JPS6039205A - Controller of teaching playback type robot - Google Patents

Abstract

PURPOSE:To attain ease of handling of an external device including a sensor by giving a data mark so as to manage information of a coordinate of a robot, attitude and state of hands and information of input/output to/from the external device. CONSTITUTION:A data input section 21 inputs the indication information of the coordinate of the robot, the attitude and the state of hands from a teaching box 9 or a console key box 10 and also inputs control indication information from the external device and the sensor. Then the information inputted by an input section 21 is transmitted to a data edition section 23, the data mark of a prescribed indication type at each indication unit and a detailed content at each indication unit are stored (26) with correspondence. A data mark analysis section 30 processes the sharing of an indication data stored in the main storage device 26 and controls the operation of the robot or the input/output of the external device via an arm control section 31, a camera information input section 32, an external device output section 33 and an external device input section 34.

Description

Detailed Description of the Invention ■Technical Field of the Invention The present invention relates to a teaching/playback type control device, in particular, a method for controlling information on coordinates, posture, and hand status of a robot, and input/output with external equipment other than the robot. The present invention relates to a control device for a teaching/playback robot that facilitates the handling of external devices including sensors by managing information in the form of data marks.

(b) Conventional technology and problems In conventional teaching playback type robots, only the position and posture of the robot's tip and the state of no and no are memorized by operating the levers and buttons of the so-called teaching box. The robot is made to perform an ab return operation according to the memorized contents.

This method is often used in the field of industrial robots because the operation instructions are simple and the operation is easy. However, with this method, it is difficult to deal with cases where the robot moves in synchronization with other carriers or the like, or when the robot moves in response to sensor signals during movement.

Therefore, when a robot operates in conjunction with other external equipment, it is generally necessary to create a language for the robot and program it in that language in advance to control the input/output of the other equipment. Information is input from sensors. However, for on-site workers who handle robots, it is important to shift from the teaching method of teaching each playback, which allows the robot to memorize its position by simply pressing a button, to a method of teaching by programming. It requires a lot of kana + practice and is difficult. Additionally, in general, the robot language itself requires all detailed movements to be written, and many steps need to be written even for simple tasks, which requires a lot of effort.

0 Purpose and Structure of the Invention The present invention aims to solve the above-mentioned problems, and enables the user of the robot to give instructions to the robot using operations similar to those using a conventional teaching box. The purpose is to enable easy handling of external devices and sensors other than robots.

Also for robotic system providers.

Facilitates control configuration of robots and external equipment.

The purpose of this invention is to provide a highly versatile and extensible method for managing and executing instruction data.

Therefore, (1) the control device for a teaching playback type robot of the present invention includes a pro-sensor that controls the robot and an external device that performs input/output related to the robot's work environment, and stores instruction data regarding control contents of the pro-sensor. 1. A robot control device comprising a storage device for storing information.

A data input section for inputting instruction data for system control from either a teaching box for teaching robot motions or a console/keyboard, and a predetermined instruction for each instruction unit for the instruction data input by the data input section. a data editing unit that associates a data mark indicating the type with detailed contents of the instruction data and stores them in the storage device; and data that is processed based on the data mark of the instruction data stored in the storage device. The present invention is characterized by comprising a mark analysis section and an instruction data execution section to which control is transferred by the data mark analysis section and controls the operation of the robot or the input/output of external equipment in accordance with each data mark. Embodiments will be described below with reference to the drawings.

0 Examples of the invention FIG. 1 shows an external system configuration of an embodiment of the present invention.

FIG. 2 is an internal configuration of an embodiment of the present invention, FIG. 3 is an example of instruction data according to the present invention, FIG. 4 is an explanatory diagram of an input mode of instruction data, and FIG. 5 is an explanation of a processing mode according to the present invention. Show the diagram.

In FIG. 1, numeral 1 is a robot arm, 2 is a hand, 3 is a carrier, and 4 is a carrier controller.

5 is a system controller, and 6 is a television camera.

7 is the position mark, 8 is the TV camera controller, 9
10 represents a teaching box, 10 represents a console/keyboard, and 11 represents a display.

For example, as shown in FIG. 1, the robot body has a six-jointed robot arm 1, and a hand 2 that is open at the tip and can be used to pick up objects by closing. The conveyor 3 is a belt conveyor and is an external device related to the work of the robot.

The carrier controller 4 controls the carrier 3 and operates and stops the carrier 3, as well as checks whether the object to be worked on in 2 has been carried to a predetermined position by the carrier 3. ,Monitor.

The system controller 5 is a control mechanism for the entire system, and includes a processor, a main storage device, an external storage device such as a floppy disk, various insertion/output interfaces, and the like. The processor fetches and executes machine language instructions prepared in the main memory, analyzes instruction data as shown in Figure 3, which will be described later, and controls the robot and external equipment instructed by the instruction data. . The television camera 6 is an input device for inputting information about the robot's working environment. For example, a position mark 7 indicating a position where an object should be carried by a robot can be detected by pattern recognition based on the intensity of light. The television camera controller 8 controls the transmission of input signals from the television camera 6 to the system controller 5.

The teaching box 9 is an input device that allows an operator to move the robot arm 1 and hand 2 by operating levers or buttons, and to cause the system controller 5 to memorize their positions and states.

This has traditionally been used in teaching/playback type robots. Console battle keyboard 10
is an input device that allows an operator to instruct detailed control contents of the system, for example, in the form of conversational commands, by pressing a key, which is not sufficient with the teaching box 9 alone. In the case of the present invention, console keyboard 1
Although it is preferable for operation to have the teaching box 9 and the teaching box 9 separately, it is also possible to use a console/keyboard 10 for the function of the teaching box 9 and omit the teaching box 9.Display 11
is a display device that displays messages from the system #controller 5 to the operator.

In particular, the internal configuration centered on the system controller 5 is as shown in FIG. 2, for example.

In FIG. 2, numerals 4, 8, 9, and 10 correspond to those in FIG.
5 is power L/n 11 pointer.

26 is a main storage device, 27 is instruction data, 2B is a floppy disk controller, 29i is a floppy disk device, and 30 is a data mark analysis section.

31 is an arm control section, and 32 is a camera information input section.

33 is an external device output section, and 34 is an external device output section.

35 represents an input/output port, and 36 represents a servo mechanism.

Processor 20 controls the entire system by executing one machine language instruction. Each processing unit, such as the data input unit 21,
It can be considered that it is composed of a group of machine language instructions executed by the processor 20.

The data input unit 21 inputs instruction information about the robot's coordinates, posture, and hand status from the teaching box 9 or the console-keyboard 10, as well as inputs control instruction information for external devices and sensors. . The switching unit 2z switches between inputting from the teaching box 9 and console keyboard 10 by operating a command or a button. Robot instruction information or control instruction information for external equipment, etc. input by the data input section 21 is transmitted to the data editing section 23.

The data editing section 23 is based on the input information.

It creates the instruction data 27 and also performs processing such as inserting, deleting, and changing the instruction data.

Details of the ship 1 of the instruction data 27 will be described later with reference to FIG. The instruction data 27 is stored in the main storage device 26, with an area of 9, for example, 128 bytes allocated for one instruction content. Further, the instruction data Z7 on the main storage device 26 is stored in the floppy disk device 29 overnight via the floppy disk controller 28, and can be read out as needed. The pointer management unit 24 manages the current pointer 25. The current pointer 25 points to the instruction data 2.7 that is currently the target of execution or the instruction data 27 that is currently the target of data editing. The data editing department 23.

When creating and adding new instruction data 27.

Extract an empty area from the main memory 26 and set there the instruction nolamake information and the data mark indicating the instruction type [7, in a series of instruction data groups chained by mutual pointers. Incorporate.

In executing the instruction data, the data mark analysis unit 30 analyzes the data mark of the instruction data 27 located at the location in the main storage device 26 pointed to by the current pointer 2δ, and allocates data according to the data mark. This activates the execution unit of each instruction data according to the instruction type indicated by the data mark. These execution units include an arm control unit 31, for example, as shown in FIG. Camera information input section 3'2. External device output section 34. There is an external device input section 34 and others. Since these are all distinguished by data marks, they can each be configured as independent modules, and simply by providing a new data mark, ff1i can be created as a module with a new function, regardless of the control of the robot or external equipment. It is now possible to add.

The arm control unit 31 outputs a control signal to the servo mechanism 36 via the input/output port 35 to control the arm and hand of the robot.

As the control signal at this time, for example, information related to the angular velocity of each joint angle of the robot arm is given. The camera information input unit 32 is input from an input/output port 35 assigned to the camera controller 8 in order to detect the coordinates of the position mark 7 shown in FIG.

A process of reading information detected by the camera controller 8 is performed. In this example, the equipment output section 33 outputs a transporter operation control signal to the transporter controller 4. The external device input section 34 inputs a detection signal of an object transported by a transporter, for example.

The instruction data 27 is stored on the main storage device 26.

For example, it has a configuration as shown in FIG. l entry is 1
It has an area of 28 bytes. The data mark section 40 indicates the instruction type of the instruction data 27. The data mark may be in any form as long as it is information that can identify the instruction type, such as an instruction type number, symbol, or flag. In the case of this embodiment, the instruction type is 1, for example, a ROB that instructs the position/posture of the robot and the state of the robot.
With OT.

A TV for instructing input from a television camera, an OUT for instructing output to an external device, an IN for instructing input from an external device, etc. are provided.

The data label section 41 is an area in which a name for the instruction data is stored. The user can give any name to each piece of instruction data, and by specifying the name, each piece of instruction data can be called up directly.

Reverse direction pointer section 42 and III direction pointer section 43
This is a method of mutually chaining a series of instruction data for carrying out one unified project. Pointer information for chaining.

For example, it consists of a data number associated with an address on the main memory. By operating the backward pointer section 42 and the forward pointer section 43, it is possible to easily insert, delete, change, etc. the instruction data without transferring the entire instruction data.
By referring to 2, the instruction data can be executed backwards.

- The ξ parameter section 44 is an area where detailed information of instruction data is stored. Which area is valid varies depending on the instruction type. The target angles of each joint are stored in the joint angles 01 to θ6 when the instruction type is also 0BOT. In the speed data section.

Information about the linear movement speed of the hand is stored. The no-end state section stores instruction information such as opening or closing the hand. 1 for integer type data or real number type data area
For example, in the OUT and IN types, the first number of the input/output port, input/output data to that port, etc. are stored.

The original information of the above instruction data is 2, for example, as shown in FIG.
, can be given in the form of commands from the console/keyboard 10 or in the form of a menu using the display, and ROBOT control information can also be given using the teaching box 9 as in the past. The conversation command 50 shown in FIG. 4 is a command for instructing input from a television camera. Conversation command 51 instructs direct mf output to the rLf4th port. The conversation command 52 is O
This is an instruction to input from the #th port and wait until the input from the θth port reaches the value of P. In this case, m, o, p are integers.

For instruction information from teaching box 9.

For example, information that instructs the robot's hand to move in a certain direction, information that instructs the robot to open or close the hand,
There is information that instructs to memorize the state of the robot at that time. of course.

The robot may be controlled from the console keyboard 10 by providing conversational commands such as M OV K. These pieces of information are tagged with data marks by the data editing section, are managed, and are easily multiplied. Note that commands for editing instruction data are also provided.

For example, in a system as shown in FIG.

Assume that a series of operations as shown in FIG. 5 are performed. This work includes controlling the robot and controlling external equipment. According to the conventional method, instructions and control for each task (1), (2), and (2) cannot be performed in a unified manner because these operations are unrelated to the movements of the robot itself. In the case of this embodiment, the data is multi-informationized and executed as follows.

By inputting the instruction information explained in FIG.
Figure (b) A series of instruction data 27-1 to 27- as shown
Prepare 8. Note that in FIG. 5(b), only the contents of the data mark section 40 and the parameter section 44 are shown in a simplified manner for ease of understanding. Work ■ is 1
This is performed based on the indicated data 27-1. Work ■ is
This is executed based on the instruction data 27-2. Work (2) is performed based on instruction data 27-3 and instruction data 27-4.

Similarly, work ■, (■ is performed and 9 work ■ is instructed by data 2.
7-1 and instruction data 27-8, the series of operations shown in FIG. 5(a) will be performed. For example, 9 REP E A (not shown)
It is also possible to add instruction data with a data mark of T to repeat the above series of operations.

Note that the instruction data 27-1 to 27-8 are the backward pointer section 42 and the forward pointer section 430 shown in FIG.
Point information is linked to each other according to the order of work.

■As described in detail, according to the present invention, instruction data is centrally managed using data marks, control of the robot and control related to the robot's work environment are unified, and processes corresponding to each data mark are executed. You will be able to do this.

Therefore, there is no need for on-site staff to learn difficult programming languages for controlling robots and external equipment.

ff It becomes possible to easily instruct complicated sequences. Control functions using only a conventional teaching pendant can also be fully included and supported. Also,
For system designers and providers, since it is possible to construct individual processing functions for each data mark, it is possible to easily deal with changes in control contents, additions and modifications of commands, etc. Especially for industrial robots, each user
The required specifications for the system often differ greatly.

The present invention has a great advantage in that it can flexibly deal with this problem.

[Brief explanation of the drawing]

FIG. 1 shows an external system configuration of an embodiment of the present invention. FIG. 2 is an internal configuration of an embodiment of the present invention, FIG. 35 is an example of instruction data according to the present invention, FIG. 4 is an explanatory diagram of an input mode of instruction data, and FIG. 5 is an explanation of a processing mode according to the present invention. Show the diagram. In the figure, numeral 1 is a robot arm, 5 is a system controller, and 9 is a teaching box. 10 is a console keyboard, 21 is a data input section,
23 is a data editing section, and 27 is instruction data. 30 represents a data mark analysis section and a 40-digit data mark section. Patent applicant Fujitsu Limited

Claims (1)

[Scope of Claim] A processor that controls a robot and external equipment that performs input/output related to the robot's working environment. A robot control device comprising a storage device for storing instruction data regarding control contents of the processor, and inputting instruction data for system control from either a teaching box for teaching the robot's movements or a console keyboard. A data input section, and data stored in the storage device in which a data mark indicating a predetermined instruction type for each instruction unit and detailed contents of the instruction data are associated with each other for instruction data inputted by the data input section. an editing department, a data mark analysis section that processes the distribution according to the data marks of the instruction data stored in the storage device, and control is transferred by the data mark analysis section and the robot's movement or movement is performed in accordance with each data mark. A control device for a teaching/playback type robot, characterized by comprising an instruction data execution unit that controls input/output of external equipment.