JP5544275B2 - Robot controller - Google Patents

Description

  The present invention relates to a robot control apparatus.

  In the arc welding robot control device, when the manipulator is manually operated, it is necessary to select a manual operation coordinate system at the time of manual operation using an operation device such as a teach pendant.

  For example, the machine coordinate system and the tool coordinate system are pre-defined at the time of factory shipment of the arc welding robot control device and stored in the storage means built in the device, and the user coordinate system is set as the user coordinate system by the user after shipment. 1. When the user coordinate system 2 and the user coordinate system 3 are created and stored in the storage means, the manual operation coordinate system is selected by the following method.

As a coordinate system selection means, for example, a teach pendant key is prepared.
Each time this key is pressed, the machine coordinate system → tool coordinate system → user coordinate system 1 → user coordinate system 2 → user coordinate system 3 is switched to return to the machine coordinate system.

Or
As a coordinate system selection means, for example, a dedicated menu is prepared.
When the menu is opened, a machine coordinate system, a tool coordinate system, a user coordinate system 1, a user coordinate system 2, and a user coordinate system 3 are displayed in a list, and a desired coordinate system is selected.

A technique for reducing the manual operation coordinate system selection work as described above is proposed in Patent Document 1.
In Patent Document 1, when it is detected that the hand position of the manipulator is in a predetermined area, the manual operation coordinate system associated with the predetermined area is automatically switched. And in patent document 1, it is comprised so that a warning may be issued when it switches to a manual operation coordinate system automatically.

JP 2009-110190 A

  However, even if a warning is issued when the manual operation coordinate system is automatically switched, the robot is manually operated in an unintended direction unless the operator really recognizes that the manual operation coordinate system has been switched. May cause it to move.

  Also in the handling robot control device, painting robot control device, spot welding robot control device, sealing robot control device, assembly robot control device, laser processing robot control device, etc., the tool provided at the tip of the manipulator is moved manually. In some cases, similar problems arise.

  It is an object of the present invention to automate and simplify the manual operation coordinate system selection operation, and to prevent the automatically selected manual operation coordinate system from being different from the manual operation coordinate system intended by the operator. It is to provide a control device.

  In order to solve the above-mentioned problems, the invention described in claim 1 includes a display unit, a portable operation unit for manually operating the manipulator, and an axial direction corresponding to the station or the workpiece placed on the station. Coordinate system storage means for storing a plurality of user coordinate systems as manual operation coordinate systems to be defined, and a tool attached to the tip of the manipulator by manual operation of the portable operation means for a work installed in the station Coordinate system automatic selection means for automatically selecting from the user coordinate system stored in the coordinate system storage means a user coordinate system that is a reference for manual operation based on the position of the tool when moving In the robot control apparatus, a plurality of displayed user coordinates are displayed by displaying the plurality of user coordinate systems on the display means. Coordinate system manual selection means for prompting selection of any one of the user coordinate systems, wherein the coordinate system manual selection means automatically selects the user coordinate system selected manually by the coordinate system automatic selection means When the user coordinate system is matched, the matched user coordinate system is displayed on the display means so as to be clearly indicated by a display mode different from the mismatched user coordinate system. Is the gist.

  In the present specification, “displaying the matched user coordinate system on the display means so as to clearly indicate the display mode different from the non-matched user coordinate system” means “only the matched user coordinate system. Is displayed on the display means so that the mismatched user coordinate system is not displayed, and “matched and unmatched user coordinate systems are displayed together. The user coordinate systems that do not match are displayed in a display form that clearly indicates that they do not match.

  According to a second aspect of the present invention, in the first aspect, when the coordinate system manual selection unit displays a plurality of the user coordinate systems on the display unit, an operation prohibiting unit for prohibiting the operation of the manipulator, and the manual operation When the selected user coordinate system matches the user coordinate system automatically selected by the coordinate system automatic selection means, the matched user coordinate system is clearly indicated by a display mode different from the non-matching user coordinate system. In addition, the display unit is provided with an operation permitting unit that cancels the prohibition of the operation of the manipulator by the operation prohibiting unit.

  As described above in detail, according to the first aspect of the invention, the manual operation coordinate system and the manual operation intended by the operator are automatically simplified and the manual operation coordinate system selected by the operator is simplified. There is an effect that the coordinate system is not different.

  According to the invention of claim 2, the user can select one of the plurality of user coordinate systems displayed on the display means in a state where the manipulator is stopped. According to the second aspect of the present invention, the operation of the stopped manipulator can be canceled only when the user coordinate system selected by the user matches the user coordinate system selected by the coordinate system automatic selection means. The manipulator can be moved by a manual operation in a state where the operator has really recognized that the system has been switched.

The block diagram of the arc welding robot control apparatus of one Embodiment which actualized this invention. The block diagram of an arc welding robot control apparatus. The flowchart of the program which CPU runs. Explanatory drawing of the selection menu displayed on the display apparatus of teach pendant TP. (A) is explanatory drawing of the display apparatus of teach pendant TP of other embodiment, (b) is explanatory drawing when a coordinate system is displayed by the selection menu of the coordinate system before jog feed, (c) is Explanatory drawing when a user coordinate system is displayed on the selection menu at the time of jog feed.

(First embodiment)
Hereinafter, an embodiment in which the robot control device of the present invention is embodied as an arc welding robot control device will be described with reference to FIGS.

  An arc welding robot control device (hereinafter simply referred to as a robot control device) RC shown in FIG. 1 has six axes (that is, six pieces) that perform welding work so that arc welding is automatically performed on the workpiece W on the work table 16. The manipulator 10 of the joint axis) is controlled. Although FIG. 1 shows a case where there is only one work table 16 as an example, a plurality of work tables are usually installed. Further, the work table 16 may be a work table fixed to the floor on which the work W is simply installed, or may be a positioner for maintaining the welding posture with respect to the work W optimally. When a positioner is adopted as the work table 16, the axis of the positioner is driven and controlled by the robot controller RC.

  Further, the work table 16 or the positioner is generally collectively referred to as a work station. Hereinafter, unless specifically distinguished from the workbench 16 or the positioner, they are collectively referred to as a work station (or simply a station).

  The base member 12 of the manipulator 10 is fixed to a floor or the like. The base member 12 is provided with a plurality of arms 20 connected via the plurality of joint axes. A welding torch (hereinafter simply referred to as a torch) T as a tool is provided at the distal end portion of the arm 20 located on the most distal end side. The torch T includes a wire 15 as a filler material, generates an arc between the tip of the wire 15 fed by a feeding device (not shown) and the workpiece W, and welds the wire 15 with the heat. Weld the workpiece W. Each arm 20 is configured to be able to move the torch T in translation and rotation by driving each drive motor (not shown). The joint angle of each arm is detected from an encoder (not shown) directly connected to the drive motor (not shown).

  A teach pendant TP as a portable operation means is connected to the robot controller RC. The operation surface of the teach pendant TP is provided with a display device 30 as a display means including a liquid crystal display and various keys or buttons. The teach pendant TP is a device for an operator to teach the operation of the manipulator 10.

  The keys include a key group 40 including a plurality of axis keys for operating the manipulator 10, a menu key 41, a selection key 42, an execution key 43, and the like. Through these key operations or button operations, the teach pendant TP can output input commands, data, or various information to the robot controller RC. The robot controller RC can operate the manipulator 10 according to the input command, and can store data or various types of information in the storage unit 56 (see FIG. 2) provided in the robot controller RC.

  As shown in FIG. 1, the key group 40 is equipped with a plurality of axis keys corresponding to the directions (± X, ± Y, ± Z) of the coordinate system. By pressing any of the axis keys, the manipulator 10 moves in the direction corresponding to the axis key. For example, when the robot controller RC moves the manipulator 10 under the set coordinate system, when the X + axis key in the key group 40 is pressed, the manipulator 10 is moved in the X + direction of the set coordinate system. Move.

  As described above, the operator operates the axis key of the key group 40 to move the manipulator 10 to a desired position and teach the teaching point on the work path for performing the welding work.

  As shown in FIG. 2, the robot controller RC includes a CPU (central processing unit) 50, a rewritable EEPROM 52 for storing control software for controlling the manipulator 10, a RAM 54 as a work memory, and the work program and manual operation. A storage unit 56 including a rewritable nonvolatile memory that stores definition parameters of various coordinate systems such as a coordinate system is provided.

  The storage unit 56 stores various coordinate systems including a world coordinate system, a machine coordinate system, a tool coordinate system, and the like. The world coordinate system is an absolute coordinate system. The machine coordinate system is a coordinate system fixed to the manipulator 10, and includes, for example, a base coordinate system having a specific part of the base member 12 as an origin. The tool coordinate system is set so that the axis of the coordinate system coincides with the shape of the torch T and the feeding direction of the wire connected to the tool. The world coordinate system, the machine coordinate system, and the tool coordinate system are stored in advance in the storage unit 56 when the robot controller RC is shipped from the factory.

The storage unit 56 stores a plurality of user coordinate systems set by the user after the factory shipment.
The user coordinate system is an orthogonal coordinate system arbitrarily defined by the user. For example, by operating the axis key of the teach pendant TP, the origin is based on the base of the reference coordinate system, and is arbitrary on two axes orthogonal to the origin. The point is defined by moving the torch T to teach each of the points. The reference coordinate system is, for example, a base coordinate system or a world coordinate system. The user coordinate system can be defined by a conversion matrix from the reference coordinate system to the user coordinate system. Instead of the reference coordinate system, another coordinate system that is a non-user coordinate system that is not a user coordinate system may be used.

  The machine coordinate system, the tool coordinate system, and the user coordinate system are identifiable with identification data and can be read from the storage unit 56. When the read coordinate system is set as a manual operation coordinate system, the torch T moves in the axial direction of the coordinate system corresponding to the axis key in accordance with the operation of the axis key. The user coordinate system is included in the manual operation coordinate system.

The storage unit 56 stores each of the user coordinate systems, and also stores definition parameters for a plurality of work areas, which will be described later, associated with each user coordinate system.
The work area Sa of the torch T will be described.

As shown in FIG. 1, the work area Sa is a space area above the placement surface of each station on which the work W is placed.
The definition of the work area Sa is defined by at least three points in each station at positions included in the placement surface and positions spaced upward from the placement surface in order to define the space area above the placement surface. Is set by moving the torch T and teaching it in the reference coordinate system. For example, if there are 3 points on the placement surface side and 3 points vertically above the placement surface, a triangular prism-shaped space region is defined. Further, by teaching the four points on the mounting surface and teaching the four points spaced apart upward in the vertical direction from the four points on the mounting surface, for example, a columnar shape such as a rectangular parallelepiped shape or a cubic shape can be obtained. The space area to be formed can be defined. In the case of five or more points, a polygonal column-shaped space region can be defined. Note that the three-dimensional shape of the space region is not limited.

  Further, the robot control device RC includes a servo driver 58 that controls the motor of the manipulator 10. The CPU 50 of the robot controller RC drives and controls a drive motor (not shown) of the manipulator 10 via the servo driver 58 based on the current position information (that is, the joint angle) from the encoder (not shown) according to the work program. The torch T can be moved to the teaching point.

The CPU 50 corresponds to coordinate system automatic selection means, coordinate system manual selection means, operation prohibition means, and operation permission means. The storage unit 56 corresponds to a coordinate system storage unit.
(Function)
Now, the operation of the robot controller RC configured as described above will be described with reference to FIGS.

FIG. 3 is a flowchart of a program executed by the CPU 50 for each control cycle when the torch T is jog-fed by the teach pendant TP.
In S10, the position of the torch T is calculated (obtained) based on the joint angle of each arm input from an encoder (not shown) directly connected to the drive motor (not shown) of each arm 20, and based on the calculation result. Then, it is determined whether or not the position of the torch T is in any of the work areas stored in advance in the storage unit 56. If the torch T is not located in any work area stored in advance in the storage unit 56, the CPU 50 ends this flowchart once, and if there is a torch T in any work area, the process proceeds to S20.

  In S20, the CPU 50 determines whether or not the torch T was located in the same work area in the previous control cycle. If the torch T is located in the same work area as the previous time, this flowchart is temporarily ended. In S20, if it is not the same work area as the previous time, the process proceeds to S30.

In S <b> 30, the CPU 50 automatically selects the manual operation coordinate system associated with the work area where the torch T is located, that is, the user coordinate system from the storage unit 56.
In S40, the CPU 50 sets a flag for prohibiting the operation of the manipulator 10. By setting this flag, the operation of the manipulator 10 is prohibited even if the axis key is operated for the jog feed of the operator.

  In S50, the CPU 50 causes the display device 30 of the teach pendant TP to display the coordinate system selection menu stored in the storage unit 56 on the screen thereof as shown in FIG. In step S60, the CPU 50 waits for a coordinate system to be selected from the displayed coordinate system selection menu. In the coordinate system selection menu of this embodiment, any coordinate system in the selection menu on the screen can be selected by operating the selection key 42 of the teach pendant TP.

  In S60, when one of the coordinate systems on the coordinate system selection menu is selected by the operator using the selection key 42 and the execution key 43 is operated, a selection signal indicating the selected coordinate system is controlled by the robot from the teach pendant TP. Input to the CPU 50 of the device RC.

  In S70, based on the input selection signal, the CPU 50 determines whether or not the coordinate system selected by the operator (user) matches the user coordinate system automatically selected in S30. If the coordinate system selected by the operator does not match the coordinate system automatically selected, the CPU 50 displays a sentence indicating that there is a mismatch on the display device 30 and returns to S60.

  In S70, when the CPU 50 determines that the coordinate system selected by the operator matches the coordinate system automatically selected, the CPU 50 proceeds to S80, and displays the coordinate system not selected on the display device 30. Delete and display only the name of the matched manual operation coordinate system.

In S90, the CPU 50 resets the flag in S40, and once ends this flowchart.
Thus, the user coordinate system selected on the display device 30 is displayed when the coordinate system automatically selected matches the coordinate system selected by the operator. For this reason, when the torch T enters the work area Sa, the jog feed of the torch T is performed based on the user coordinate system in a state where the operator confirms the user coordinate system automatically selected by the CPU 50. Can do.

Now, according to this embodiment, there are the following features.
(1) The robot control device RC of the present embodiment displays a plurality of user coordinate systems on the display device 30 (display means), so that any one of the displayed user coordinate systems is selected. CPU 50 (coordinate system manual selection means) for prompting selection is provided. Then, when the manually selected user coordinate system matches the automatically selected user coordinate system, the CPU 50 of the robot controller RC uses only the matched user coordinate system as the display device 30 (display of the teach pendant TP). Display). As a result, the manual operation coordinate system selection operation is automated and simplified, and the automatically selected manual operation coordinate system does not differ from the manual operation coordinate system intended by the operator.

  (2) The CPU 50 of the robot controller RC of the present embodiment functions as an operation prohibiting unit that prohibits the operation of the manipulator 10 when displaying a plurality of user coordinate systems on the display device 30. Further, when the user coordinate system selected manually matches the automatically selected user coordinate system, the CPU 50 of the robot controller RC causes the display device 30 to display only the matched user coordinate system and the operation described above. It functions as an operation permitting means for canceling the prohibition of the operation of the manipulator by the prohibiting means. As a result, the operator can select one of a plurality of user coordinate systems displayed on the display device 30 with the manipulator 10 stopped.

  Further, since the operation of the stopped manipulator 10 can be canceled only when the user coordinate system selected by the operator matches the user coordinate system selected by the CPU 50, the operator has really recognized that the manual operation coordinate system has been switched. In this state, the manipulator 10 can be moved manually.

(Second Embodiment)
Next, a second embodiment will be described with reference to FIG. 3 and FIG. Since the hardware configuration of the robot controller RC of the second embodiment is the same as that of the first embodiment, the same components as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  In the present embodiment, when any coordinate system is selected before jog feeding, the CPU 50 operates the coordinate setting mode key 44 provided on the operation surface as shown in FIG. One of the coordinate system selection menus stored in the storage unit 56 is displayed on the screen of the display device 30. Each time the switching key 45 is operated, one of all coordinate systems stored in the storage unit 56 is displayed in order. FIG. 5B shows that the base coordinate system, the workpiece coordinate system, the table coordinate system, the user coordinate system 1 to the user coordinate system n are sequentially switched.

  In the second embodiment, each step of the flowchart shown in FIG. 3 of the first embodiment is executed in the same manner when jog feeding, but some of the processes of S50, S60, and S80 are different.

  In S50, the CPU 50 displays one user coordinate system among a plurality of user coordinate systems stored in the storage unit 56 as a coordinate system selection menu on the screen of the display device 30 of the teach pendant TP. Is done.

  In S60, each time the operator operates the switching key 45, one of the user coordinate systems stored in the storage unit 56 is displayed in order. FIG. 5C shows that the user coordinate system 1 to the user coordinate system n are sequentially switched.

  In S60, when the execution key 43 is operated in a state where any one user coordinate system is displayed on the screen of the display device 30 by the operator, it is assumed that the displayed user coordinate system is selected. A selection signal indicating the user coordinate system is input from the teach pendant TP to the CPU 50 of the robot controller RC.

  The process in S70 is the same as that in the first embodiment. If the CPU 50 determines in S70 that the coordinate system selected by the operator matches the automatically selected coordinate system, the name of the manually operated coordinate system that matches the display device 30 is displayed as it is in S80. Let

Also in this embodiment, the effects (1) and (2) described in the first embodiment can be achieved.
In addition, you may change embodiment of this invention as follows.

  In addition, when the coordinate value of the placement surface of the station is known, the spatial region may be defined by numerically inputting the coordinate value of the upper position separated from the placement surface. Further, the work area Sa may be defined by other known methods.

  In the first embodiment, in S80, the coordinate system that was not selected is deleted, and only the matched manual operation coordinate system is left and displayed. Instead, “both matched and unmatched user coordinate systems are displayed, but the matched user coordinate systems are clearly marked as matched, and unmatched user coordinate systems must be unmatched. May be displayed in a display form that clearly indicates "."

Specifically, there is an aspect in which matching and mismatching are differentiated and displayed as described below.
(1) Characters in the matching user coordinate system are displayed with a symbol such as a circle, and characters in a mismatched user coordinate system are displayed with a symbol such as an x, and which coordinate system matches. Display so that can be understood.

(2) The matched user coordinate system character or the background color of the character is displayed in a blinking state, and the mismatched user coordinate system character or the background color of the character is displayed without blinking.
(3) Characters in the mismatched user coordinate system should be displayed with a strikethrough with a double line, etc., and characters in the matched user coordinate system should be displayed without a strikethrough.

  (4) The matched user coordinate system character itself or the background color of the character is clearly indicated by a bright color, and the mismatched user coordinate system character or the background color of the character is matched with a dark color. Should be specified rather than inconsistent user coordinate system displays.

  In the above embodiment, the arc welding robot control device is embodied, but other robot control devices such as a handling robot control device, a painting robot control device, a spot welding robot control device, a sealing robot control device, and an assembly robot control device are used. The present invention may be embodied in a robot control device such as a laser processing robot control device.

10 ... Manipulator, 30 ... Display device (display means),
50 ... CPU (coordinate system automatic selection means, coordinate system manual selection means, operation prohibition means and operation permission means),
56... Storage unit (coordinate system storage means)
RC: Robot control device, T: Torch (tool).

Claims (2)

A portable operating means having a display means and manually operating a manipulator, and a coordinate system storage means for storing a plurality of user coordinate systems as a manual operation coordinate system for defining an axial direction corresponding to a station or a workpiece placed on the station When the tool attached to the tip of the manipulator is moved by manual operation of the portable operation means with respect to the workpiece installed in the station, it becomes a reference for manual operation based on the position of the tool In a robot control apparatus comprising coordinate system automatic selection means for automatically selecting a user coordinate system from the user coordinate system stored in the coordinate system storage means,
Coordinate system manual selection means for prompting selection of any one of the displayed user coordinate systems by displaying a plurality of the user coordinate systems on the display means, the coordinate system manual When the user coordinate system selected manually is coincident with the user coordinate system automatically selected by the coordinate system automatic selection unit, the selection unit replaces the matched user coordinate system with a user coordinate system that does not match. A robot control apparatus that displays on the display means so as to be clearly shown in a display mode different from the above. When the coordinate system manual selection means displays a plurality of the user coordinate systems on the display means, an operation prohibiting means for prohibiting the operation of the manipulator;
When the user coordinate system selected manually matches the user coordinate system automatically selected by the coordinate system automatic selection means, the matched user coordinate system is displayed differently from the non-matching user coordinate system. The robot control device according to claim 1, further comprising an operation permission unit that causes the display unit to display as clearly indicated by an aspect and cancels the operation inhibition of the manipulator by the operation inhibition unit.

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