JPH02173808A - Storing method for robot teaching point and robot controller - Google Patents

Abstract

PURPOSE:To prevent the misregistration of the robot teaching points by approving the registration of these teaching points only when the coincidence is obtained between a control subject corresponding to an area belonging to a memory position and the input identification information. CONSTITUTION:The data can be written into a memory 7 only when a switch 12 is closed since the write data TP and H/R are supplied to the memory 7 via the switch 12. In other words, the switch 12 is closed only when an attribute data deciding device 16 decides the coincidence between the attribute data read out of the memory 7 and the data H/R received from an identification input device 3. Thus the teaching points of plural control subjects is stored with no mistake.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention provides a method for storing teaching points of a robot having different moving parts, such as fingers and arms, and a method for storing teaching points for a robot having different moving parts, such as fingers and arms, and The present invention relates to a robot control device that controls a robot.

[Prior Art] A robot usually includes a plurality of movable parts, moving parts, or controlled objects (hereinafter abbreviated as controlled objects). For example, imagine a robot body (e.g., a multi-jointed arm) and a hand section attached to its tip (e.g., a finger that rotates in the θ direction). In this case, the control results of the arm and fingers are the desired In order to closely relate the direction of movement of the arm and the direction of rotation of the finger to obtain the desired results, these control objects are usually controlled by one control device. and,
Conventionally, in order for one control device to control a plurality of control objects, it is common that the teaching points of these control objects are mixed and stored in the same memory.

[Problems to be Solved by the Invention] However, in the above-mentioned conventional example, the teaching points for these plurality of control objects are not stored in such a manner that the control objects can be identified.

On the other hand, for example, in the process of testing robot control, etc., cases often arise where, for example, it is found that the memorized teaching point data of the arm deviates from the desired position, and the teaching point data needs to be slightly changed. do.

However, in this changing process, it is difficult for the operator to identify the storage location of the teaching point data, so he often ends up changing the teaching point of the finger by mistake even though he intended to change the teaching point of the arm. It has occurred. Normally, this error is often not noticed at the time, and is only noticed after the robot malfunctions. However, in some cases, this malfunction may cause damage to the robot, which has been a problem.

The present invention has been proposed in order to eliminate the drawbacks of the prior art, and provides a method for storing teaching points for a plurality of control objects without error, and a control method for controlling a robot using the stored teaching points. This paper proposes a device.

[Means for Solving the Problems] The structure of the method for storing teaching points of a robot according to the present invention for achieving the above-mentioned problems is such that the teaching points of a robot having a plurality of control objects are stored in one storage means. In the robot teaching point storage method, when the storage means is divided into multiple areas corresponding to multiple control objects and new teaching point data is registered, the storage position in the storage means is stored together with this teaching point data. The system is characterized in that information and identification information about the controlled object are input, and registration is permitted only when the input identification information matches the controlled object corresponding to the area belonging to this storage location.

Further, the configuration of the robot control device of the present invention is a robot control device having a plurality of control objects, and each of these control objects is given a teaching point for positioning,
A robot control device for controlling movement of the plurality of control objects includes a storage means having an area allocated for each of the plurality of control objects, and a storage means for storing teaching points of each of the plurality of control objects. an input means for inputting location information together with identification information of the controlled object; and a registration means for registering in the storage means only when the allocated area corresponding to the storage location information matches the input identification information. It is characterized by

[Embodiments] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings, in which the present invention is applied to a control device for a robot consisting of a robot body and a hand.

FIG. 2 shows the robot system of the embodiment. In the figure, 40
is a program input section for operating the robot programmatically. This program is interpreted by the registration/interpretation section 41. The interpreted command is transmitted to the movement control section 43, and the position of the main body section 44 or the hand section 45 is controlled depending on the type of the main body section/hand section. Reference numeral 20 denotes a console, the detailed configuration of which is shown in FIG. 3. The console 20 has a function for inputting commands for teaching point registration, simple movement commands, and the like. Commands input from the console 20 are also interpreted by the interpreter 41. The teaching points input through the console are registered in the memory 7 via the registration/interpretation section 41. The actual registration of teaching points involves sequentially registering a plurality of teaching points for each of the hand portion and the main body portion.

The teaching points in the memory 7 are stored in an array in the form of P (N). Here, N is the index number of the teaching point. One piece of teaching point information consists of position data TP and attribute data. The position data TP consists of four pieces of information: XYZθ, and the attribute data includes information for identifying whether it is a main body part or a hand part. In this embodiment, this attribute data is assigned "R" if the robot body is designated, and "H" is assigned if the robot's hand is designated.

FIG. 3 is a diagram showing the external appearance of the operation console 20, where 21 is a display section having a plurality of display digits, 22 is a numeric keypad for inputting the teaching point number N, and 23 is for instructing the direction of movement of the main body or hand section. The key 24 is a switch that instructs whether the key 23 is to be moved to the main body or the hand. The key 25 is a switch that instructs the memory 7 to register teaching points including attributes. A clear key 27 instructs to clear only the teaching point data TP registered in the memory 7. A clear key 27 instructs to clear only the attribute data 2 in the memory 7.

FIG. 1 is a drawing that best represents the features of this embodiment. 1 is a position register that holds the position information RTP of the robot main body, and 2 is a position register that holds the position HTP of the hand. As mentioned above, the position data of both the hand and hand parts are each composed of four pieces of information.These position registers are provided in the operation console 20. 3 is teaching point data for which a registration or movement command is to be issued. Information H/ to identify either the hand part or the main body part.
This is an indicator that indicates R, and corresponds to the switch 24 in FIG. 4 is a teaching point number input device for specifying the teaching point number N, and corresponds to the numeric keypad 22 in FIG. 5 is a switch that switches the input from the position data register according to the information H/R.

6 is a memory area storage control device, and 7 is a memory for storing teaching point data. As described above, this memory is arranged in an array of P(N). This memory 7
Writing to the write data T is performed via the switch 12.
Since P, H/R are supplied to the memory 7, this is only possible when the switch 12 is closed. This step S value 12 is closed because, as will be described later, the attribute data determination device 16 uses the attribute data read from the memory 7 and the input device 3.
It was determined that it matched the H/R input from . Only when.

8 is an attribute data field clear indicator (corresponding to key 27 in FIG. 3) that instructs clearing of the attribute data 2 in the memory 7; 9 is a teach point data registration indicator that instructs to register data to the teach point; (corresponding to the key 25 in FIG. 3), 10 is a teaching point data clear indicator (corresponding to the key 26 in FIG. 3) for instructing clearing of the teaching point data field in the memory 7, 16 is an identification input device 17 is an attribute data determination device that determines whether the H/R input in 3 and the attribute data 2 output from the attribute data retrieval device match/mismatch;
is an attribute error display device that displays the output result of the attribute data determination device.

There are three values that can be stored in the attribute data field Z in the memory 7: "R", "H", and "O". “R”, “H”
” means that the teaching points for the robot body and hand are stored, respectively. If the Z value is “0”, there are no teaching points in this area yet. This means that the teaching point data of either the main body part or the hand part can be stored.In other words, the output of the judgment table W16 becomes "1" and the switch 12 closes. , ■: When the values of the two fields read by the attribute data retrieval device 15 are “0,” ■: The values of the two fields also read are “H” and the H/ When R indicates "H", (2): When the values of the two fields read out in the same manner are "R" and H/R from the identification input device 3 indicates "R".

In the apparatus of the embodiment shown in FIG. 1, the sequence for registering teaching points is divided into three cycles, as shown in FIG. An attribute data read cycle by the extraction device 15, a check cycle by the determination device 16,
This is a write cycle involving switch 12.

When newly registering, as described above, the determination device 16
outputs “1”, so switch 12 closes and input device 3
The H/R from is added to the attribute data field, and this H/R
The HTP or HTPs selected according to /R are respectively written into the position data field of the memory 7 via the switch 5.

When changing the teaching point data of the robot main body, first select which teaching point number is to be changed using the teaching point number input device 4.
Specify with. Next, the identification input device 3 is used to specify that the data is teaching point data for the robot main body. Then, based on this designation, the switch 5 switches so that the information RTP of the robot body position register 1 is connected to the memory area control device 6. Next, the attribute data retrieval device 15 retrieves the attribute data of the teaching point data with the number N specified by the teaching point number input device 4, and the attribute data determining device 1
Passed to 6. Further, the attribute data H/R specified by the identification input device 3 is also passed to the attribute data determination device 16.

Here, the attribute data determination device 16 compares the two passed attribute data and determines whether they match.

The operation when the attributes match will be described below. If the attributes match, the output from the attribute data determination device 16 indicating the match becomes "1", the teaching point data related to the change can be registered, and the content RTP of the robot body position register is stored in the memory. It is registered in the data area of the designated teaching point number in area 7.

Next, a case where the attributes do not match will be explained. - When the attribute data 2 retrieved from the memory area 7 by the attribute data retrieval device 15 is of the hand part, the attribute data determination device 16 outputs an output indicating a mismatch, and this output prevents writing to the memory 7. It is prohibited and cannot be registered. At the same time, this output drives 17 attribute error display devices to inform the operator that the attribute data do not match, and that data is not registered.

The operation for clearing teaching points will be explained. In Figure 1, 1
1 is a switch for validating/invalidating the clear instruction from the attribute data clear indicator 8; 13 is a teaching data retrieval device for extracting the teaching data of number N specified by the teaching point number input device 4; and 14 is a teaching data extraction device. This is a teaching data clear determination device that determines whether or not the data has been cleared.

Since clearing the teaching point data is also a kind of change, for this operation, it is necessary to operate the identification input device 3, the teaching point number input device 4, and the teaching point data clear indicator 1o. First, in a read cycle, the attribute data of the area designated by the teaching point number N is read out, and the H/R from the identification input device 3 is compared with this read attribute data, and only when they match, the control device 6 The "O" data output from the memory 7 is written into the N area in the memory 7 as the position data TP.

Next, if you want to clear the attribute data, use the number input device 4.
and operation of the clear indicator 8 is required.

By this operation, the teaching point with the input teaching point number N is read out by the take-out device 13, and the read content is "0".
In other words, if it is determined by the 0 determiner 14 that the teaching point data has already been cleared by the teaching point data clearing operation,
The switch 11 is closed and an attribute data clear instruction is issued to the control device 6. As a result, from the control device 6,
"O" is output as attribute data and written. In this way, attribute data can be changed.

According to the embodiments described above, the means for changing the teaching points of the robot can be switched between those relating to the robot body and those relating to the hand, and the attribute data of the teaching points are determined.
By prohibiting the registration of data with different attributes, it is possible to prevent the robot's position data from being erroneously registered in the teaching point storage area of the hand section, and the hand section erroneously using the position data of the robot body. This has the effect of preventing damage to the robot.

Furthermore, the data is protected by making it possible to change the attribute data only by performing a double operation of clearing the teaching point data and then clearing the attribute data.

The present invention can be modified in various ways without departing from the spirit thereof. For example, the attribute code is not limited to "R" and "H", but may be a number, for example.Also, the memory 7 is divided into areas without an attribute code, and the teaching point number from 1 to n is used. may be assigned to the hand portion, and teaching point numbers from n+1 to N to the main body portion, and these numbers may be compared with H/R, which is the identification information from the identification indicator 3.

Furthermore, in the above embodiments, the robot consists of a main body and a hand, but the present invention is applicable to any robot having a plurality of moving parts.

[Effects of the Invention] As explained above, the robot teaching point storage method of the present invention is a robot teaching point storage method for storing the teaching points of a robot having a plurality of control objects in one storage means. , when dividing the storage means into multiple areas corresponding to multiple control objects and registering new teaching point data,
Along with this teaching point data, information about the storage location in the storage means and identification information about the controlled object are input, and only when the input identification information matches the controlled object corresponding to the area belonging to this storage location, registration is made. It is characterized by the recognition of

Therefore, since registration is permitted only when the identification information matches, erroneous registration of taught points due to erroneous operation is prevented.

According to an embodiment of the invention, the storage means is divided into fields for storing teaching point data and identification information.

Further, the configuration of the robot control device of the present invention is a robot control device having a plurality of control objects, and each of these control objects is given a teaching point for positioning,
A robot control device for controlling movement of the plurality of control objects includes a storage means having an area allocated for each of the plurality of control objects, and a storage means for storing teaching points of each of the plurality of control objects. an input means for inputting location information together with identification information of the controlled object; and a registration means for registering in the storage means only when the allocated area corresponding to the storage location information matches the input identification information. It is characterized by

Therefore, erroneous registration of teaching points is similarly prevented.

[Brief explanation of the drawing]

Fig. 1 is a diagram explaining the principle of this embodiment, Fig. 2 is a configuration diagram of an embodiment in which the present invention is applied to a robot control device, and Fig. 3 is an external view of an operation console used in the embodiment. , FIG. 4 is a diagram explaining the registration sequence. In the figure, 1...Robot body position register, 2...Hand part position register, 3...Identification indicator, 4...Teaching point number human power device, 5...Switching device, 6... -Memory area control device, 7...Memory, 8...Attribute data clear indicator, 9...Teaching point data registration indicator, 10...Teaching data clear indicator, 11.12...Switch , 13
...Teaching point data retrieval device, 14...Teaching point data clear determination device, 15... Attribute data retrieval device, 1
6... Attribute data determination device, 17... Attribute error display device. Figure 2 Patent applicant: Canon Co., Ltd. Figure 4

Claims (8)

[Claims] (1) In a method for storing teaching points of a robot having multiple control objects in one storage means, the storage means is divided into a plurality of areas corresponding to the plurality of control objects, and a new one is created. When registering teaching point data, input information about the storage position in the storage means and identification information about the controlled object along with this teaching point data, and enter the controlled object corresponding to the area belonging to this storage location. A method for memorizing teaching points for a robot, characterized in that registration is permitted only when the identified identification information matches. (2) Each of the areas in the storage means is divided into fields for storing teaching point data and identification information for distinguishing the controlled object, and when the field for storing identification information is blank, input teaching point data is stored. 2. The method of storing teaching points for a robot according to claim 1, wherein registration of identification information is unconditionally permitted. (3) When identification information is stored in the field that stores identification information, new registration is permitted only when the input identification information matches the already stored identification information. A method for storing teaching points for a robot according to claim 2. (4) A robot control device having a plurality of control objects, in which each of these control objects is given a teaching point for positioning, and the robot control device controls the movement of the plurality of control objects. storage means having an area allocated for each of the plurality of control objects; input means for inputting the teaching point of each of the plurality of control objects together with its storage location information and identification information of the control object; A robot control device comprising: a registration means for registering in the storage means only when the allocated area corresponding to the storage location information matches the input identification information. (5) Each of the areas in the storage means is divided into fields for storing teaching point data and identification information for distinguishing the controlled object, and further includes means for determining whether the field for storing the identification information is blank. , The robot control according to claim 4, further comprising writing means for unconditionally writing the input teaching point data and identification information into the field when the field is determined to be blank. Device. (6) means for determining whether identification information is stored in a field that stores identification information; means for determining whether input identification information matches existing identification information; 6. The robot control device according to claim 5, wherein registration of a new teaching point is permitted only when it is determined that a new teaching point exists. (7) The robot control device according to claim 4, wherein the plurality of control objects are a robot main body and a robot hand. (8) The robot control device according to claim 4, further comprising means for clearing a storage field of identification information in the storage means.