed by the second control device 60 is connected to the own device based on the function of acquiring the teaching program in which the operation to be executed by the robot and the peripheral device is described in the computer and the acquired teaching program. A robot that is connected to its own device based on a function that generates information related to the operation of the robot and information about the generated motion of the robot so that the robot operates in conjunction with peripheral devices that are not connected to that device. It can also be understood as a program for realizing the function of controlling the.

  The program for realizing the embodiment of the present invention can be provided not only by a communication means but also by storing it in a recording medium such as a CD-ROM.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the said embodiment. It will be apparent to those skilled in the art that various modifications and alternative embodiments can be made without departing from the spirit and scope of the invention.

DESCRIPTION OF SYMBOLS 1 ... Welding robot system, 10 ... 1st welding robot, 20 ... Positioner, 30 ... 1st control apparatus, 31 ... 1st teaching program memory | storage part, 32 ... 1st command interpretation part, 33 ... 1st path | route calculation part, 34 DESCRIPTION OF SYMBOLS 1st robot drive part, 35 ... Positioner drive part, 40 ... 1st teaching pendant, 50 ... 2nd welding robot, 60 ... 2nd control apparatus, 61 ... 2nd teaching program memory | storage part, 62 ... 2nd command interpretation part 63 ... 2nd path calculation part, 64 ... 2nd robot drive part, 65 ... Positioner path storage part, 70 ... 2nd teaching pendant

Claims (8)

A first control device for controlling the first robot and peripheral devices;
A second control device connected to the first control device via a communication line and controlling a second robot;
The first control device includes:
Storage means for storing a teaching program in which operations to be executed by the first robot and the peripheral device are described;
Based on the teaching program stored by the storage means, a first generation for generating information related to the operation of the first robot and the peripheral device so that the first robot and the peripheral device operate in conjunction with each other. Means,
First control means for controlling the first robot and the peripheral device based on information on the operation of the first robot and the peripheral device generated by the first generation means;
The second control device includes:
Program acquisition means for acquiring the teaching program stored by the storage means or the teaching program created based on the teaching program;
Based on the teaching program acquired by the program acquisition means, the operation of the second robot so that the second robot connected to the own device operates in conjunction with the peripheral device not connected to the own device. Second generating means for generating information on
A control system comprising: second control means for controlling the second robot based on information relating to the operation of the second robot generated by the second generation means. When an input for starting control of the first robot is performed at a first operation terminal connected to the first control device, the first control device notifies that the first control device is in a standby state before the first robot is controlled. Further comprising first notification means,
The second control device is an input for starting control of the second robot at a second operation terminal connected to the first device after the first notification means is notified that the first robot is in a standby state. 2. The control system according to claim 1, further comprising: a second notification unit configured to notify that the standby state of the first robot is canceled when the operation is performed. The first notification means notifies that the operation of the first robot stops when the operation of the first robot stops.
3. The second control means, when notified by the first notification means that the operation of the first robot is stopped, controls the second robot to stop the operation of the second robot. The control system described in. Program acquisition means for acquiring a teaching program in which operations to be executed by the robot and peripheral devices are described;
Based on the teaching program acquired by the program acquisition means, information relating to the operation of the robot is generated so that the robot connected to the own device operates in conjunction with a peripheral device not connected to the own device. Generating means;
A control device comprising: control means for controlling a robot connected to the own apparatus based on information on the operation of the robot generated by the generation means. Before starting the control of the robot by the control means, further comprising position information acquisition means for acquiring information of a position where the peripheral device exists from a control unit that controls the peripheral device;
The control device according to claim 4, wherein the generation unit generates information related to the operation of the robot based on information on a position where the peripheral device exists acquired by the position information acquisition unit. . The position information acquisition means acquires information on a position where the peripheral device exists based on the teaching program acquired by the program acquisition means after the control of the robot by the control means is started. The control device according to claim 5, characterized in that: A welded article manufacturing method using a first robot and peripheral devices controlled by a first control device, and a second robot controlled by a second control device connected to the first control device via a communication line. There,
Operations of the first robot and the peripheral device so that the first robot and the peripheral device operate in conjunction with each other on the basis of a teaching program in which operations to be executed by the first robot and the peripheral device are described. Generating information about,
Controlling the first robot and the peripheral device based on the generated information relating to the operation of the first robot and the peripheral device, and performing welding on the weldment;
Based on the teaching program or a teaching program created based on the teaching program, the second robot connected to the second control device is interlocked with the peripheral device not connected to the second control device. Generating information related to the operation of the second robot so as to operate,
And a step of controlling the second robot based on the generated information on the operation of the second robot and performing welding on the weldment. On the computer,
A function for acquiring a teaching program in which operations to be executed by the robot and peripheral devices are described;
Based on the acquired teaching program, a function for generating information related to the operation of the robot so that the robot connected to the own device operates in conjunction with a peripheral device not connected to the own device;
A program for realizing a function of controlling a robot connected to its own device based on the generated information on the operation of the robot.

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