JP2002312010A - Robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot capable of setting work concerning its position and setting other positions and work in relation to the position or the work. SOLUTION: This robot is furnished with a means to set the work at the set position and a means to set the other positions and work concerning the aforementioned work or position in addition to a means to set the position to practice the work. These set conditions are memorized in relation to the set position and practiced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a robot.

[0002]

2. Description of the Related Art In teaching and control of a programming language such as a robot language, a sequence of instructions is mainly used, and a robot is operated by executing the instructions in the sequence. The work position where the work is performed is treated as a mere constant or variable in the program, and the movement between the work positions is embedded in the instruction sequence together with other instructions as a mere movement instruction. However, if the center of the robot operation is considered to be the movement between the work positions, the movement between the work positions and the relation between the work positions and the work are grasped by the conventional program creation based on the instruction sequence. This makes it difficult to create and maintain programs. Particularly, in the case of calling a subroutine, the relation between the work position and the work is difficult to understand, and there is a disadvantage that it is difficult to use.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems. The present invention is directed to a simple program operation or teaching operation for moving between work positions and the like. It is an object of the present invention to provide a robot capable of setting another work position and work set in relation to each other.

[0004]

In order to achieve the above object, a robot according to the present invention performs a task at a set position. Means for setting the work at the position, means for setting the work at the other position and the work at the other position in relation to the work at the set position, and executing the work at the set position And a control device for executing other work at the other position. In the above configuration, work can be set with respect to the set position, and another position and work can be set in relation to the work, so that programming or teaching can be easily performed. It is also possible to configure so that another position and work are set in relation to the set position. Further, at the set position, the set work is executed, and the work of another position set in relation to the set position is executed before the movement to the set position. Such a configuration is also possible.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, a control device 1 mainly including a microcomputer controls the entire robot, outputs a command to a motor drive control device 11, drives a stepping motor 12, and executes various operations. It has become. Motor drive control device 11
As many stepping motors 12 as necessary are provided, and the stepping motor 12 is connected to a mechanism (not shown) for performing necessary operations and operations. In addition, various actuators can be used instead of the stepping motor 12, and a closed loop can be used.

[0006] A recording medium 10 is connectable to the control device 1 so that necessary programs and data can be input. The program on the recording medium 10 has a specific operation /
It is configured to be stored in the operation program storage device 2, the other work / operation program storage device 3, and the position setting program storage device 4, respectively. 5 is a temporary storage device.

The operating device 7 includes an input device such as a keyboard,
This is a hardware or software mechanism for teaching, and is used to input programs and data to the robot. The user can use the operation device 7 to set the position where the work is performed, set the contents of the work, and set the order of movement. Further, it is possible to change the mode of movement, change the movement route according to conditions, output a command during movement, etc., in relation to the set position. In this embodiment, a position setting program storage device 4 and a display device 6 are provided, and an operator can set a position at which work is performed by a program in the position setting program storage device 4.

In this embodiment, the predetermined work is set as a general-purpose application, and this general-purpose application can be used as it is,
Alternatively, it is possible to use the application after making a change, or to use a mixture of a general-purpose application and an application created by a user. That is, the specific operation / operation program storage device 2 stores a predetermined operation program, and various operation programs in the specific operation are selectably stored. The operator sets a position at which work is to be performed by a program in the position setting program storage device 4, and can select a necessary operation by looking at a selection screen displayed on the display device 6.
In this embodiment, each position is given a point number,
It is configured to set the coordinates of the point number. The operation in the specific operation is performed without selecting from those stored in the specific operation / operation program storage device 2.
The operator can set a program via the operation device 7 or another input device. Further, both selection and setting can be performed.

On the other hand, another work / operation program storage device 3
Stores one or more work programs other than the predetermined specific work, and can select other work than the predetermined specific work. This selection can also be made on the selection screen displayed on the display device 6. The other operation / operation program storage device 3 further stores various operation programs in the other operation in a selectable manner. Similarly, a necessary operation can be selected by looking at a selection screen displayed on the display device 6. It has become. The operator can set a program through the operation device 7 or another input device without selecting any of the other operations described above from those stored in the other operation / operation program storage device 3. It is configured. Further, both selection and setting can be performed. Similarly, the operation in the other work is set by the operator via the operating device 7 or another input device without selecting from those stored in the other work / operation program storage device 3. It is also configured to be able to. Similarly, both selection and setting can be performed.

The work and operation selected or set as described above are configured to be stored in the data storage device 8 for each point. FIG. 2 shows an example of the storage state of the data storage device 8. The point data 20 is provided with a point number, and for each point number, its position coordinates and
A predetermined work A and an operation in the work A, and other work and its operation are selected or set and stored. For example, the point number P1 includes x1, y1,
The coordinates of z1 and θ1, the work A and the operation a1 in the work A
Is selected, and the other work C and operation c1 are selected. Point number P2 has coordinates x2, y2, z
2, θ2 and operation a2 are set, and other operations are not set. Hereinafter, similarly, up to the point number Pn, the coordinates of the operator, the operation in the predetermined work,
Other operations and operations in other operations are selected or set.

The control device 1 reads out the work and operation stored in the data storage device 8 and, based on the specific work / operation program storage device 2 and the other work / operation program storage device 3, reads out the coordinates and position of the point number. , And perform operations and operations.

The operation will be described with reference to FIG. 3 taking a coating operation as an example. The operator operates the operating device 7 to input a point number and its position coordinates (steps S1, 2),
Further, a type of operation in a predetermined operation is input (step S3). If the type of operation is point application, the time is input (step S5), and if the line application is completed, the application device is turned off (step S6). If the line coating is to be started, a speed is input (step S7), and the coating device is turned on (step S8). Next, when another work is added (step S9), another work is selected (step S10), and an operation in the other work is selected (step S11). The above operation and operation are repeated until all the point numbers are selected or set (steps S12 and S13). When the selection or setting is completed for all the point numbers, the operation and the operation are executed based on the selection or setting.

In the above embodiment, the work contents and the operation contents are assigned to each point. However, not only the work contents and the operation contents but also various control contents can be set at each point.

FIG. 4 shows one form of contents that can be set in the point data 20. Here, a point number 21 for specifying the moving order of the points and a position coordinate 22 for specifying the position are provided, and the work data 40 is set here as described above. The position coordinates 22 are for specifying one point, but may be accompanied by data for specifying a plurality of positions for specifying a fine movement or the like, such as pallet data. This will be described later. The destination data 41 is data for setting a destination.
It is possible to specify the moving order without setting the point number 21 by 1.

The movement mode data 42 is various data relating to movement, and includes PTP control, linear interpolation, circular interpolation,
Data for setting a moving speed, a moving acceleration, a moving time, and the like can be set.

Further, it is possible to set movement condition data 43. The movement condition data 43 is data for performing various movements, such as skipping to the next destination under certain conditions.

The moving output data 44 is data that needs to be output during moving, and such data can be set. For example, it is used to output a signal for starting another device after moving a predetermined distance, or to output a signal for stopping the movement after receiving a signal from a sensor or another device.

The sub-work execution data 45 is execution command data for performing an exceptional process when an error occurs, or a work involving an accompanying movement such as a preparatory work.

The position correction execution data 46 is execution command data for executing correction of a position error.

Each of the above data may be set directly in the point data 20 or may be separately set as the reference data 30. In particular, data relating to movement can be separately set as connection data 31. In addition, efficiency can be improved by setting a predetermined value or the like separately as the default value data 32 and referring to the value appropriately.

FIG. 2 shows a configuration in which each point is numbered and moved in the order of the number to execute the work. An embodiment in which the order of movement to each point and execution of the work can be set can be set. Will be described with reference to FIGS.

In the embodiment shown in FIG. 5, connection data 31, which is data indicating a movement route between points, can be set by a user. Connection data 3
1 stores a source data 50 and a destination data 51 for specifying a source and a destination, and recognizes the next destination by referring to the connection data 31 for each point and executes the movement. Have been.

In FIG. 6, without using the connection data 31,
The destination data 41 is directly set in the point data 20. Further, the example of FIG. 7 is configured to arrange the point data 20 in the execution order, move the order and execute the work. As described above, in the embodiment of FIGS. 5 to 7, the user can determine the execution order after setting the points based on the point data 20, and there is an effect that the work procedure can be easily assembled.

In the above-described configuration, it is necessary to sequentially execute a series of operations in order to perform a target operation. In the case of an error or the like, an exceptional process is performed by moving to a specific position. For example, it is necessary to perform a task different from the scheduled task. In some cases, it is necessary to perform the same work involving movement at different positions. Further, in some cases, a preparatory work is required before performing a target work. For example, there are preparatory operations such as an operation of picking up a screw before a target screwing operation and a cleaning of an iron before a target soldering operation. In the embodiment of the present invention, a configuration is provided in which subpoint data is set and called up as needed in order to perform the work involving the accompanying movement.

FIGS. 8 to 10 show this configuration. In FIG. 8, a point number 21 and a position coordinate 22 are set in the point data 20, and work data 40 is further set. The work data 40 calls the work reference data 30, and the reference data 30 stores the work 2 program data. The calling data 60 is set in the program, and the subpoint data 34 is called when the condition is satisfied. That is, when a condition such as occurrence of an error is satisfied, the subpoint data 34 is called. In this example, sub point data 34 is set for two points P1 and P2, and work 4 and work 5 are executed at each point. The work 5 is the call data 60, and the contents of the work 5 are set in the reference data 30.

In FIG. 9, the call data 60 is set in the point data 20 and the sub point data 34 is called. Here, subpoint data 3
4 are set to points P1 to P5. In points P2 and P3 of the point data 2, points P1 to P5 are set.
Are performed, and the work 2 and the work 4 are executed. Setting such a column of the subpoint data 34 is efficient when the same movement and work are repeatedly performed at different positions.

In the embodiment shown in FIG. 10, pre-move call data 61 is set in the point data 20. The pre-move call data 61 is data that is executed before moving to the point. In FIG. 10, points P2 and P
3, the pre-move call data 61 is set. Before moving from the point P1 to the point P2, the pre-move call data 61 is referred to, and the sub-point data 34 is called. Then, after the set work 2 is executed, it is configured to move to the point P2. Point P
The pre-migration call data 61 set to 3 is processed in the same manner. In this way, by reading out and executing the call data set for the point before moving to the point, it is possible to execute a preparatory operation or the like for the point.

It should be noted that the same operation can be obtained by setting the call data 60 at the point before the move instead of the call data 61 before the move. That is, the operation is the same even if the call data 60 for calling the subpoint data 34 is set in P1. However, setting the pre-move call data 61 at the point P2 where the operation is required has the effect of allowing the setting operation to be performed more naturally as the actual operation is realized.

[0029]

As described above, according to the robot of the present invention, work can be set with respect to a set position, and further, the work or another position and work related to the position can be set. There is an effect that teaching can be easily performed.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing an embodiment of the present invention.

FIG. 2 shows a data storage device 8 according to an embodiment of the present invention.
FIG. 4 is an explanatory diagram showing an example of a storage state of the data.

FIG. 3 is a flowchart showing the operation of the embodiment of the present invention.

FIG. 4 is an explanatory diagram showing an example of a data structure of the present invention.

FIG. 5 is an explanatory diagram of a data structure using connection data 31.

FIG. 6 is an explanatory diagram of a data structure using destination data 41.

FIG. 7 is an explanatory diagram of a moving order setting based on data arrangement.

FIG. 8 is an explanatory diagram of a data structure of subpoint data.

FIG. 9 is an explanatory diagram of a data structure of subpoint data 34 by calling.

FIG. 10 shows subpoint data 3 obtained by calling before movement.
FIG. 4 is an explanatory view of a data structure of FIG.

[Explanation of symbols]

1: control device, 2: specific work / operation program storage device, 3: other operation / operation program storage device, 4: position setting program storage device, 5: temporary storage device, 6: display device, 7: operation device, 8: data storage device, 10: recording medium, 11: motor drive control device, 12: stepping motor, 20: point data, 21: point number,
22: position coordinates, 30: reference data, 31: connection data, 32: default value data, 33: pallet data, 3
4: subpoint data, 35: position correction data, 4
0: work data, 41: destination data, 42: movement mode data, 43: movement condition data, 44: output data during movement, 45: sub-work execution data, 46: position correction execution data, 60: call data, 61 : Call data before movement.

Claims (5)

[Claims] 1. A robot for performing a work at a set position, a means for setting a position at which the work is performed, a means for setting a work at the set position, and a robot associated with the work at the set position. Means for setting the other position and the work at the other position, and a control device for executing the set work at the set position and executing the work set at the other position. A robot, comprising: 2. A robot for performing a task at a set position, a means for setting a position at which the task is performed, a means for setting a task at the set position, and a robot associated with the set position. A means for setting another position and a work at the other position; and a control device for causing the set work to be executed at the set position and executing the work set at the other position. A robot characterized by comprising: 3. A robot for performing a work at a set position, a means for setting a position at which the work is performed, a means for setting a work at the set position, and a robot associated with the set position. Means for setting another position and work at the other position; and executing the set work at the set position, and performing work at another position set in relation to the set position. And a control device for executing before the movement to the set position. 4. The robot according to claim 1, wherein the work at the set other position is stored so as to be callable in association with the set work. 5. The robot according to claim 2, wherein the work at the set other position is callably stored in association with the set position.