JP6297792B2 - Robot, robot control method, and robot control program - Google Patents

Description

  The present invention relates to a robot control method for operating a plurality of stored work commands at predetermined positions, a robot using the control method, and an operation setting program for controlling the operation of the robot.

  For a robot that performs a plurality of operations such as screw tightening and application at a point indicating a predetermined position, it is necessary to perform teaching for storing the details of the operation performed at the predetermined point. In recent years, with the improvement of work efficiency and the performance of robots associated therewith, it is possible to set not only the work content at a point but also the work content before or during a point movement in teaching. In addition, the way of movement such as PTP drive and CP drive is increasing, and it is also possible to set the work contents according to the way of movement.

  For this reason, the teaching user does not only have “X coordinate, Y coordinate, Z coordinate” indicating a point and “point operation” indicating a point operation, but also “point type”, “pre-movement operation”, “moving” It is necessary to set "work". When there are a plurality of work points, it is necessary to set each item at each point.

JP 2007-193846 A

In such robot teaching, when screws are tightened at a certain point, the following items (a) to (d) must be set.
(a) Set “PTP drive point” as the “point type”.
(b) As the “pre-operation operation”, set the operation to go to the feeder to remove the screw.
(c) Set “work in progress” to start 0.1 seconds before the driver reaches the point.
(d) As “point operation”, an operation for lowering the Z-axis at the screw tightening speed while setting the completion signal of the screw tightening driver is set.

  By setting the above (a) to (d), it is possible to teach a screw tightening operation at a certain point. On the other hand, when screw tightening at a plurality of points, it is necessary to make the same setting at each point. Setting the same work at each point is inefficient and can lead to input errors. Also, within the user's consciousness, (a) to (d) collectively correspond to “setting for screw tightening”, but a plurality of operations are set for one screw tightening operation. Is complicated.

  On the other hand, a system dedicated to screw tightening that has been incorporated in the system in advance is also used with the operations (a) to (d) as “screw tightening points”. For this, information such as the length and shape of the driver is registered in advance, and the work content is designated based on the information. In the case of such a dedicated system, teaching is very simple because it is only necessary to specify a point to work on. However, in the case of a robot using various types of drivers, it is necessary to supply a dedicated system for all the drivers, and considering the case of using a device other than the driver as a screw tightening device, It is practically difficult to prepare a dedicated system for all of them.

  The present invention has been proposed in order to solve the above-described problems of the prior art. The contents of the work instruction are stored in association with the point type name, and when teaching, the position and the point are stored. Specify the type name. As a result, teaching work can be performed in a simple procedure. Furthermore, since the work instruction associated with the point type name can be freely set, the same convenience as when the dedicated system is supplied can be provided without preparing the dedicated system.

In order to achieve the above object, the present invention provides a work instruction sequence storage for storing a sequence of operations to be executed by a unit in a robot having a control unit that moves the unit to a specified point and causes the unit to perform an operation. The point type definition data storage unit that stores the work instruction sequence in association with the point type name specified in teaching, the position information of the point to which the unit is moved, and the point type name A point sequence storage unit for storing the point type as a point sequence, and the point type definition data storage unit associates the previously stored point type definition data with a new point type name as a work instruction sequence, and defines the point type definition stored as addition or perform overwrite new point type definition data to the data, wherein, Referring to the point type definition data from憶been point type name, thereby executing the task instruction sequence included in the point type definition data, and wherein.

  A robot control method and a robot control program are also one embodiment of the present invention.

1 is a perspective view showing an overall configuration of a robot according to a first embodiment of the present invention. It is a functional block diagram which shows the 1st Embodiment of this invention. It is a figure which shows the point classification definition data of the 1st Embodiment of this invention. It is a figure which shows the point row | line | column of the 1st Embodiment of this invention. It is a figure which shows the point classification definition code of the 1st Embodiment of this invention. It is a flowchart which shows the input procedure of the point classification definition data of the 1st Embodiment of this invention. It is a flowchart which shows the input procedure of the point sequence of the 1st Embodiment of this invention. It is a figure which shows the point classification definition data of the modification 1 of the 1st Embodiment of this invention. It is a figure which shows the point classification definition data of the modification 2 of the 1st Embodiment of this invention. It is a figure which shows the point row | line | column of the 2nd Embodiment of this invention. It is a figure which shows the point row | line | column of the modification of the 2nd Embodiment of this invention. It is a figure which shows the point classification definition code of the reference example of the 3rd Embodiment of this invention. It is a figure which shows the point classification definition code which inherits the 3rd Embodiment of this invention. It is a figure which shows the point type definition code by the overwrite inheritance of the 3rd Embodiment of this invention. It is a figure which shows the point classification definition code which inherits the 4th Embodiment of this invention. It is a figure which shows the point application | coating of the 4th Embodiment of this invention. It is a figure which shows the point sequence of the 4th Embodiment of this invention. It is a figure which shows the point classification definition code which inherits the 4th Embodiment of this invention. It is a figure which shows the point sequence of the 4th Embodiment of this invention. It is a figure which shows the independent data set definition of the 5th Embodiment of this invention. It is a figure which shows the point classification definition code which inherits the 5th Embodiment of this invention. It is a reference figure of the screw fastening condition data of the 5th Embodiment of this invention. It is a figure which shows the program data definition of the modification 1 of the 5th Embodiment of this invention. It is a reference diagram of the screw tightening condition data of the program of the modification 1 of the 5th Embodiment of this invention. It is a reference diagram of the screw tightening condition data of the program of the modification 1 of the 5th Embodiment of this invention. It is a figure which shows the system data definition of the modification 2 of the 5th Embodiment of this invention. It is a reference figure of the system data of the modification 2 of the 5th Embodiment of this invention. It is a functional block diagram which shows the 6th Embodiment of this invention. It is a related figure which shows the protection mode and access right of the 6th Embodiment of this invention. It is a block diagram which shows the inheritance related figure of embodiment of this invention. It is a block diagram which shows the overwrite inheritance sequence diagram of embodiment of this invention.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a robot according to the present invention will be described in detail with reference to the drawings. In the embodiment, description of overlapping drawings is omitted.

[First Embodiment]
FIG. 1 is a diagram illustrating an overall configuration of the robot according to the present embodiment. The robot 10 according to this embodiment includes a plurality of drive bases 20 to which the units are attached and a plurality of motors 12 that move the drive bases. The robot 10 controls the motor 12 to drive the drive base 20 in the X-axis direction that is the horizontal direction, the Y-axis direction that is the depth direction, and the Z-axis direction that is the horizontal direction, and set the unit 30 to a predetermined point. Move.

  In teaching the robot 10, the user associates a point for moving the unit 30 with a point type indicating the work content of the unit 30 at that point and sets it as a point sequence. As the point type, a point type name, work contents at the point, and data items to be set for each point are defined in advance.

  In such control of the robot 10, the unit 30 is moved in the order of the points set by teaching, and the unit 30 executes the work content defined by the point type at each point.

[1-1. Constitution]
FIG. 2 is a block diagram showing the configuration of such a robot 10. In FIG. 2, a control unit 1 mainly composed of a microcomputer controls the entire robot 10. The control unit 1 performs input operation, display, storage, motor drive, and signal input / output in accordance with a control program stored in the robot control program storage unit 2. The robot 10 includes an operation unit 3, a display unit 4, a temporary storage unit 5, a point sequence storage unit 6, a work command sequence storage unit 7, a point type definition storage unit 8, and a motor drive control unit 11. The temporary storage unit 5 is used for this control operation.

  The control unit 1 is mainly composed of a microcomputer. The control unit 1 outputs a command to the motor drive control unit 11 and drives the motor 12 to execute various operations. As many motor drive control units 11 and motors 12 as necessary are provided, and a unit 30 that performs work and operations by the power of the motor 12 is connected to the motor 12. For example, in the case of a screw tightening unit, in addition to an X-axis direction moving motor, a Y-axis direction moving motor, and a Z-axis direction moving motor for moving the screw tightening unit to a predetermined point, Control is performed by four motors of a screw tightening motor for rotation. Further, the control unit 1 issues a command to the signal input / output unit 13 to execute signal input from the outside and signal output to the outside. When a signal input from the outside is reflected in the control of the robot 10, the external device is controlled based on the signal to the outside.

  The operation unit 4 is an input device such as a keyboard or a hardware or software mechanism for teaching, and inputs the program and data of the robot 10. The display unit 3 is an LCD display device or the like for displaying setting values and an input state by the operation unit 4.

  The temporary storage unit 5 is a so-called memory, and is a storage unit that temporarily stores information necessary when the control unit 1 outputs a control command.

The work instruction sequence storage unit 7 stores work instructions for causing the unit 30 to execute. The work command is a command for instructing the robot to perform a work operation. For example, there are various work commands such as screw tightening work, coating work, and soldering work. The work command is set and stored at a plurality of timings such as when the unit 30 moves to the point, during the movement to the point, or when the point is reached. In addition, work instructions and numbers may be stored in association with each other. An example is shown below.
As “pre-movement work number 1”, the work of screwing from the feeder before moving to each point is stored. In this case, the feeder screw removing operation is separately stored as a work instruction.
By specifying the work to be executed while moving to each point as “moving work number 5”, for example, a work to start a screw tightening driver 0.1 seconds before arrival at each point. Remember.
As “point work number 10”, an operation of lowering the Z-axis at the screw tightening speed while watching the screw tightening driver completion signal in the actual screw tightening operation is stored.

  The point type definition data storage unit 8 stores point type definition data defined by a point type name and a work instruction sequence executed there. The point type definition data includes the point type ID for uniquely identifying the point type, the point type name used for display in the point type selection, and the point that is used to specify the basic movement method Type ID, work number before moving to specify a work instruction sequence to be executed before moving to the specified position, moving work number to specify a work instruction sequence to be executed while moving to the specified position, specification This includes a point work number for designating a work instruction sequence to be executed after moving to the position.

  FIG. 3 shows an example of the point type definition data stored in the point type definition storage unit 8. In FIG. 3, a point having the characteristics of “original point type ID = PTPPiont”, “pre-movement work number = 1”, “moving work number = 5”, and “point work number = 10” is defined as a “screw tightening point”. To do.

  The point string storage unit 6 stores a point string associating a point for moving the unit 30 with a point type to be executed at the point. The point type is a point type name associated with the point sequence stored in the work instruction sequence storage unit 7, an address to the point type definition, or a point type code.

  FIG. 4 shows an example of the point sequence definition stored in the point sequence storage unit 6. In FIG. 4, “X coordinate = 100.00”, “Y coordinate = 100.00”, “Z coordinate = 30.000”, and “point type = screw tightening point” are stored in association with “point number = 1”. In FIG. 4, since there are three points for associating coordinates and point types, coordinates and point types are stored in association with each point.

  In FIG. 4, the point type name is displayed, but the point string storage unit 6 stores not the point type name but the (address) pointer or point type code to the point type definition in order to reduce the capacity. It can also be something like this. Here, the point type code is a code (numerical value) generated from the point type ID, and an example thereof is shown in FIG. In the example of FIG. 5, a 4-byte code is used. The upper 2 bytes are CRC (Cyclic Redundancy Check) of the point type ID character string. Taking a CRC has no special meaning and uses it to create some numerical value as randomly as possible based on a character string. The third byte is used when the upper 2 bytes are the same for different IDs. It is normally set to 0, and in the case of duplication, the upper 3 bytes of code are set as 1, 2,. The lowest 1 byte is a 1-byte code corresponding to the original basic type. Here, the basic type is a basic type for designating movement such as “PTP drive point”, “CP start point”, “CP passing point”, “CP end point”, “CP arc auxiliary point”, and the like.

[1-2. Action]
In the robot 10 having the above configuration, setting is performed in the following two steps in teaching.
(1) A step of setting point type definition data.
(2) Step sequence setting step.
Hereinafter, each step will be described in detail.

(1) Point Type Definition Data Setting Procedure FIG. 6 is a flowchart showing a point type definition data setting procedure. A system integrator or a person in the production engineering department of the factory (hereinafter referred to as an intermediary) inputs point type definition data using the operation unit 4 while viewing the display unit 3. The procedure for inputting the point type definition data will be described based on the flowchart of FIG.

  First, the middleman operates the operation unit 4 and inputs the point type ID as a character string (step S1). Since the point type ID must be unique, it is determined whether the ID already exists or not (step S2). If the result of determination is that there is an overlap (Y in step S2), the process returns to the input of the point type ID.

  If there is no overlap as a result of the determination (N in step S2), the original point type ID is selected from the list and input (step S3). Next, a point type name is input (step S4).

  Next, the work number before movement is input. If there is an operation to be performed before the movement (Y in step S5), the operation number before the movement is input (step 6).

  Similarly, the moving work number is input. If there is an operation to be performed during movement (Y in step S7), the moving operation number is input (step 8).

  Finally, input the work number after movement. If there is a work to be executed after the movement (step S9), the point work number is input (step 10). The work number before movement, the work number during movement, and the point work number are numbered in advance in the work instruction string storage unit 7 and the instruction string is input and stored, and input in step 6, step 8, and step 10. As the previous work number, the moving work number, and the point work number, the command sequence stored in the work command sequence storage unit 7 is designated by a number.

(2) Point Sequence Setting Procedure FIG. 7 is a flowchart showing a point sequence setting procedure. In the point column setting, the point type definition data defined by the middleman is used.

  In the point sequence setting procedure, first, the user inputs the coordinates of a point (step 1). Next, the point type is selected and input (step 2). This is repeated for the necessary number of points (step 3). As described above, in setting the point sequence, it is only necessary to select and set “screw tightening point” as the point type and specify the position coordinates. In other words, pre-moving work and moving work are referred to and executed based on the definition of the point type “screw tightening point”, and it is only necessary to set the point type that is the main teaching to create the point sequence. . That is, in this embodiment, it is only necessary to specify the screw tightening position.

[1-3. effect]
In the control of the robot 10 according to the present embodiment as described above, the point type definition data is referred to from the designated point type name (for example, “screw tightening point”), and instructions are executed and moved accordingly.

  By using the defined point type, the operator only needs to specify the position, teaching becomes very simple, and errors can be prevented.

  In addition, when an intermediate contractor tries to define a point type, for example, it becomes clear that “operation to remove a screw from a feeder” is an operation before moving a screw fastening point. It is also possible to create a program in such a way that the “work to remove the screw from the feeder” is included in the work at the point before the screw is tightened. However, by defining, the “operation to remove the screw from the feeder” is related to the operation before moving the screw fastening point. Since the point type is defined, it is necessary to review the viewpoint of the work, and as a result, a configuration that semantically belongs to the point belongs to the point, and creation and maintenance become easy.

  In the example of FIG. 3, “point type ID” and “point type name” are provided separately. Essentially, only the “point type ID” is sufficient, but “name” is provided separately from the viewpoint of improving operability. “Point type ID” is used to specify “original point type ID” (distinguishes uniquely), and “point type name” is used when an operator selects and sets. When multiple languages are supported (for example, switching between Japanese and English display), by setting “Name” for each language and “Name” for each language, the operator can select the point type corresponding to each language. You can select and set by name, which makes it easier to understand. FIG. 8 shows an example of the storage state of the point type definition storage unit 8 corresponding to a plurality of languages.

  In the point type definition in FIG. 3, a command sequence separately taught is designated by a number in the form of a work number before movement and a point work number. The name (ID) may be specified by attaching a name (ID) to the instruction sequence instead of the point work number.

  Furthermore, an instruction sequence can be set directly in the point type definition. In the point type definition, the instruction sequence to be executed can be considered unique to the definition. In that sense, it is easier to understand that the instruction sequence is included in the definition rather than referring to the instruction sequence separately taught by number, etc., and the instruction sequence used for the point type definition by mistake is rewritten. Or even deleting it. In this implementation method, the instruction sequence becomes part of the point type definition.

  For example, FIG. 9 is an example in which the command sequences for the pre-movement work and the movement work are set directly. In the pre-movement work, the presence / absence of a screw is read from sensorIn1, and if this is OFF, an error handling routine is called because there is no screw. (Call Error (10)). In the operation during movement, when the time until the movement ends (moveEndTime ()) becomes less than 100 [msec], the screw tightening driver is started to rotate (set out1).

  Furthermore, the unit 30 of this embodiment is replaceable according to the required work and operation. That is, in the present embodiment, the screw tightening unit has been described as an example, but a coating unit, a dispensing unit, a board cutter unit, a solder unit, a lead cutter unit, a camera unit, and the like can also be used.

[Second Embodiment]
In the second embodiment, in the point string storage unit of the first embodiment, the work performed before and after the work of the unit 30 is further set as a point string in association with each other. Hereinafter, the teaching method of the robot 10 of the second embodiment will be described in detail.

[2-1. Constitution]
In the point sequence storage unit 6 according to the present embodiment, the point to which the unit 30 is moved, the point type to be executed at the point, and the work performed before and after the operation of the unit 30 are associated and stored as a point sequence. FIG. 10 shows an example of a point sequence stored in the point sequence storage unit stored in the point sequence storage unit 6. In FIG. 10, “X coordinate = 100.00”, “Y coordinate = 100.00”, “Z coordinate = 30.000”, “point type = screw tightening point”, “point work number (front) = 20”, “point work number”. (After) = 30 ”is stored in association with“ Point number = 1 ”.

As indicated by point number 2 in FIG. 10, “point work number (front)” and “point work number (back)” can be not set when work is not required.
[2-2. Action / Effect]
In the robot 10 having the above-described configuration, for example, a pulse output signal for pressing a workpiece is output immediately before starting screw tightening at the point of “screw tightening”, or the number of screws tightened when the screws are tightened. Is output to the external counter.

  As a method for realizing this, for example, two numbers such as “point work number (front)” and “point work (back)” are set as shown in FIG.

  A command (sequence) for outputting a pulse output signal for pressing a work is issued to the work number 20 and a command (sequence) for outputting a pulse output to an external counter for counting the number of tightened screws is provided to the work number 30. As shown in point numbers 1 and 3 in FIG. 10, by setting “point work number (front) = 20” and “point work (back) = 30”, the screw tightening operation is performed. Have ancillary work before and after.

  Also, as another realization method to attach ancillary work before and after, if you give a point work number, the original work will not be executed, instead, prepare a special command "call the original work" Use this. For example, the instruction callBase is an instruction for calling the original work. As shown in FIG. 11, with point number 1 and point number 3, 25 is assigned as a point operation. When the point work number is set, the screw tightening operation is not executed (overwritten) even if it is the “screw tightening point”. Instead, in operation 25, after a pulse is output to out2, a callBase command is executed, thereby executing a screw tightening operation. As a result, it is possible not only to attach ancillary work before and after, but also not to call the original work by condition determination.

  Furthermore, in the description of FIG. 10 and FIG. 11, the “point work” executed at the point position has been described as an example. However, the “pre-movement work” executed before starting the movement to the work point, The same can be applied to the “moving work” executed during the operation.

[Third Embodiment]
In the third embodiment, when defining the point type definition data in the point type definition data storage unit of the first embodiment, not only the basic point type but also the defined point type as the original point type Is used. Hereinafter, the teaching method of the robot 10 of the third embodiment will be described in detail.

[3-1. Constitution]
The point type definition data storage unit in the present embodiment stores the point type ID, the point type name, and the point type definition data defined by the work instruction sequence executed there.

FIG. 12 shows an example of the point type definition data stored in the point type definition storage unit 8 in the definition of the screw fastening point with confirmation that is not reused. The definition of the screw tightening point shown in FIG. 3 may be such that the work number before movement is changed and the work “2” to be performed by combining the action of checking and the action of removing the feeder screw is specified. However, this is because the work “2” is remade based on the work “1”, and an error is likely to occur. On the other hand, the “screw tightening point” already defined in the “original point type” can be specified and defined. In this case, there is no need to designate the “pre-movement work number” or the “point work number” again. These actions are included in the “screw tightening point” definition. In addition, the operation “3” for performing confirmation is designated as “operation number before movement (previous)” so as to be performed “before” the operation before movement.
On the other hand, FIG. 13 shows an example of the point type definition data stored in the point type definition storage unit 8 by the definition of the screw tightening point with confirmation by inheritance. In FIG. 13, “original point type ID = TighteningPoint” “pre-movement work number = none” “moving work number = none” “point work number = none” “pre-movement work number = 3” “pre-movement work number = A point having the characteristic of “none” is defined as “screw tightening point with confirmation”.

[3-2. Action]
In the robot 10 having the above-described configuration, most of the operations are the same as the “screw tightening point” defined as the point type definition data, but the screw tightening supply device is ready before the feeder screw removal. Check if it is.

  In this case, as shown in FIG. 12, the pre-movement work number is changed from the definition of the screw tightening point shown in FIG. 3, and the work “2” to be performed by combining the checking operation and the feeder screwing operation is designated.

  However, this is because the work “2” is remade based on the work “1”, and an error is likely to occur. On the other hand, the “screw tightening point” already defined in the “original point type” can be specified and defined.

  As a result, it is not necessary to designate the “pre-movement work number” or the “point work number” again. These actions are included in the “screw tightening point” definition. In addition, the operation “3” for performing confirmation is designated as “operation number before movement (previous)” so as to be performed “before” the operation before movement. In FIG. 12, the content of the original “screw tightening point” definition is inherited to define “screw tightening point with confirmation”.

  In the point type definition by inheritance in FIG. 13, there is “pre-movement work” defined by the original point type, and “pre-movement work (previous)” is added to this to define a new point type. Here, “pre-movement work (previous)” is attached with “(front)” in the sense that the work is executed before the “pre-movement work” defined by the original point type is executed. For this reason, the “work before movement (after)” must also be considered.

[3-3. effect]
The advantage of such a method is that the structure of the point type definition itself can be simplified, and the operations attached to the original point type are not executed in the order of before and after, but also depending on conditions. It becomes possible to control including this, and flexibility becomes high.

  Further, the reuse of the point type definition will be described with another example. Here, it is possible to perform reuse not by additional inheritance but by overwrite (replacement) inheritance. Even if the same screw tightening is inherited, for example, the screw tightening operation is the same, but the screw removal method from the feeder is completely different. This makes it possible to completely replace the “pre-movement work” in which the screw removal work from the feeder is performed and to make another work.

  For example, this point type name is defined as “another feeder screw fastening point” as shown in FIG. Here, the “work number before movement” is set to “4”, and the original “work number before movement = 1” is overwritten. By allowing additional inheritance and overwrite inheritance, the point type definition can be handled as a reusable component. This reuse can improve the efficiency of program creation.

  The method is limited to overwriting work designation. However, as a special instruction, a method of adding an instruction (for example, callBase) for calling a work defined by the original point type in a subroutine is conceivable. In the example of FIG. 14, as the “pre-movement work” to be overwritten, if the instruction callBase for calling the “pre-movement work” of the original point type is executed after the instruction (sequence) to be confirmed, the target work is performed. can get.

[Fourth Embodiment]
In the present embodiment, a setting data storage unit is provided in addition to the configuration of the first embodiment. In the present embodiment, an application unit is used as the unit 30. When the application operation is performed for a certain period of time at each point, a point to which the unit 30 is moved, a point type to be executed at that point, and setting data for the point type are stored in association with each other as a point sequence. The time set in the setting data for this point type corresponds to the application time when the application operation is selected as the point type.

[4-1. Constitution]
When defining the point type definition data in the point type definition data storage unit, by defining the setting data together with the point type name and the work instruction sequence to be executed, the setting data is The work order is executed according to the contents of.

  As setting data, the data ID and name are defined. FIG. 15 shows an example of the point type definition data stored in the point type definition storage unit 8. In FIG. 15, a data ID and a data name are defined to distinguish setting data. In addition, each can be distinguished in the form of “data # 1” and “data # 2” so that a plurality of data can be added. In addition, not only the name but also the lower limit and the upper limit are set. Other than this, a default value or unit may be specified.

  This point setting data can be referred to from a point work instruction sequence. For example, in point operation number “6” of the point application point in FIG. 15, the application time is referred to during the ON and OFF of the IO as shown in FIG.

  In the point string storage unit 6, the point to which the unit 30 is moved, the point type executed at the point, and the setting data in the point type are associated and stored as a point string.

  When “point application point” is stored as the point type, “point application time” can be input as setting data. That is, “point application time” is added as an input setting item for each point in the point sequence.

  FIG. 17 shows an example of a point sequence stored in the point sequence storage unit 6 of the present embodiment. In FIG. 17, “Point application time = 0.5” is input at point number 1, “Point application time = 0.5” is input at point number 2, and “Point application time = 1.0” is input at point number 3. ing.

[4-2. Action / Effect]
When executing the point application point based on teaching, the point operation “6” is executed with reference to the definition of “point application point”. When interpreting and executing “delay PointDispenceTime” of this point work execution, the definition of “point application point” is referred to. Here, the substance (value) of PointDispenceTime exists for each point (a plurality exists). When executing, one PointDispenceTime ID is used so that the PointDispenceTime of the currently executed point can be referred to.

  Furthermore, when the application device is moved to perform point application, it may be desired to change the application time for each point. The point data includes “point application time”, and the set value can be referred to in the application work.

  In the present embodiment, numerical data is input as “point application time”, but selective data or character string data may be input. A selection type is one in which one of two or more choices is selected. Even if an appropriate integer is assigned and stored internally, not only the item name but also the definition of the name of the choice is defined. Necessary. In order to be able to define data other than numeric types, the type is specified as the data definition, and the items to be defined differ depending on the type.

FIG. 18 shows an example of a point type definition including a selection type data definition. This example is a point soldering example, and data # 2 is selection type data. Specifies whether the tip of the soldering iron should be “cleaned” before the soldering operation. In the work “8” set in the work number before movement,
if CleaningYN == 1 then execute cleaning operation endif
By writing a command such as this, the cleaning operation is executed when cleaning is set. Here, CleaningYN takes a value of 0 when “no cleaning”, and takes a value of 1 when “cleaning”. FIG. 19 shows a point sequence using this type of point solder point definition.

[Fifth Embodiment]
[5-1. Constitution]
In the present embodiment, an independent data set storage unit is provided in addition to the configuration of the first embodiment. By defining which independent definition data the work instruction sequence refers to in the point type definition data, when executing the work instruction sequence, the work instruction is executed according to the contents of the independent definition data.

  The independent data set stored in the independent data set storage unit is a collection of a plurality of condition data for work instruction sequences. Independent data sets include data set IDs for uniquely distinguishing data sets, data set names for use in point type selection, condition data IDs, condition data names, upper and lower limits as condition data It includes things like values.

  FIG. 20 shows an example of the independent data set definition stored in the independent data set storage unit. In FIG. 20, a plurality of data conditions such as data # 1 ID = ThredPitch and data # 2 ID = ScrewLength are stored for “data set ID = ScrewCondition” and “data set name = screw tightening condition”.

The point type definition data storage unit stores a point type name, a work instruction sequence executed there, and an independent data set referred to by the work instruction sequence. For example, in the point type name definition of FIG. 21, “data # 1 ID = ThredPitch” is stored as an independent data set to be referred to.

[5-2. Action / Effect]
In the robot 10 having the above-described configuration, the screw tightening conditions are referred to as shown in FIG. 21 in the screw tightening work, here, the point work “10”. In this example, a plurality of independent data sets are arranged as an array and are referred to by numbers.

  Advantages of such a method include, for example, “screw tightening”, screw pitch (ThredPitch), screw length (ScrewLength), driver rotation speed (RotateSpeed),. . . When controlling the descending speed and descending distance when tightening the screw by such data, it is easier to use these data if they do not have at each point. When conditions are specified by multiple data sets instead of one data, and it is not necessary to change the conditions at each point, there is no data at the point, and there are multiple independent data sets. Indirect reference from the point is convenient.

  In the above example, the ScrewCondition is defined. However, the user may not define this, but a framework of built-in condition data may be prepared in advance. Users define items within that framework. In addition, a built-in “condition number” is also prepared in advance for the points. As a result, for example, when data access is made only with a name such as “ScrewLength” at a point with condition number “1”, the set value of the screw length with condition number “1” can be automatically fetched. Can be.

[First Modification of Fifth Embodiment]
In the fifth embodiment, the independent set data to be referenced for each work column is stored. However, the independent set data to be referred to for each program for performing work may be stored.

  A program definition data storage unit is provided to store condition data referred to by a work instruction sequence in a program for performing work. As a result, the work can be performed based on the condition data referred to in the work program.

  That is, the definition data of ScrewCondition in FIG. 20 is not defined as independent data, but as data defined for each program as shown in FIG. And this is referred from work like FIG.

  As in the case of an independent data set, a built-in program data framework can be prepared in advance and defined therein. As shown in FIG. 25, it is possible to refer to the program data of the currently executing program only with the final data ID.

[Modification 2 of Fifth Embodiment]
In the first modification of the fifth embodiment, the independent set data that is referred to for each program that performs work is stored, but independent set data that is common to all programs may be stored as a system data definition.

  That is, a system definition data storage unit for all programs is provided, and condition data referred to by a work instruction sequence is stored in all programs. This makes it possible to perform work based on the condition data referenced by all programs.

  For example, as shown in FIG. 26, it is defined to have the response waiting time of the apparatus as data. This value is referred to as shown in FIG.

  The fixed characteristics of the device such as the response time of the device do not need to be changed unless the device is changed, and it is not necessary to have data for each point or each program. In such a case, it is useful to define data common to all programs.

In any of the point setting data definition, independent data set definition, program data definition, and system data definition, data can be stored by the data definition and not only can be referred to, but also has a means to perform input setting operations according to the data definition. is important.
Therefore, not only the name and type of data but also data necessary for input operation, for example, a lower limit value and an upper limit value can be defined.

[Sixth Embodiment]
[6-1. Constitution]
In the present embodiment, an account storage unit is provided in addition to the first embodiment. As shown in FIG. 28, the account storage unit stores, for each piece of data, information on which account the owner is and a set value of the protection mode.

  Data such as “point type definition”, some “point work”, “independent data set definition”, “program data definition”, “system data definition”, etc. each have an “owner”. The owner is the logged-in "account" when creating it.

[6-2. Action]
In the present embodiment, a function capable of additionally creating an “account” in the account storage unit is provided. The “account” consists of a “login name (ID)” and a “password (or personal identification number)”. To create the above data, first perform a “login” operation (to log in, you need to specify a login name (ID) and enter a password), and then create it. The definition created at this time is owned by the “account”. Access to certain definitions of the owner can be restricted.

The owner can set and change the protection mode for the data. By setting the protection mode, it is possible to limit things such as “change right”, “reference right”, and “use right”.
(1) “Change right”: Data can be changed. “Change” in this case means, for example, changing a point work command. “Change right” means “deletion right” as it is. If there is no “change right”, there is no “delete right”. In other words, the data cannot be deleted.
(2) “Reference right”: Data can be read (viewed). If there is no reference right, for example, the contents of the point type definition cannot be viewed. This is different from the “use right” described later. You can use it even if you can't see it.
(3) “Usage rights”: Data can be used. “Changing (setting) the value of setting data” is assumed to be possible if there is a use right even if there is no change right.

  Protection modes include “No-Limit”, “Public”, “Protected”, and “Private”. Access restrictions in each mode are as shown in FIG. “Private” means, for example, an intermediate type definition, and the purpose of making it unusable is not to protect data but to make it invisible by making it invisible. Private type definitions (with limited usage rights) cannot be known by anyone other than the owner.

[6-3. effect]
In the present embodiment, when an intermediate contractor (system integrator, etc.) defines a point type and provides it to the user, the point type definition created by the intermediate contractor is prevented from being disclosed to the user. Can do.

  Also, when the production engineering department of the factory defines point types, etc., and the actual worker specifies the position and performs final teaching. It functions as a protect to prevent an actual worker from deleting the point type definition etc. by mistake.

The following is a supplementary explanation regarding inheritance of point type definitions in relation to access restrictions.
FIG. 30 shows the relationship between the definition of the screw tightening point in FIG. 3, the definition of the screw tightening point with confirmation by inheritance in FIG. 13, and the definition of another feeder screw tightening point by overwriting inheritance in FIG. Inheritance relationships are indicated by white arrows with triangles.

  FIG. 30 shows that the “screw fastening point with confirmation (FIG. 13)” is created based on the “screw fastening point (FIG. 3)”. “Another feeder screw tightening point (FIG. 14)” is similarly created based on the “screw tightening point”. On the other hand, if the relationship of the definition of the screw fastening point with confirmation not reused in FIG. It can be seen that the “screw tightening point with confirmation (FIG. 12)” in FIG. 31 does not inherit the “screw tightening point” but is made back to the original “PTP driving point”.

  Both schemes have the same resulting behavior. However, considering the definition level and public / non-disclosure, the difference in this definition method is significant.

  That is, as shown in FIG. 30, the method of inheriting “screw tightening point” is possible even if the definition content of “screw tightening point” is not disclosed. On the other hand, it is difficult to define the “screw tightening point” in order to define the “screw tightening point with confirmation” without inheriting it as shown in FIG.

In the definition of FIG. 12, “moving work number = 5” and “point work number = 10” are specified, but this number (that is, the work content) is diverted from the operation of “screw tightening point”. If this number (that is, the work contents) is not disclosed, such a definition cannot be made.

On the other hand, in the definition of screw tightening with confirmation by inheritance in FIG. 13, it is only the type ID “TighteningPoint” that needs to be known about the “screw tightening point” of the original point type. There is no need to know how the work there is actually done. Whether the point work number is private or the work written in the definition is private, you can define screw tightening with confirmation.

  It is assumed that the “screw tightening point” is defined by an intermediate contractor (integrator) and this content is not disclosed. In the production technology level, when trying to define a “screw fastening point with confirmation” based on this “screw fastening point”, the definition by inheritance as shown in FIG. 13 is effective.

[7. Other Embodiments]
Although the embodiments of the present invention have been described above, various omissions, replacements, and changes can be made without departing from the scope of the invention. And this embodiment and its deformation | transformation are included in the invention described in the claim, and its equivalent range while being included in the range and summary of invention.

Claims (7)

In a robot with a control unit that moves the unit to the specified point and causes the unit to work,
A work instruction sequence storage unit for storing an instruction sequence of work to be executed by the unit;
A point type definition data storage unit for storing the work instruction sequence in association with a point type name specified in teaching;
A point sequence storage unit for storing the position information of the point to which the unit is moved and the point type name in association with each other and storing it as a point sequence;
The point type definition data storage unit associates previously stored point type definition data with a new point type name as a work instruction sequence, and adds or overwrites the point type definition data to create new point type definition data. Remember as
The control unit refers to the point type definition data from the stored point type name,
Causing a work instruction sequence included in the point type definition data to be executed;
Robot characterized by. In the point string storage unit,
The point which moves the said unit, the point classification performed in the point, and the work command sequence performed before and after the operation | work based on the said point classification are matched and memorize | stored as a point sequence. Robot. A setting data storage unit for storing setting data for the work instruction sequence;
The robot according to claim 1 or 2 , wherein the point type definition data storage unit stores setting data in association with a point type name and a work instruction sequence to be executed. An independent data set storage unit for storing an independent data set obtained by collecting a plurality of condition data for the work instruction sequence;
The independent data set storage unit, a robot according to any one of claim 1 to 3, wherein the storing whether the work instruction sequence refers to any independent definition data. For each data to be stored, an account storage unit that stores information on which account the owner is, as well as a set value of the protection mode,
The robot according to any one of claims 1 to 4 , wherein an access right relating to at least one of browsing, rewriting, and erasing of the data is provided. In the robot control method that moves the unit to the specified point and causes the unit to work,
A work instruction sequence storage unit step for storing a sequence of operations to be executed by the unit;
A point type definition data storage step for storing the instruction sequence as a point type definition data in association with a point type name specified in teaching;
A point sequence storage step of storing the position information of the point to which the unit is moved and the point type name in association with each other as a point sequence;
The point type definition data storage step associates previously stored point type definition data with a new point type name as a work instruction sequence, and adds or overwrites the point type definition data to create new point type definition data. Remember as
Refer to the point type definition data from the stored point type name,
Comprising an execution step of executing an instruction sequence included in the point type definition data;
A method for controlling a robot characterized by the above. In a control program for a robot that moves a unit to a specified point using a computer and causes the unit to work,
For the computer
Storing a sequence of operations to be executed by the unit;
The instruction sequence is stored in association with the point type name specified in teaching,
The position information of the point to which the unit is moved and the point type name are associated with each other and stored as a point string,
The previously stored point type definition data is associated with a new point type name as a work instruction sequence, added or overwritten on the point type definition data, and stored as new point type definition data.
Referring to the point type definition data from the stored point type name, and executing a sequence of instructions included in the point type definition data;
A robot control program characterized by

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