JP4882882B2 - How to create a program - Google Patents

Description

  The present invention mainly relates to a method for creating a program related to the operation of an industrial robot.

  In recent years, robots have been working on behalf of humans, such as painting, welding, and handling heavy objects. These robots can be operated in various ways by changing the control program, and can handle complex tasks. A program for controlling the robot is created by a human operating the robot and teaching its operation. The robot controller has a teaching program editing function so that the created teaching program can be reused or the position of a specific point can be changed. By using this editing function, when the robot is repeatedly operated, it can be easily created simply by editing the teaching program without re-teaching the robot.

As one of the conventional teaching program editing methods, firstly, the reciprocating motion of the painting robot is taught, and the backward motion is created by reversing the taught outbound motion teaching program. A teaching program creation method that can easily create a reciprocating motion program is known (see, for example, Patent Document 1).
JP-A-2-218573

  As disclosed in the conventional teaching program creation method described above, it is possible to create the reciprocating motion of the robot by editing the teaching program. However, in this method, it is not possible to create a reciprocating operation program for a path having an operation instruction command (for example, work such as welding or cutting) attached to the movement command in addition to the moving operation. That is, if the operation instruction command to the robot is one command accompanying the movement operation, the reciprocation operation can be performed, but if there is any other operation command, the reciprocation operation cannot be created.

  An object of the present invention is to provide a program creation method capable of easily creating a reciprocating motion even when there is an operation command other than a moving command, not only a moving command, when creating a reciprocating motion program for an industrial robot. Is to provide.

In order to solve the above-mentioned problem, a program creation method of the present invention is arranged in a time series from a program consisting of a plurality of control instructions arranged in a time series stored in a first storage area. A basic program consisting of a plurality of control commands is selected, and this basic program is sequentially processed in units of n (n is an integer of 3 or more) control command groups including at least a welding torch movement command and a welding condition command. A method for creating a new program, wherein a first control instruction group consisting of a plurality of control instructions arranged in time series from the top of the basic program is selected from the basic programs. the first step and the first welding torch movement instruction arranged in a chronological constituting the control instructions to the welding condition instruction and arcing life to be stored in the second storage area and Of a second step of storing the command value of the welding condition command to the third storage area, wherein among the basic program, the first th control instructions is one control instructions before the order A second control instruction group consisting of a plurality of control instructions arranged in time series from the control instruction next to the last control instruction is selected, and the second control instruction group is selected as the second control instruction group. In the storage area, the first control instruction group which is the control instruction group in the previous order is not overlapped, and is stored in the previous area in time series before the first control instruction group. Of the welding step command and the welding condition command arranged in time series constituting the third step and the second control command group, the command value of the welding condition command is stored in the third storage area. a fourth step of replacing the command value is, the third scan And the fourth step to the (n-1) th control instruction group, and the final control instruction of the (n-1) th control instruction group in the basic program. An n-th control instruction group consisting of a plurality of control instructions arranged in time series from the next control instruction is selected, and this n-th control instruction group is selected from the second storage area. The nth control command group that is the control command group in the previous order is not overlapped with the n−1th control command group, and is stored in the previous area in time series from the n−1th control command group. The seventh step of storing the command value stored in the third storage area in place of the command value of the welding condition command of the first control command group, and the nth step Welding torch movement command and welding condition command arranged in time series constituting the control command group of Among the crater processing condition command and the arc stop command , the crater processing condition command which is the welding condition command is replaced with the welding condition command of the first control command group, and the arc stop command is replaced with the first stop command . And an eighth step of replacing the arc generation command of the control command group.

  Further, the program creation method of the present invention creates a new program by integrating the program created by the above-described program creation method into a unit following the basic program.

  In addition to the above, the program creation method of the present invention further includes a step of searching for a next first type control instruction from a certain first type control instruction among a plurality of control instructions arranged continuously in time series. And selecting from the basic program one control instruction group from the certain first type control instruction to the control instruction immediately before the next first type control instruction.

  As described above, according to the program creation method of the present invention, a reciprocation program for an industrial robot can be easily created. In addition, this method is not limited to reciprocal movement of the robot, but also includes reciprocal movements including auxiliary movements (for example, specifying welding conditions and welding start / end commands for the welding robot, and starting / ending the painting of the painting robot). Can be created. As a result, if you want to create a reciprocating motion program that includes the robot's auxiliary motion, if you create a forward program, there is no need to create a backward program by teaching, etc. The number of man-hours required for teaching can be reduced, and mistakes in teaching when creating a return route program can be eliminated.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In this embodiment, when creating a reciprocating operation program for an industrial robot that mainly performs operations other than handling operations such as welding and cutting, the forward program is simply created and the program is edited. The present invention relates to a program creation method capable of creating a reciprocating operation program.

  FIG. 1 is a diagram showing a schematic configuration of an industrial robot. In FIG. 1, 1 is a manipulator having six axes, 2 is a main control device for controlling the manipulator, 3 is a display / input device for operating the manipulator and the main control device, for example, a teaching pendant. . The operator creates a teaching program by operating the manipulator 1 while viewing the display of the display and input device 3. Reference numeral 4 denotes a CPU (Central Processing Unit) for controlling the main control device 2. Reference numeral 5 denotes a ROM (Read Only Memory) that stores a startup program and BIOS (Basic Input / Output System). Reference numeral 6 denotes a manipulator 1 created by the robot operator using the display / input device 3, for example. It is a readable / writable RAM (Random Access Memory) for storing teaching programs and function settings of industrial robots. Reference numeral 7 denotes a manipulator driving device, and the CPU 4 controls the manipulator 1 via the manipulator driving device 7.

  FIG. 2 shows an area to be prepared in the RAM area 8 in the RAM 6 provided in the main controller 2. Reference numeral 8 denotes the entire RAM area, and 9 denotes a first area which is a storage area for developing a robot teaching program. Reference numeral 10 denotes a second area which is a storage area having the same size as the first area, which is necessary when editing the teaching program. A third area 12 is a storage area for saving, and a fourth area 12 is a storage area for saving instructions and command values when executing instruction replacement. The above second to fourth areas are areas temporarily secured on the RAM 6 during editing of the teaching program, and the areas secured at the end of the editing operation are released.

  FIG. 3 shows an example of a robot teaching program prepared in the first area 9 of the RAM area 8. This program is composed of N (N ≧ 3) control instruction groups including first to fourth control instructions. Each of these control instruction groups includes at least one first-type instruction / second-type control instruction, and the third type control instruction is included in the first instruction group at the head, and only the Nth instruction group is the final instruction group. It is assumed that the fourth type control instruction is included. A plurality of instruction groups shown in the teaching program are arranged in the order in which they are processed, and are sequentially processed from the top of the program.

  The original teaching program is provided with a plurality of control commands. In this teaching program, the first type control command, the second type control command, and the third type control command are used so that the robot operation command can be handled easily. -It is classified into 4 types of 4th type control instructions.

  The first type control command is a command including position / operation speed information of the robot, and the robot moves to a specified position at a speed specified by the command. The second type control instruction is an instruction for setting a condition for executing the third type control instruction, and the third type control instruction is executed under the condition of the second type control instruction. The third type control command is a command for causing the robot to start an operation other than the moving operation, and the fourth type control command is a command for stopping the operation. When the second type control command is called a plurality of times, the robot executes the operation started by the third type control command under the called condition.

  Based on the above configuration and program, a method of creating a reversal operation program from a robot operation program will be described.

  FIG. 4 is a flowchart showing a flow of a series of processes of the program creation method described below. The main points of each step will be described below.

  In step ST1, 1 is assigned to the control instruction group number K, and the process proceeds to step ST2.

  In step ST2, the Nth control instruction group among a plurality of control instruction groups arranged in chronological order from the top in the program expanded in the teaching program expansion area (first area) on the RAM. Is selected, and a plurality of control instructions included in the control instruction group are copied in time-series order to the top of the RAM area 8 which is a temporary storage area, and the process proceeds to step ST3.

  In order to execute the second type control command among the first type control command, the second type control command, and the third type control command arranged in time series in the Nth control command group in step ST3. The command value is copied to the third area, which is a temporary storage area on the RAM 6, and the process proceeds to step ST4.

  In step ST4, K + 1 is assigned to the control instruction group number K, and the process proceeds to step ST5.

  In step ST5, the Kth control instruction group arranged after the last control instruction of the (K-1) th control instruction group is selected from the teaching program developed in the second area, The control instruction group is selected for each time series from the top of the area 2 so as not to overlap with the control instruction of the (K-1) th control instruction group immediately before in the second area in the second area. The instructions are arranged and the process proceeds to step ST6.

  In step ST6, only the command value of the second type control instruction in the Nth control instruction group copied to the area 2 is copied to the area 4 on the RAM. Further, the second type control command command value of the (K-1) th control command group stored in the area 3 is set as the second type control command command value of the Kth control command group. Subsequently, the second type control instruction command value of the Kth control instruction group copied to the area 4 is stored in the area 3, and the process proceeds to step ST7.

  In step ST7, 1 is added to the control command number K, and the process proceeds to step ST8.

  In step ST8, if the control command number is N, the process proceeds to step ST9, and if not, the process proceeds to step ST5.

  In step ST9, the Nth control instruction group arranged after the last control instruction of the (K-1) th control instruction group in the teaching program is selected, and this control instruction group is selected from among the area 2 The selected instructions are arranged for each time series from the top of the area 2 so as not to overlap with the control instruction of the (K-1) th control instruction group immediately before in time series, and the process proceeds to step ST10.

  In step ST10, the second type control instruction command value in the Kth control instruction group copied to the second area is copied to the fourth area. Further, the (K-1) th type 2 control command command value existing in the third area is set as the command value of the type 2 control command of the first control command group. Subsequently, the command value of the second type control instruction copied to the fourth area is stored in the area 3, and the process proceeds to step ST11.

  In step ST11, the second type control instruction is selected from the first type control instruction, the second type control instruction, and the fourth type control instruction constituting the Kth control instruction group, and is copied to the fourth area. After overwriting the second type control instruction of the first control instruction group on the second type control instruction of the Kth control instruction group, the Kth control instruction group stored in the fourth area The type 2 control command is overwritten on the type 2 control command of the first control command group. In the same manner, the fourth type control instruction of the Kth control instruction group and the third type control instruction group of the first control instruction group are exchanged, and the process proceeds to step ST12.

  The program created in the fourth area by the above steps is different from the editing instruction teaching program of the first area in spite of the fact that the arrangement of the first type control commands is reversed in time series. The auxiliary operation instructed by the seed / third / fourth type control instruction matches the condition instructed by the teaching program in the first area.

  In addition, select all control instruction groups arranged in the fourth area, and select each time series so that it does not overlap with the first area teaching program after the final control instruction of the second area teaching program. A new program can be created by arranging the instructions. This program is a reciprocating operation program using the teaching program of the first area as a forward path.

  The first type control command is a welding torch tip movement command, the second type control command is a welding condition designation command, the third type control command is an arc generation command, and the fourth type control command is an arc stop command. Also holds. In this case, while proceeding according to the moving direction commanded by the first type control command, welding is started by the third type control command under the welding conditions specified by the second type control command, and the fourth type control command By completing the welding by the robot, the reciprocating welding operation of the robot can be performed.

  Further, a crater processing condition command used only at the end of welding may be used as the second type control command. Since the crater processing condition is also an instruction for designating a welding condition, it can be handled in the same manner as other welding condition designation instructions.

  Further, as a method for specifying one control instruction group, a search is performed for control instructions arranged in chronological order from the top of the teaching program in the first area until the first type control instruction is found in order from the top. The search is performed in order until a seed control command is found, and the control commands immediately before the first type control command thus found are selected as one control command group. When the last instruction of the teaching program is finally reached, that is the one control instruction group.

  By using the program creation method according to the present invention, it is possible to easily create a reciprocating operation program for an industrial robot. Therefore, it is possible to reduce the man-hours required for teaching the robot, and use a lot of reciprocating operations such as a painting / welding robot. Industrially useful as a program creation method.

The figure which shows schematic structure in embodiment of this invention The figure which shows the program creation area in embodiment of this invention The figure which shows the program creation area in embodiment of this invention Flowchart in the embodiment of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Manipulator 2 Main control device 3 Display and input device 4 CPU
5 ROM
6 RAM
7 Manipulator drive device 8 RAM area 9 First area (Teaching program development area)
10 Second area (Teaching program editing area)
11 Third area (command command value storage area)
12 Fourth area (instruction storage area)

Claims (3)

A basic program consisting of a plurality of control instructions arranged in time series is selected from a program consisting of a plurality of control instructions arranged in time series stored in the first storage area. A program creation method for creating a new program by sequentially processing a program in units of n (n is an integer of 3 or more) control command groups having at least a welding torch movement command and a welding condition command ,
A first step of selecting a first control instruction group composed of a plurality of control instructions arranged in time series from the top of the basic program and storing the selected basic program in a second storage area. When,
Of the welding torch movement command , the welding condition command, and the arc generation command arranged in chronological order constituting the first control command group, a second value that stores the command value of the welding condition command in a third storage area Steps,
Among the basic programs, from a plurality of control commands arranged in time series from the control command next to the last control command in the first control command group which is the control command group in the previous order. The second control instruction group is selected, and the second control instruction group is the first control instruction group which is the control instruction group in the previous order in the second storage area. And a third step of storing in a region preceding the first control instruction group in time series before the first control instruction group,
When ordered welding torch movement command and of the welding condition instruction sequence, the instruction value stored command value of the welding condition command to the third storage area constituting the first the second control command group A fourth step to replace;
A fifth step of repeating the third step and the fourth step up to the (n-1) th control instruction group;
In the basic program, an nth control instruction group composed of a plurality of control instructions sequentially arranged in time series from the control instruction next to the final control instruction of the n-1st control instruction group. The nth control instruction group is selected so as not to overlap the n-1st control instruction group which is the control instruction group in the previous order in the second storage area, A sixth step of storing in an area chronologically prior to the (n-1) th control instruction group;
A seventh step of storing the command value stored in the third storage area in place of the command value of the welding condition command of the first control command group;
Of the welding torch movement command and the crater processing condition command that is a welding condition command and an arc stop command that are arranged in time series constituting the nth control command group , a crater processing condition command that is the welding condition command , A program creation method comprising: an eighth step of replacing a welding condition instruction of the first control instruction group and replacing the arc stop instruction with an arc generation instruction of the first control instruction group. The program creation method according to claim 1, wherein the program created by the program creation method according to claim 1 is combined with the basic program to create a new program. Among the plurality of control instructions ordered series and continuously time, retrieving the next welding torch movement command from one welding torch movement instruction,
3. The program creation according to claim 1, further comprising a step of selecting, from the basic program, one control instruction group from the certain welding torch movement instruction to the control instruction immediately before the next welding torch movement instruction. Method.

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