JP4958608B2 - Robot control device, robot control method, and robot transfer device - Google Patents

Description

  The present invention relates to a robot control device having a retraction point (work reference position) return operation function, a robot control method for performing a retraction point return operation, and a robot transfer device controlled by the robot control device.

  When returning the robot's retraction point (working reference position), after suspending and stopping the robot, look at the current position of the robot arm and determine where it was working and where it was suspended. Confirming and rewinding the operation to a certain teaching point (backward movement) or advancing (forward movement) to instruct the retraction point (work reference position) return operation so that it does not interfere with peripheral devices A separate program was created. When there are a plurality of retraction points (work reference positions), a retraction point return operation program corresponding to each position must be prepared, which is a burden on the user. Further, when the work is changed, it is necessary to change the evacuation point return operation program, which requires a lot of time.

  On the other hand, conventionally, devices having various retract point return operation functions have been proposed. For example, the robot controller described in Patent Document 1 can perform the retract point return operation by setting the operation program in the reverse direction mode. Further, the numerical control device described in Patent Document 2 divides the motion trajectory into a plurality of areas, and automates the retract point return operation using a plurality of retract point return programs corresponding to the areas.

Japanese Patent Laid-Open No. 6-102917 Japanese Patent No. 2624174

  However, in the apparatus of the above-mentioned Patent Document 1, the operation track is executed in the reverse order by executing the operation program in the reverse order until it returns from the interruption stop position to the retreat point (work reference position). Therefore, in handling operations such as pick-and-place, if the work is placed at the placement position and then suspended and stopped, and the operation program is returned in the reverse order, the robot hand may interfere with the work, which is a problem. It was. In general, the operation program is executed in reverse order until it reaches the operation movement command for return to the evacuation point described at the beginning of the operation program, so if the program between them is large or the robot operation between them is complicated It took a lot of time to return to the retreat point (work reference position), which was a problem.

  Further, in the apparatus of Patent Document 2, there is a trouble of creating a save point return program in advance for the number of areas provided for moving to the save point, which not only makes management complicated, but also saves the save point. When the operation is changed, all the corresponding evacuation point return programs must be changed, and it is a problem because the evacuation point cannot be restored correctly because it forgets the change, or it takes a lot of time for correction. .

  In the present invention, these problems are solved, and the robot hand does not interfere with the workpiece even when the retract point return operation is performed in the middle of the handling operation, and it is short until it returns to the retract point (work reference position). An object of the present invention is to provide a robot control apparatus and a robot control method that can be moved quickly in time and that can easily manage programs.

  In order to solve the above-described problems and achieve the object, a robot control apparatus according to the present invention includes a plurality of programs in a robot control apparatus that controls a robot operation by sequentially executing a plurality of operation path commands described in the program. And the return management means for designating the type of detour action for each divided action section, and when the action path command is executed, the action section is detoured for backward movement during the retreat operation. The operation path command is stored in the operation path storage means when the operation section is a backward movement section when an interruption stop input is received. Program execution means for executing a stored operation path instruction in reverse order and then returning to a save point is provided.

  The robot control method of the present invention is a robot control method for controlling a robot operation by sequentially executing a plurality of operation path commands described in the program. When the motion path command is executed by dividing the section into a forward movement section in which the forward movement is detoured during the retreat operation and a normal section in which the retreat operation is performed without performing the detour operation, the operation section is moved backward. When it is a movement section, the operation path command is stored in the operation path storage means, and when an interruption stop input is input, the operation path instruction is stored in the operation path storage means when the operation section is a backward movement section. Are executed in reverse order and then returned to the reference point, and when the operation section is a forward movement section that performs a detour operation of the forward movement during the retreat operation, the forward movement section is After executing the motion path command sequentially until completion, return to the reference point, and if the motion section is a normal section that is retracted without performing a detour operation during the retraction operation, return from the current position to the retraction point It is characterized by.

  According to the robot control device of the present invention, the robot hand does not interfere with the work and returns to the retreat point (work reference position) even in the retreat point return operation from the middle of the handling operation such as pick and place. The robot control device has a retract point return operation function that can move quickly in a short time, easily manage the program, and can easily cope with changes in the return point return operation. it can.

  In addition, according to the robot control method of the present invention, even when the robot performs a handling operation such as pick-and-place, the robot hand can perform the retraction point return operation without interfering with the workpiece. It can be moved quickly in a short time until returning to the (work reference position), the program can be easily managed, and even when the evacuation point return operation is changed, it can be easily handled.

  Embodiments of a robot control apparatus and a robot control method according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment FIG. 1 is a block diagram showing a system configuration of an embodiment of a robot control apparatus according to the present invention. In FIG. 1, a robot 2 to be controlled is connected to the robot control device 1. Further, an operation panel (operating panel) 4, an external PLC (Programmable Logic Controller) device 5, and a teaching device (teaching pendant) 6 are connected to the robot control device 1 by signal lines as an external device 3. From the operation panel 4, the external PLC device 5, and the teaching device 6, it is possible to instruct the robot control device 1 to start program execution, stop interruption, and return to the retract point.

  Inside the robot control device 1, there are provided a robot program execution means 7, a robot program storage means 8, an execution step number storage means 9, a retract point return section storage means 10, an operation path storage means 11, and an external device input confirmation means 12. It has been.

  The robot program execution means 7 controls the robot 2 that is the operation control target by executing the robot program A stored in the robot program storage means 8. The retraction point return management means (return management means) 13 connected to the robot program storage means 8 is used for the robot program A based on an operation input signal input from the external device 3 via the external device input confirmation means 12. Thus, the presence / absence of a detour operation when returning to the retreat point during the retreat operation and the type of the detour operation are designated. The execution step number storage means 9 stores the step number during execution of the robot program A, and can confirm to which step number it has been executed when the execution is interrupted.

  FIG. 2 is a diagram showing details of the robot program A of FIG. As shown in FIG. 2, the robot program A is described in steps in which robot operation path commands are consecutively written in the robot language. The robot program A, which will be described in detail later, is the latter half of the pick and place operation of the robot transport device shown in FIG. 5 (the work W is transported while adsorbing and gripping the plate-shaped work W on the robot hand H). , And then the operation of placing the workpiece W at the placement position). Specifically, the operation moves in order from the position P100 to P0, P1, P2, P3, releases the suction at the position P3, releases the work W, places the work W in the cassette, moves to the position P4, and returns to the position P0. It is.

  The robot program A includes, in addition to the normal command for controlling the robot, the presence / absence of a detour operation and the type of detour operation when returning to the retreat point during the retreat operation. That is, the robot program A is divided into a plurality of operation sections, and the presence and type of a detour operation during the retreat operation are specified for each divided operation section.

  The robot program A includes a backward movement section BCK that performs a detour operation of the backward movement during the retraction operation, a forward movement section FWD that performs a detour operation of the forward movement during the retraction operation, and retreats from the current position without performing the detour operation during the retraction operation. It is divided into three sections of a normal section NML that returns to a point.

  In each section, the retraction point return management unit 13 based on the operation input signal input from the external device 3 through the external device input confirmation unit 12 performs the backward movement section start designation unit 13a, the backward movement section end designation unit 13b, and the forward movement. It is designated by the special robot language of the movement section start designation means 13c and the forward movement section end designation means 13d.

  Specifically, the robot language of step number 3 “REC ON” (reverse movement section start designation) of robot program A in FIG. 2 and step number 6 “REC OFF” (reverse movement section end designation and forward movement section start) The robot program A is divided into a normal section NML, a backward movement section BCK, and a forward movement section FWD by the robot language of the designation) and the robot language of “REC END” (step designation of forward movement section) of step number 10. . In this embodiment, the robot language “REC OFF” of step number 6 serves both as the designation of the end of the backward movement section BCK and the designation of the start of the forward movement section FWD. It may be realized in a robot language. When the robot program A is executed, the retreat point return section storage means 10 stores which of the above three sections designated by the retreat point return management means 13 is stored.

  FIG. 3 is a flowchart of the robot control operation performed by the robot control apparatus according to the present embodiment. The robot control operation will be described with reference to FIGS. In FIG. 3, the robot control apparatus 1 executes a robot program A by using an external apparatus input confirmation unit 12 as a trigger for an instruction to execute a robot program from the external apparatus 3 (step S1). Next, initialization processing is performed. That is, the saving point return section storage means 10 stores the normal section, and the execution step number storage means 9 stores 1 as the top step number (step S2).

  Next, the robot program execution means 7 performs a command execution process N1 for reading the robot program A step by step and executing it. In this instruction execution process N1, first, the read instruction is a conventional instruction (ordinary language) or a special instruction for specifying a save operation (a evasion point return management instruction (REC instruction)). (Step S3). In the case of a normal instruction, a normal instruction execution process N1a (processing loop of steps S4 to S9) is performed. In the case of a save point return management instruction (REC instruction), a save point return section storage process N1b (step Steps S10 to S14) are performed.

  In step S4, in the normal instruction execution process N1a, the robot program execution means 7 first executes one instruction from the read instructions for one step (step S5). Then, it is confirmed whether or not the backward movement section is stored in the retract point return section storage means 10 (step S6). If the backward movement section is stored, the executed operation path command is stored in the operation path. It memorize | stores in the means 11 (step S7). Next, it is confirmed whether or not an interruption stop input is input (step S8). If no interruption stop input is input, the process returns to step S5 to execute the next one instruction. In this way, the normal instruction execution process N1a is repeated until all instructions for one step are completed. Thereafter, the process proceeds to step S15, and an execution end confirmation process N2 is performed.

  On the other hand, in step S10, in the save point return section storage process N1b, first, what save point return management command (REC command) is confirmed (step S10), and “REC ON” is selected. If there is, the operation path storage means 11 is initialized (step S11), and then the backward movement section is stored in the retreat point return section storage means 10 (step S12). On the other hand, if “REC OFF”, the forward movement section is stored in the retract point return section storage means 10 (step S13). If it is “REC END”, the normal section is stored in the save point return section storage means 10 (step S14). Thereafter, the process proceeds to step S15, and an execution end confirmation process N2 is performed.

  In the execution end confirmation process N2, the step number stored in the execution step number storage means 9 is incremented by 1 (step S15), and thereafter, it is confirmed whether or not all instructions in the execution step have been executed (step S16). When all the executions are completed, the execution ends (step S17). On the other hand, when there is an incomplete execution step, the process returns to step S3 and the next step is executed.

  FIG. 4 is a flowchart showing the operation when the robot 2 is returned to the retreat point to the work reference position (reference point) after the robot program is interrupted and stopped. The retract point return operation will be described with reference to FIGS. In FIG. 4, when the robot control device 1 receives a command for executing a retract point return from the external device 3, the retract point return process starts (step S21). First, it is confirmed whether or not the robot 2 is suspended and stopped (step S22). If the robot 2 is not suspended and stopped, the process is terminated without performing any particular operation (step S28). On the other hand, when the robot 2 is suspended and stopped, the retract point return process N3 is performed.

  In the evacuation point return process N3, first, which return section is confirmed is confirmed (step S23), and when the evacuation point return section is a backward movement section, the backward movement process is executed (step S24). In this backward movement process, all the motion path commands stored in the motion path storage means are reproduced in the reverse order of the stored order. According to the robot program A in FIG. 2, the program A is operated in the backward direction from the execution step where the suspension is stopped to the step of step number 3 where “REC ON” is commanded. Thereafter, the process proceeds to an execution step change process in step S26.

  Further, when the retract point return section is the forward movement section, forward movement processing is executed (step S25). In the forward movement process, the operation program is operated in the forward direction similar to the execution in the normal operation from the suspended execution step to the step in which the forward movement section ends. According to the robot program A in FIG. 2, the operation program is operated in the forward direction similar to the execution in the normal operation from the suspended execution step to the step of “REC END” step number 10. Thereafter, the process proceeds to an execution step change process in step S26.

  Furthermore, if it is determined in step S23 that the evacuation point return section is a normal section, nothing is done and the process proceeds to an execution step change process in step S26.

  Moving to step S26, in the execution step changing process, the execution step number is changed to the step number corresponding to the label designated by “REC ON”. According to the robot program A in FIG. 2, the execution step is moved to the step of step number 100.

  The process proceeds to the next step S27, and a movement process to the retreat point (work reference position) is performed. In this process, movement from the current position of the robot to the retreat point (work reference position) is performed. In the robot program A of FIG. 2, it corresponds to step numbers 100 to 102. This process is completed, and the evacuation point return process ends (step S28).

Embodiment 2. FIG.
The present embodiment relates to a robot transport apparatus controlled by the robot control apparatus described in the first embodiment. FIG. 5 is a diagram showing teaching examples of robot positions P0 to P4 and P100 in the robot program shown in FIG. Here, the operation of FIG. 5 will be described. With the plate-like workpiece adsorbed and gripped on the robot hand, the robot moves in order from position P100 in FIG. 4 to P0, P1, P2, P3, releases the workpiece at position P3, releases the workpiece and puts the workpiece in the cassette Is moved to position P4 and returned to position P0.

  The robot program of FIG. 2 is divided into three sections, a normal section, a backward movement section, and a forward movement section. In FIG. 5, the normal section is a section from the position P100 to P0 and P1, and P4. From the position P1 to P2 and P3 before the work is released, and the forward movement section is from the position P3 after the work is released to return to P4. It becomes a section. By dividing the section in this way, when returning to the evacuation point, it is confirmed which section is the section when the suspension is stopped, so that only the necessary part of the operation program is forward or backward. Since the robot can be operated in the direction, the robot can be safely operated up to the retreat point so as not to interfere with the periphery.

  As described above, in the robot control apparatus of the present embodiment, the program is divided into a plurality of operation sections, and the retreat point return management means 13 that designates the type of detour operation for each divided operation section; When the operation path command is executed, if the operation section is a reverse movement section BCK that performs a detour operation of the reverse movement during the retreat operation, the operation path command is stored in the operation path storage means 11 and an interruption stop input is performed. When the operation section is a backward movement section, the program execution means 7 for executing the operation path instructions stored in the operation path storage means 11 in the reverse order and then returning to the retreat point is provided. is doing. Therefore, the robot hand H does not interfere with the workpiece W and can be moved quickly in a short time until it returns to the retreat point (work reference position), the program management is easy, and the retreat point return operation has been changed. Even if it is a case, it can respond easily.

  In addition, when the interruption execution input is received, the program execution means 7 sequentially operates the operation path command until the forward movement section ends when the operation section is a forward movement section that performs a detour operation of the forward movement during the retreat operation. After executing, return to the evacuation point. Therefore, it is possible to reliably return to the retracting point (working reference position) without preparing a retracting program in advance and without interfering with peripheral devices.

  Further, when the plurality of operation path commands described in the program is an operation for placing the work W on the placement position after the robot 2 has transported the work W, an operation path approaching the placement position. The section of the command and the section of the operation path command for placing the workpiece W are set as the backward movement section. Therefore, the robot hand H does not interfere with the workpiece W even when the retract point return operation is performed during the handling operation such as pick and place. Similarly, a section of an operation path command that moves away from the placement position is defined as a forward movement section. This reliably prevents the robot hand H from interfering with the workpiece W.

  As described above, the robot control device and the robot control method according to the present invention are suitable for being applied to a control device and a control method for a robot that performs a retraction operation (working reference position). The robot transfer apparatus according to the present invention is optimally applied to a robot transfer apparatus that performs a workpiece transfer and placement operation.

It is a block diagram which shows the system configuration | structure of embodiment of the robot control apparatus concerning this invention. It is a figure which shows the detail of the robot program of FIG. It is a flowchart of the robot control operation | movement which a robot control apparatus performs. It is a flowchart which shows the operation | movement in the case of returning a retracting point to a work reference position (reference point) after interrupting and stopping a robot program. It is a figure which shows operation | movement of a robot conveyance apparatus.

Explanation of symbols

1 Robot control device 2 Robot 3 External device 4 Control panel (operating panel)
5 External PLC device 6 Teaching device (teaching pendant)
7 Robot program execution means 8 Robot program storage means 9 Execution step number storage means 10 Retraction point return section storage means 11 Operation path storage means 12 External device input confirmation means 13 Retraction point return management means (return management means)
13a Backward section start designation means 13b Backward section end designation means 13c Forward section start designation means 13d Forward section end designation means A Robot program H Robot hand W Work N1 Command execution processing N1a Normal command execution processing N1b Save point return section storage processing N2 execution End confirmation process N3 Retraction point return process

Claims (8)

In a robot control apparatus for controlling a robot operation by sequentially executing a plurality of operation path commands described in a program,
Return management means for dividing the program into a plurality of operation sections and designating a type of detour operation for each divided operation section;
When the operation path command is executed, if the operation section is a backward movement section in which the backward movement is detoured during the retreat operation, the operation path command is stored in the operation path storage means, and an interruption stop input is received. when there, operation interval, when the a retraction movement section, after executing the operation path instruction stored in said operation route storage means in the reverse order, with a program execution unit for restoring to the retracted point, the ,
The program execution means, when there is an interruption stop input, if the operation section is a forward movement section that performs a detour operation of the forward movement during the retreat operation, sequentially outputs an operation path command until the forward movement section ends. After execution, return to the evacuation point,
If the plurality of operation path commands described in the program are operations for placing the workpiece on the placement position after the robot has transported the workpiece, the operation path command section and the workpiece approaching the placement position are loaded. The movement path command section to be placed is the backward movement section,
If the plurality of operation path commands described in the program are to place the work at the placement position after the robot has transported the work, the movement path command moves away from the placement position. A robot controller characterized by a section . The program execution means is configured to return from the current position to the retreat point when the operation section is a normal section that is retreated without performing a detour operation during the retreat operation when the interruption stop input is received. The robot control device according to claim 1 . The robot control device according to claim 1 or 2 , wherein the designation of the type of detour operation during the retraction operation for each of the divided operation sections is performed by an input signal from an external device. The robot control device according to claim 3 , wherein the external device is any one of an operation panel, an external PLC, and a teaching device. The robot control device according to any one of claims 1 to 4 , wherein the type of detour operation of the operation section being executed is output to the outside. In a robot control method for controlling a robot operation by sequentially executing a plurality of motion path commands described in a program,
The program is divided into a reverse movement section that performs a detour operation of the reverse movement during the retreat operation, a forward movement section that performs a detour operation of the forward movement during the retraction operation, and a normal section that retreats without performing the detour operation during the retraction operation. do it,
When executing the motion path command, if the motion section is a backward movement section, the motion path command is stored in the motion path storage means,
When there is an interruption stop input, when the operation section is a backward movement section, the operation path commands stored in the operation path storage means are executed in reverse order, and then returned to the reference point. When the forward movement section performs the forward movement detour operation during the retreat operation, the operation path command is sequentially executed until the forward movement section is completed, and then the operation point is detoured during the retraction operation. If it is a normal section to be evacuated without doing, return from the current position to the evacuation point ,
When the plurality of operation path commands described in the program are to place the work at the placement position after the robot has transported the work, the operation path command section and the work approaching the placement position are placed. A robot control method characterized in that an operation path command section to be placed is set as the backward movement section, and an operation path command section moving away from the placement position is set as the forward movement section . Specify the forward movement section following the backward movement section,
The robot control method according to claim 6 , which serves as both a command for specifying the end of the backward movement section and a command for specifying the start of the forward movement section. Robotic transfer device for being controlled by the robot control apparatus according to any one of claims 1 to 5.

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