JP3988173B2 - Operation type robot controller - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device for an operation type robot having a manual operation and an automatic operation function that operates according to a previously taught operation path.
[0002]
[Prior art]
Conventionally, in an industrial robot that operates in a fixed environment such as in a factory, it has been possible to automatically approach a work target and continue the work repeatedly according to an operation path composed of a plurality of taught points taught in advance. .
[0003]
[Problems to be solved by the invention]
However, in an operation-type robot operated by an operator used in an unstructured environment such as outdoors, there are obstacles that could not be predicted at the time of teaching in the previously taught route. The work target cannot be approached automatically. Therefore, the user approaches the work target while avoiding the obstacle by manual operation. When the approaching operation to the same work object is repeated in the presence of an obstacle, all operations are manual operations, resulting in a problem that work efficiency is extremely deteriorated and the burden on the operator is increased. Regarding a teaching device for an industrial robot used in a factory, Japanese Patent Laid-Open No. 6-110541 discloses a technique for automatically generating a return stroke, but teaches it simultaneously while avoiding an obstacle by manual operation during work. There is no technique for performing a round trip avoidance route.
Accordingly, an object of the present invention is to provide a control device for an operation type robot that can automatically perform the approaching operation to the work target for the second and subsequent operations by utilizing the data of the obstacle avoidance route by the first manual operation. To do.
[0004]
[Means for Solving the Problems]
In order to solve the above problems, the present invention automatically operates according to a previously taught teaching path, and has a function of operating manually by an operator operating manual operating means, and makes trajectories in opposite directions. automatically reciprocated between a predetermined object in accordance with forward and backward teaching path, the obstacles present on the teaching path in thus avoiding an alternate route portion in the avoidance path of the taught path In a control device for an operation type robot that reciprocates , (1) a distance measuring unit that measures a distance to the obstacle; and (2) each of the avoidance paths among the teaching points on the teaching path of the forward path and the return path. A calculation unit for selecting a starting point and a return point from the avoidance path to the teaching path; and (3) inserting a label in the teaching path for the forward path and the return path and the operation. (4) outputting a command to record the robot movement trajectory by the manual operation to the editing unit and calculating the end of the manual operation to the calculation unit; A manual operation control unit that informs a part; and (5) an automatic operation control unit that automatically operates the robot in accordance with a route obtained by substituting a part of the teaching route with the avoidance route, and (a) the calculation unit includes the distance The starting point of the avoidance path of the forward path is selected from the teaching points on the teaching path of the forward path based on the measurement result by the measuring unit, and the start point of the avoidance path of the forward path among the teaching points on the teaching path of the return path (B) The editing unit inserts a label immediately after the start point of the avoidance path of the forward path and immediately before the return point of the return path to the teaching path. , ( ) The automatic operation controller is the robot is temporarily stopped after the automatic operation to the automatic operation stopping point as the automatic operation stopping point the start of the outward avoidance path, (d) the manual operation control unit, the The robot is operated from the automatic operation stop point according to the operation of the manual operation means by an operator, and (e) the editing unit records the operation locus of the robot by the operator's manual operation and creates an avoidance path for the forward path And a return path avoidance path that reversely follows the outbound path avoidance path, and (f) when the calculation unit is informed of the end of the manual operation by the manual operation control unit, the position of the tip of the robot at that time A return point from the teaching point on the outbound teaching path to the teaching path on the outbound path is selected based on the instruction point, and the teaching point on the teaching path of the multiple path is selected from the teaching point on the outbound path. The point at the same position as the return point is set as the start point of the return path avoidance path. (G) The editing unit labels the immediately before the return point to the teaching path of the forward path and immediately after the start point of the avoidance path of the double path. The teaching path is inserted so that the part between the labels of the outward teaching path is replaced by the avoidance path of the outward path and the part between the labels of the teaching path of the return path is replaced by the avoidance path of the return path It is characterized in that a route is created by substituting a part of this with an avoidance route. By measuring the distance to the obstacle by the above means and starting the automatic operation, it automatically stops immediately before the obstacle, switches to the manual operation mode, and teaches the avoidance route at the same time avoiding the obstacle by manual operation. After the avoidance, when the automatic operation is started, it automatically returns to the existing automatic operation path, and thereafter, it is possible to approach the work object by all automatic operations while avoiding the obstacle.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIG. FIG. 1 shows only the part related to the present invention in the robot controller. Now, when there is an obstacle on the existing teaching path in FIG. 2, the distance measuring means 1 first measures the distance to the obstacle. The calculation unit 2 determines the automatic operation stop point P (k) from the distance information to the obstacle obtained by the measurement and the position information of the teaching point on the existing teaching path. The editing unit 3 inserts the label “GO TEMP A” 5 between P (k) and P (k + 1) of the existing teaching data (outward path) 4 according to the determination of the calculation unit 2. At the same time, the label 'RRETURN TEMP B' 14 is inserted between P (k) and P (k + 1) of the existing teaching data (return path) 11. When the automatic operation control unit 6 receives the automatic operation start command, the automatic operation control unit 6 determines the position of the label “GO TEMP A” 5 and automatically operates up to P (k). When the manual operation control unit 7 receives a manual operation command after stopping at P (k), the operator operates the manual operation means 8 to avoid the robot from an obstacle. During the avoidance operation, the teaching command is sent from the manual operation control unit 7 to the editing unit 3 at appropriate times, and the editing unit 3 creates temporary teaching data 'TEMP A' 9 that is valid only during the work. At the same time, temporary teaching data “TEMP B” 10 for the avoidance path for the return path is also automatically generated. When the avoidance operation is finished and the calculation unit 2 receives the manual operation stop signal, the calculation unit 2 sets the optimum return position to the existing teaching data (outward path) 4 and the teaching point P ′ (N) on the avoidance path and the existing path. It is determined from the positional relationship with the above teaching points P (k + 1) to P (E). In accordance with the determination of the calculation unit 2, the editing unit 3 displays the label 'RETURN between P (M) and P (M + 1) of the existing teaching data (outward path) 4 TEMP To insert the A '12. At the same time, the label “GO TEMP B” 13 is inserted between P (M) and P (M + 1) of the existing teaching data (return path) 11. When the automatic operation control unit 6 receives the automatic operation start command, the automatic operation control unit 6 determines the position of the label 'RETURN TEMP A' 12 and automatically operates the remaining route to approach the work target. Thereafter, when the reciprocating operation to the work target is automatically executed while avoiding an obstacle during the same work, the automatic operation control unit 6 receives the automatic operation start command, and the automatic operation control unit 6 receives the label in the teaching data. FIG. 2 shows a reciprocating path (P (1) → P (k) → P ′ (1) → P ′ (N) → P (M + 1) → P (E) → P (M + 1) → P ′ (N) → P ′ (1) → P (K) → P (1)). After the completion of the work, the editing unit 3 deletes the avoidance route (outward route) 9 and the avoidance route (return route) 10, and simultaneously labels 'GO TEMP A'5, label' RETURN TEMP A'12, label 'GO TEMP B'. 13. Also delete the label 'RETURN TEMP B'14.
[0006]
【The invention's effect】
As described above, according to the present invention, in the automatic approaching operation to the work target of the operation type robot used in an unstructured environment such as outdoors, the route previously taught cannot be predicted at the time of teaching. Even if there are obstacles etc., the reciprocating operation to the work target can be performed automatically by effectively using the first manual avoidance movement path, reducing the work time and burden on the operator. There is an effect that can be reduced.
[Brief description of the drawings]
FIG. 1 is a diagram showing an embodiment of the present invention. FIG. 2 is an operation explanatory diagram of the present invention.
1 Distance Measuring Means 2 Computation Unit 3 Editing Unit 4 Existing Teaching Data (Outbound)
5 Label 6 Automatic operation control unit 7 Manual operation control unit 8 Manual operation means 9 Avoidance path (outward path)
10 Avoidance route (return trip)
11 Existing teaching data (return trip)
12, 13, 14 Label 15 Robot controller

Claims (1)

A function that automatically operates according to a previously taught teaching path, and that is manually operated by an operator operating a manual operation means,
The robot automatically reciprocates between predetermined objects according to the forward and backward teaching paths that have opposite trajectories, and substitutes a part of the teaching path for obstacles existing on the teaching path. in the control device of the operation robot which reciprocates in the route thus avoided,
(1) distance measuring means for measuring the distance to the obstacle;
(2) a calculation unit that selects a starting point of the avoidance path and a return point from the avoidance path to the teaching path from teaching points on the teaching path of the forward path and the return path;
(3) an editing unit that inserts a label into the forward and return teaching paths and records an operation trajectory of the robot by a manual operation of the operator;
(4) a manual operation control unit that outputs a command to record the movement trajectory of the robot by the manual operation to the editing unit and notifies the calculation unit of the end of the manual operation;
(5) an automatic operation control unit that automatically operates the robot according to a route obtained by substituting a part of the teaching route with the avoidance route;
(A) The calculation unit selects a starting point of the avoidance path of the forward path from the teaching points on the forward path based on a measurement result by the distance measuring unit, and determines a teaching point on the return path of the teaching path. Of these, the point at the same position as the start point of the avoidance path on the forward path is used as the return point to the teaching path on the return path,
(B) The editing unit inserts a label immediately after the start point of the outbound path avoidance path and immediately before the return point to the return path teaching path,
(C) The automatic operation control unit causes the robot to automatically operate up to the automatic operation stop point with the start point of the avoidance path of the forward path as an automatic operation stop point, and then temporarily stops the robot.
(D) The manual operation control unit operates the robot from the automatic operation stop point according to the operation of the manual operation means by the operator,
(E) The editing unit records the movement trajectory of the robot manually operated by the operator to create an outbound avoidance path and create an inbound path avoidance path that reversely follows the outbound avoidance path;
(F) When the operation unit is informed of the end of the manual operation from the manual operation control unit, based on the position of the tip of the robot at the time, the teaching of the forward path from the teaching point on the forward teaching path A return point to the route is selected, and a point at the same position as the return point to the teaching route of the forward path among the teaching points on the teaching route of the multi-path is set as a starting point of the return path avoidance path,
(G) The editing unit inserts a label immediately before a return point to the outward teaching path and immediately after a start point of the avoidance path of the double path, and a portion between the labels of the outbound teaching path is the position of the outbound path. A path in which a part of the teaching path is replaced with an avoidance path is created so that the part between the labels of the teaching path of the return path is replaced by the avoidance path of the return path and is replaced by an avoidance path. Control device for operation type robot.

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