JP2596546B2 - Reproduction time correction device for industrial robots - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot playback time correction device suitable for use in an industrial robot or the like.

[Prior Art] In recent years, industrial robots (hereinafter, referred to as robots) have been remarkably popularized. In particular, robots using a teaching reproduction method have been actively used in fields such as painting and welding.

A robot using this teaching reproduction method works based on teaching data that teaches a work procedure. As a method for teaching a work procedure, a moving point is sequentially taught.
PTP (point to point) method and CP teaching continuous trajectory
(Continuous point) system is known. In particular, when the moving speed during work is large and the moving path is complicated, PT
The P method is most often used.

FIG. 3 shows the teaching data TD of the PTP method. In the figure, the teaching data TD consists of a plurality of position data DA ₁ to DA _n for indicating the work status of the robot at each point, for example, position data DA ₁ in axis position data indicating the position of each joint, the external device Data indicating the output signal to the device (for example, the operation of a spray gun in the case of a painting robot),
Consisting movement time data T ₁ and the moving velocity data V ₁ Tokyo.
Other location data DA ₂ to DA _n be of similar construction. Further, the number of position data DA ₁ to DA _n is increased or decreased depending on the amount of work.

Incidentally, the teaching data TD is generally stored in advance in a storage medium or the like (for example, a floppy disk),
When the robot performs a task, the robot reads out from the storage medium. In this case, after reading the teaching data TD,
In order to obtain a playback time (time required from the start to the end of the work) suitable for the contents of the work on the spot, the teaching data TD
Need to be changed.

[Problems to be Solved by the Invention] In order to obtain the desired reproduction time by changing the teaching data TD described above, conventionally, each value of moving time data and moving speed data constituting the teaching data (FIG. 3) Change the playback speed (sum of the moving speed data) to 0.01, for example.
A method of adjusting the reproduction time to a desired value (magnification correction method) by increasing the magnification by up to 9.99 has been used.

However, in the above-described method of changing all the values of the travel time data and the travel speed data, the correction process takes a lot of time, and there is a limit to improvement in work efficiency.

Further, in the magnification correcting method, a magnification value has to be separately calculated in order to obtain a reproduction speed at which a desired reproduction time is obtained. This calculation is usually performed manually by the operator at the work site, but this calculation is extremely time-consuming and the calculation value involves errors, so it is necessary to always calculate a value that matches the desired playback time. I couldn't do it either. Further, since the magnification value differs for each work process, it has to be managed for each work.

The present invention has been made in view of such a background, and an object of the present invention is to provide an apparatus for correcting the reproduction time of an industrial robot which can easily and quickly correct the reproduction time of the robot.

[Means for Solving the Problems] The present invention relates to moving time data for specifying a time to move between teaching points from a teaching start point to a teaching end point or a time to stop at each teaching point by a predetermined number of pulses. In an industrial robot reproduction time correction apparatus for obtaining a desired reproduction time by correcting the above, the input means for inputting the desired reproduction time and all of the movement time data are added, and 1 is added to the added value.
Means for calculating a reproduction time by multiplying a pulse width time per pulse; means for calculating a ratio between the reproduction time and the desired reproduction time; and Means for calculating the travel time data, a value obtained by dividing a value obtained by adding all of the travel time data by the new travel time data, and a value designated by the predetermined pulse number between the teaching points. Means for multiplying by the moving speed data representing the moving speed to obtain new moving speed data.

[Operation] According to the above apparatus, each of the moving time data designated by the predetermined number of pulses is added, and the added value is multiplied by the pulse width time per pulse to reproduce the reproduction time converted into a unit of time. Get. The ratio of the playback time to the desired playback time input in units of time is calculated, and this ratio is multiplied by each of the travel time data to obtain new travel time data substantially matching the desired playback time. .

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is an electrical configuration diagram showing an apparatus for correcting a reproduction time of an industrial robot according to one embodiment of the present invention.

In FIG. 1, reference numeral 1 denotes a microprocessor (hereinafter, referred to as an MPU) that controls each unit of the apparatus. Reference numeral 2 denotes a floppy disk on which the teaching data TD is written. In this case, as shown in FIG. 3, the teaching data TD is composed of position data composed of axis position data, data for instructing the operation of an external device such as a coating device, moving time data, and moving speed data. And Of these, the movement time data is represented by the number of pulses having a pulse width time PT (10 to 20 msec).

Reference numeral 3 denotes a floppy disk drive device (hereinafter referred to as FDD), and reference numeral 4 denotes a floppy disk interface circuit (hereinafter referred to as FDI / F) for transmitting and receiving signals between the FDD 3 and a data bus DB (hereinafter referred to as bus DB). is there. Reference numeral 5 denotes a memory (ROM or the like) in which a reproduction time correction program is written. Reference numeral 6 denotes a memory (RAM or the like) for storing the teaching data TD read via the FDD 3.

Reference numeral 7 denotes an interface circuit for transmitting and receiving signals between the operation panel 8 and the display 9 and the bus DB. The operation pulse 8 is for inputting a command for executing the reproduction time correction program. The display 9 is, for example,
When the reproduction time correction program is executed, this is for displaying the execution of the program, and the operator inputs from the operation pulse 8 according to the instruction of the program while watching the display 9.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG.

First, when the operator inputs a command to execute the reproduction time correction program from the operation panel 8, the MPU 1 starts correcting the reproduction time according to the reproduction time correction program written in the memory 5 (step S1).

Next, the MPU 1 reads the teaching data from the floppy disk 2.
The TD is written into the memory 6 via the FD1 / F4 and the bus DB (step S2). Each subsequent position of teaching data TD stored in the memory 6 in step S3 the data DA ₁ to DA moving time in _n (represented by the number of pulses having a pulse width time Pt) data T ₁ through T _n
To calculate the total number of pulses NA. Next, in step S4, the reproduction time TA is calculated by multiplying the total pulse number NA by the time of the pulse width Pt. In step S5, the reproduction time TA is displayed on the display 9. Then, the operator inputs a desired reproduction time TH from the operation panel 8 while watching this display (step S6). When this operation is performed, the flow proceeds to step S7, calculates the ratio of the desired reproduction time TH and playback time TA, multiplied by this ratio in travel time data T _1, the corrected travel time data MT _1, the Value is new travel time data T
Update as ₁ . Similarly performed this operation the movement time data T ₂ through T _n. This process may be modified to substantially a desired data value reproduction time TH is obtained each movement time data T ₁ through T _n. Next, new travel time data T ₁
Modifying each data value of the moving velocity data V ₁ ~V _n from through T _n. Step S8 In calculates the ratio of the travel time data T ₁ which is updated with the total number of pulses NA, moving velocity data V ₁ to the ratio
The multiplied, and corrected speed data MV _1, and updates this value as the new moving velocity data V _1. This operation, moving velocity data V ₁ ~ according to the movement time of updating data T ₂ through T _n
The same applies to V _n . By this processing, new moving speed data substantially corresponding to the desired reproduction time TH is obtained.

Next, the corrected travel time data T ₁ through T _n the updated described above to obtain the travel time data desired reproduction time is obtained. Step S9, by adding all the travel time data T ₁ through T _n has been updated, and calculates the modified total number of pulses MNA. Next, in step S10, the pulse width time Pt is added to the corrected total pulse number MNA.
Is multiplied to calculate the modified playback time MTA. This modified playback time MTA is compared with the desired playback time TH in step S11, and if they are equal, the desired playback time TH has been obtained, so this program is terminated. If not equal, the process proceeds to the next step S12 for correcting the modified reproduction time MTA.

In step S12, the error between the modified playback time MTA and the previously input desired playback time TH is divided by the pulse width time Pt, and converted into the number of error pulses ET. Or read what pieces of position data DA ₁ to DA _n until the number or error pulse number ET of position data DA ₁ to DA _n per pulse of step S13, the error pulse number ET is 1 pulse followed Is calculated, and this value is set as EN. Subsequently, in step S14, the number of error pulses ET
Is determined to be positive or negative. The error pulse number ET takes a positive value when the modified reproduction time MTA is longer than the desired reproduction time TH, and the process proceeds to step S15 to correct this. Step S15, the position data DA ₁ to DA _n, 1 is added to the beginning value travel time data updated from (DA ₁₎ to the EN number each. As a result, the modified playback time MTA matches the desired playback time TH, and the program ends. If the error pulse number ET is a negative value, the modified reproduction time MTA is equal to the desired reproduction time TH.
Shorter case and take steps to compensate for this.
Proceeds from S14 to a step S16, the position data DA ₁ to DA _n, and ends the program after subtracting 1 to the travel time data updated reversed every EN number to the aforementioned.

Since the program after step S9 is a program for correcting an error between the modified reproduction time MTH and the desired reproduction time TH,
As an option, the operator may select it.

[Effect of the Invention] As described above, according to the present invention, the movement for designating the time to move between the teaching points from the teaching start point to the teaching end point or the time to stop at each teaching point with a predetermined number of pulses. In an apparatus for correcting a reproduction time of an industrial robot for correcting a time data to obtain a desired reproduction time, an input means for inputting the desired reproduction time and all of the moving time data are added, and 1 is added to the added value. Means for calculating a reproduction time by multiplying a pulse width time per pulse; means for calculating a ratio between the reproduction time and the desired reproduction time; and Means for calculating the travel time data, a value obtained by dividing a value obtained by adding all of the travel time data by the new travel time data, and a value designated by the predetermined pulse number between the teaching points. Transfer Means for multiplying by the moving speed data representing the moving speed to obtain new moving speed data, so that in any teaching program, only a simple operation such as inputting a desired reproduction time can be performed. Thus, moving time data and moving speed data corresponding to the reproduction time can be obtained. Further, since the program can be ported to a memory in an existing control circuit of the robot, it is not necessary to add or change an electric circuit at all, so that it can be realized at a low price.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an electrical configuration of an embodiment of the present invention, FIG. 2 is a flowchart for explaining the operation of the embodiment, and FIG. 3 is a diagram for explaining teaching data. T _{1 to} T _n … moving time data, TH… desired playback time, Pt
…… Pulse width time, TA …… Play time,

Claims (1)

(57) [Claims] A moving time data for designating a time to move between teaching points from a teaching start point to a teaching end point or a time to stop at each teaching point with a predetermined number of pulses to correct a desired reproduction time. An input device for inputting the desired reproduction time, and all of the moving time data are added together, and the added value is multiplied by a pulse width time per pulse for reproduction. Means for calculating time; means for calculating a ratio of the playback time to the desired playback time; means for multiplying each of the travel time data by a value of the ratio to obtain new travel time data; The value obtained by dividing the value obtained by adding all of the time data by the new moving time data is multiplied by the moving speed data designated by the predetermined number of pulses and representing the moving speed between the teaching points. Playback time adjustment device of an industrial robot, characterized in that a means for a new moving velocity data Te.