JPH0275005A - Robot controller - Google Patents

Abstract

PURPOSE:To omit a teaching process with plural works having the same form and different positions and therefore to shorten the working time by securing such a constitution where a program conversion part changes a robot working program via a matrix and obtains a new robot working program. CONSTITUTION:When data are received from a keyboard 2 or a teaching box 3, the corresponding robot working program of a program store memory 5 is stored temporarily in a program creating memory 4. While a matrix creating part 6 creates a matrix for movement of a robot based on the input of the keyboard 2 or the box 3. A program conversion part 8 calls the robot working program out of the memory 4 and changes this program via a matrix to create a new working program. Thus it is possible to change the robot working program via a matrix to realize an optional parallel movement, rotary movement, and the optional expansion and reduction in case a program is created for plural works of the same form.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a robot control device for processing a plurality of workpieces of the same shape located at different positions [7], and particularly to a robot work program thereof. .

(Prior Art) Fig. 6 is a system configuration diagram of a conventional robot control device, in which (1) is a robot control device, (2) is a keyboard, (3) is a teaching box, and (
12) is the robot body.

FIG. 4 is a configuration diagram of the program creation section of the robot control device. In the figure, (2) and (3) are the same as above, 4) is a program creation memory with a working area for calling, creating and changing programs, and (5)
(13) is a program storage memory for storing the robot's teaching position and various commands; (13) is a program creation unit (4)
An interpolation calculator (14) is an actuator output converter for converting the data obtained from the interpolation calculator (18) into pulses for driving the robot.

The conventional robot control device is constructed as described above, and its operation will be explained along the flowchart of FIG. for example,
When creating a robot work program that processes two workpieces of the same shape but in different positions, the location of the torch (13) of the robot (12) in Fig.
Teach from the teaching box (3) in the figure (351
). Based on this taught position, various commands are input from the keyboard (2) in order to create a robot work program for the first workpiece (S52). Based on this input command, the robot work program is called from the program storage memory and the program creation memory (4
) and then change the robot work program stored in the program creation memory (4) based on the input from the keyboard (2) or teaching pendant (3) (S53). Once finished, the program is saved. Store in memory (854).

Then, it is determined whether workpieces having the same shape are located at different positions (S55).

Next, if the second workpiece is in a different position, the robot work program is called from the storage memory (5) to the program creation memory (4) (85G).

Next, it is determined whether the stored program exists (S5
7). If not, create a robot work program from the beginning, and if there is, the teaching box (3) will teach the robot's torch (13) the position relative to the above reference, and the teaching box (3) will start machining the second piece. Modify the jbot work program by changing the position movement data called into the program creation memory (4) so that the robot's torch (13) comes to the position of the object (35g)
).

(Problem to be Solved by the Invention) Since the conventional robot control device described above is configured as described above, when creating a robot work program for a plurality of workpieces having the same shape, for example, one The problem is that after teaching the position of the first workpiece using the teaching box (3), the working position of the second workpiece must be changed using the teaching box (3), which takes time and effort. was there.

This invention was made to solve this problem, and when creating a program for a plurality of workpieces of the same shape, the robot work program does not need to be changed using a teaching box for each position of the workpiece. The purpose of this invention is to change the robot work program using a matrix to obtain a robot control device that can perform arbitrary parallel and rotational movement and scaling.

(Means for Solving the Problems) A robot control device according to the present invention includes a keyboard for inputting various commands and information, a teaching box for teaching and changing the working position of the robot, and a robot working program stored therein. a program storage memory; a program creation memory for temporarily storing the robot work program by calling the robot work program stored in the program storage memory based on input from the keyboard and teaching box; a matrix creation unit that creates a matrix for changing the robot work program based on the input of the matrix; and a program conversion unit that changes the robot work program stored in the program creation memory based on the matrix and stores it in the program storage memory. It is equipped with a section.

(Function) In this invention, when data is input from the keyboard or teaching box, the corresponding robot work program in the program storage memory is called and temporarily stored in the program creation memory, while data from the keyboard or teaching box is input. Inputs are also input to the matrix creation section, and the matrix creation section creates a matrix for robot movement based on these inputs. The program converter then calls the robot work program stored in the program creation memory, changes this robot work program using the matrix, and creates a new work robot program. This new robot work program is stored in the program storage memory via the program creation memory.

(Embodiment) FIG. 1 is a functional conceptual diagram of a robot control device according to an embodiment of the present invention, and in the figure, (2) to (4) and (
12) to (J4) are completely the same as the conventional device described above. (6) is a matrix creation unit that creates a coordinate transformation matrix based on the robot position instructed from the teaching box (3) or the keyboard (2);
(7) is a matrix created by the matrix creation unit (6) so that arbitrary parallel movement, rotational movement, and scaling can be defined, and (8) is a program of the new teaching position of the robot using matrix (7). This is a program conversion unit that converts the program into a program, and operates according to the flowchart shown in FIG. Further, the flow of data in this embodiment is shown in FIG.

In FIG. 3, (7) is a conversion matrix created by the matrix creation section (6), (9) is a robot work program, (10) is a program conversion means, and (11) is a program after conversion.

In the robot control device configured as above,
When processing a rectangular workpiece of the same shape, it is first created using the same procedure as before (3501).

Next, the first robot work program created is sent to the program creation section (4) (S22). Next, a new robot work position is input from the teaching box (3) (823). Next, the matrix creation unit (6)° based on the robot position instructed from the teaching box (3) or the keyboard (2), for example, when the robot position moves in parallel, the instructed robot position is 2.
one position Pl (x,.

)'1-z )~P (x2, y2
, zl ) and the following matrix is created (
824).

If the corresponding components of the above matrix A are equal to any matrix B, then when this is converted to a position in another three-dimensional orthogonal coordinate system, this coordinate transformation matrix B allows arbitrary translation,
Rotation and scaling can be defined.

Next, a plurality of teaching positions of the robot are stored, and these are numbered and managed in the form of steps, and the first step within this number range is set (S25
). Then, the program converter (8) in FIG. 1 determines whether the first step has been completed (S26). If the program is finished, the above program is stored in the program storage memory (829).

In addition, all the steps must have been completed in step (32B). Since the program of the program converter is composed of a plurality of teaching positions and various commands, for example, each teaching position P (
To convert X, Yn, Z), n
n Multiplying the above matrix B as shown in the following equation, the new teaching position P(XYZ
) to nl nl'nl' nl .

(Note that 1, the fourth element of the coordinate value, and 0.0.0.1 in the fourth row of the matrix are constants added for convenience of calculation.) Using this new matrix, The program converter (8) is connected to the program creation memory (
4) Since the above robot work program is converted, it is translated in parallel to the position of the next workpiece (827). Next, the above (S
By proceeding to the next step after the step managed in step 25), the movement data of the robot is changed using the matrix (S28). When finished, the program storage memory (5
) (S29).

Note that in the above embodiment, only the translation component of the coordinate transformation matrix has meaning, but rotation, enlargement, and reduction (scaling) are possible by using other components of the coordinate transformation matrix. For example, it is possible to rotate by θ around two axes using the coordinate transformation matrix shown below.

In addition, multiple teaching positions of the robot are stored, and these are numbered and managed in the form of steps. For example, if there are 10 teaching positions, the number range of the steps can be changed from 2 to 5 steps. You can specify and convert only part of the robot work program.

Incidentally, in the above description, the present invention is applied to a rectangular workpiece, but it goes without saying that it can also be applied to other surface-symmetric (mirror image) workpieces.

(Effects of the Invention) As described above, according to the present invention, the program converter changes the robot work program using 7 tricks and obtains a new robot work program. When there are objects, the operator does not have to change the teaching position of multiple workpieces for each position using a teaching box, which reduces machining time. Furthermore, the matrix allows scaling and mirror images to be performed. This effect has been obtained.

[Brief explanation of the drawing]

Fig. 1 is a functional conceptual diagram of a robot 11 and a control device showing an embodiment of the present invention, Fig. 2 is a flow chart of the embodiment, Fig. 3 is a data flow chart of the embodiment, and Fig. 4 is a conventional function diagram. A conceptual diagram, FIG. 5 is a conventional flowchart, and FIG. 6 is a system configuration diagram. In the figure, (1) is the robot control device, (2) is the keyboard, (3) is the teaching pendant, (4) is the program creation memory, (5) is the program storage memory, (
6) is the matrix creation part, (7) is the matrix, (
8) is a program converter, and (12) is a robot body. Note that the same reference numerals in the figures indicate the same or equivalent parts. Agent Patent Attorney Soji Sasaki
,JFigure 3Figure 6

Claims (1)

[Claims] (1) A keyboard for inputting various commands and information, a teaching box for teaching and changing the robot's work position, a program storage memory in which a robot work program is stored, and a robot work stored in the program storage memory. a program creation memory for temporarily storing a program by calling the robot work program based on inputs from the keyboard and teaching box; and a matrix for changing the robot work program based on inputs from the keyboard and teaching box. A robot control device comprising: a matrix creation unit that creates a matrix; and a program conversion unit that changes a robot work program stored in the program creation memory using the matrix and stores it in the program storage memory.