JP3465390B2 - Robot control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot control device for promptly operating a plurality of robots in a production line where a plurality of robots work simultaneously.

[0002]

2. Description of the Related Art In recent years, the assembly work of parts in a factory has been automated by using a robot to improve the production efficiency. In this robot, for example, as shown in FIG. 3, an arm and a wrist are moved in six axial directions of X, Y, Z, θ, φ, and ψ to assemble parts. Further, the control device for controlling the operation of the robot compares the control angles in the X-axis and Y-axis directions in the 6-axis directions of the robot with preset target control angles and instantaneously calculates them to operate the robot. When the two robots, robot A and robot B, are operated at the same time to emphasize the work, the robot A and the robot B are combined 12
All the axial directions were controlled by one controller.

However, controlling two robots with a single control device increases the calculation time because the operation in the 12-axis direction is calculated according to the control program of the robot, and the work efficiency is reduced. It was

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to improve the production efficiency by shortening the calculation time when moving a plurality of robots, which is the problem, and rapidly controlling the plurality of robots simultaneously. An object is to provide a control device for a robot.

[0005]

SUMMARY OF THE INVENTION To achieve the above object, the present invention is a control device for controlling a plurality of robots, wherein a motion teaching means for teaching the motions of the plurality of robots, and the motion teaching means. When the program processing means for processing a control program for operating the plurality of robots according to the taught operation and the positions of the arms of the plurality of robots processed by the program processing means are equal to each other, the plurality of robots Means for activating the position holding means for holding the position of the arm of the robot, and operating the plurality of robots in accordance with the processing of the program processing means while holding the positions of the arms of the plurality of robots by the position holding means. It is characterized by having operation control means.

Further, in a control device for controlling a plurality of robots, a motion teaching means for teaching the motions of the plurality of robots, and a control program for operating the plurality of robots according to the motion taught by the motion teaching means. Program processing means for processing, and activation means for activating posture holding means for holding the postures of the wrists of the plurality of robots when the postures of the wrists of the plurality of robots processed by the program processing means are the same. It is characterized by further comprising operation control means for operating the plurality of robots according to the processing of the program processing means in a state in which the positions of the arms of the plurality of robots are held by the posture holding means.

[0007]

[0008]

The robot controller of the present invention as described above is
The motion teaching means teaches the motions of the plurality of robots according to the work content. After the teaching of the operation is completed, the control program is processed according to the operation taught by the program processing means. If the positions of the arms of the plurality of robots are the same during this processing, the position holding means is started by the starting means to hold the positions of the arms of the plurality of robots. The position other than the position of the held arm is moved by the operation control unit according to the processing of the program processing unit.

The robot controller of the present invention teaches the motions of a plurality of robots by the motion teaching means according to the work content. After the teaching of the operation is completed, the control program is processed according to the operation taught by the program processing means. When the postures of the wrists of the plurality of robots are the same in this process, the posture holding unit is activated by the activation unit to retain the postures of the wrists of the plurality of robots. Parts other than the held posture of the wrist are moved by the operation control means in accordance with the processing of the program processing means.

[0010]

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a robot controller according to the present invention will be described below with reference to the accompanying drawings.

The present apparatus has a teaching section 2 which is a movement teaching means for teaching the movements of the A robot 3 and the B robot 4 which are controlled by 6 axes as shown in the block diagram of FIG. Teach the operation according to the work content in the production process. The taught data is transferred to the A robot 3 and the B robot according to the operation taught by the teaching unit 2.
The program is executed by the program execution unit 5, which is a program processing unit that processes a control program for operating the robot 4, to move the A robot 3 and the like.

At this time, the position of the arm or the posture of the wrist of the robot A 3 etc. processed by the program execution unit 5 is equal.
If not , the position switching unit 8 which is a starting unit for selecting and starting the position and the position coordinating unit 6 which is a position holding unit for holding the positions of the arms of the A robot 3 and the B robot 4 and the posture for holding the posture of the wrist Posture coordinating unit 7 as holding means
Both or one of them is activated to hold the position of the arm or the posture of the wrist of the robot A 3 or the like.

Further, the position of the arm and the like are held in A
The robot 3 and the B robot 4 have arm positions and wrist appearances.
The operation taught by the axis control section 9 which is an operation control means for operating the A robot 3 or the like in accordance with the processing of the program execution section 5 is performed while holding both or either of the forces .

When the positions of the arms or the postures of the wrists are not the same in the operation of the A robot 3 and the B robot 4, the mode switching unit 8 causes the A robot 3 to move.
Then, the 12-axis coordinating unit 11 that controls the 12 axes in total of the B robot 4 is selected and the 12 axes are controlled.

The robot control apparatus as described above is shown in FIG.
In the case of 12-axis cooperation (S1), as shown in the flow chart of FIG. 3, the 6-axis directions of X, Y, Z, θ, φ, and ψ which are the A robot 3 and the B robot 4 are calculated and cooperated ( S2), the axis control subroutine for controlling the axis direction is processed to control a total of 12 axes (S3). When performing posture coordination in which the posture of the wrist is held and the postures other than the wrist posture are operated according to the control program (S4), θ,
The three axes of φ and ψ are calculated and coordinated (S5), and the axis control subroutine is controlled to control a total of 6 axes (S5).
3). When position coordination is performed in which the position of the arm is held and the positions other than the arm position are operated according to the control program (S4), the three axes of the X, Y, and Z axes are calculated and cooperated (S6). , The axis control subroutine is controlled to control a total of 6 axes (S3), and the process ends.

In the present apparatus as described above, among the operations of the two robots taught by the teaching section, the common operation is controlled only in the axial direction of different operations which are held in cooperation with each other. Since the robot is operated in this manner, the calculation time for the operation of the robot can be shortened and the robot can be operated quickly.

[0018]

As described above, in the robot controller of the present invention, when the positions of the arms of a plurality of robots are the same, the position of the arms is held by the position holding means selected and started by the starting means. Since the motion control means cooperatively controls the position other than the arm position, the axis direction to be controlled can be reduced, the calculation time can be shortened, and the productivity can be improved by promptly operating the robot. .

Further, in the robot control device of the present invention, when the postures of the wrists of the plurality of robots are the same, the posture control means selected and activated by the activation means holds the posture of the wrist and the motion control means controls the movement. Since other than the posture of the wrist is controlled in a coordinated manner, the controllable axial direction can be reduced, the calculation time can be shortened, and the productivity can be improved by operating the robot promptly.

[0020]

[Brief description of drawings]

FIG. 1 is a block diagram for explaining a configuration of a robot controller according to an embodiment of the present invention.

FIG. 2 is a flow chart for explaining control of the robot control apparatus according to the embodiment of the present invention.

FIG. 3 is a view for explaining control of a conventional robot.

[Explanation of symbols]

1 ... Control device, 2 ... Teaching unit, 3 ... A robot, 4 ... B robot, 5 ... Program executing unit, 6 ... Position coordinating unit, 7 ...
Attitude coordination unit, 8 ... Mode switching unit, 9 ... Axis control unit, 1
1 ... 12 axis cooperation section.

Front page continuation (58) Fields surveyed (Int.Cl. ⁷ , DB name) G05B 19/18-19/46 B25J 3/00-3/04 B25J 9/10-9/22 B25J 13/00-13 / 08 B25J 19/02-19/06

Claims (2)

(57) [Claims] 1. A control device for controlling a plurality of robots, comprising: a motion teaching means for teaching the motions of the plurality of robots; and a control program for operating the plurality of robots according to the motion taught by the motion teaching means. Program processing means for processing, and activation means for activating position holding means for holding the positions of the arms of the plurality of robots when the positions of the arms of the plurality of robots processed by the program processing means are equal to each other. A robot controller, comprising: motion control means for operating the plurality of robots in accordance with the processing of the program processing means in a state where the position holding means holds the positions of the arms of the plurality of robots. 2. A control device for controlling a plurality of robots, comprising a motion teaching means for teaching the motions of the plurality of robots, and a control program for operating the plurality of robots in accordance with the motion taught by the motion teaching means. Program processing means for processing, and activation means for activating posture holding means for holding the postures of the wrists of the plurality of robots when the postures of the wrists of the plurality of robots processed by the program processing means are the same. A robot controller, comprising: motion control means for operating the plurality of robots in accordance with the processing of the program processing means while the positions of the arms of the plurality of robots are held by the posture holding means.