JPH0313604B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention utilizes so-called PTP (point to point) control that memorizes arbitrary points and automatically moves the tip of the working arm of the robot body from the memorized points to the memorized points. This invention relates to a robot control device using a teaching playback method.

In recent years, versatile work robots have become popular in order to automate and save labor when performing assembly work for high-mix, low-volume production. This type of work robot has a programmer section that inputs operating conditions necessary for operating the robot body and positional information of each point, etc. and also sends out operation command signals, and a storage section that stores the operating conditions, positional information, etc. A teaching playback system using PTP control is adopted, which uses a control device that integrates a central control unit that operates according to a predetermined program in response to the operation command signal. In this method, after inputting the position information of an arbitrary point, the robot body is operated one step at a time, the position information is reconfirmed, and this position information is corrected as necessary. ing. In this case, the operator had to go back and forth between the control device and the robot body many times to correct the positional information of any point and store it. Therefore, when there are many points to be taught, several hours are required for teaching including confirmation of position information, resulting in extremely poor workability. To eliminate this drawback,
A robot control device disclosed in Japanese Unexamined Patent Publication No. 149181/1983 is used. This robot control device 51
As shown in FIG. 5, it has a central control section 55, a storage section 54, a programmer section 73, an operation section 74, and a separate teaching box 66, which is used for robot control. The device 51 is configured so that the position information stored in the device 51 can be called up and the position of each point can be corrected. Therefore, when correcting the positional information of each point, the operator can use the teaching box 66 to approach the robot body (not shown), making it possible to shorten the time required for teaching. There is. However, since this robot control device is configured to set the mode select switch 75 disposed on the operating section 74 to the teaching mode position when correcting the position of each point, the operator cannot reach the robot control device 51. The robot control device has to be moved and installed at the work site even if the work site is in an adverse environment such as high temperature and humidity, which not only causes malfunction of the robot control device but also shortens the life of the device. However, there are also disadvantages such as the influence of

The present invention aims to eliminate the above-mentioned drawbacks.
Examples will be described below with reference to the drawings. In FIGS. 1 and 2, reference numeral 1 indicates a robot control device (hereinafter referred to as the control device) using a teaching playback method using PTP control. It is configured. This control device 1 has a control panel 3, which controls motors X, Y, Z, θ.
an information unit 4 that stores operating conditions of the robot body 2 driven by the robot body 2, position information of arbitrary points, etc.; a central control unit 5 that controls input and output to the storage unit 4 according to a predetermined program; It has a motor drive section 6 that operates in accordance with a command signal from a control section 5. A separate programmer device 7 is also removably connected to the control panel 3 via a communication cable, and is used to control the operation of the robot body 2, such as the operating conditions of the robot body 2, position information of arbitrary points, etc. The programmer device 7 is configured so that it can be removed after all the conditions necessary for the program have been input into the storage section 4. The control panel 3 is configured so that even after the programmer device 7 is removed, the robot main body 2 is operated according to the given program in response to operation command signals from the operation panel 8. The operation panel 8 has various switches that send operation command signals to the central control unit 5, namely an automatic manual changeover switch, a 9-step continuous switch 10, a home cycle switch 11, a skip temporary stop switch 12, a home position switch 13, a monitor changeover switch 14, and a program. It has a select switch 22. In the switch group, when the automatic manual changeover switch 9 is set to automatic, the other switch groups are automatically set to manual so that the continuous switch, cycle switch, and pause switch can be selected respectively. It is configured so that the step switch, home switch, and skip switch can be selected automatically when the The operation panel 8 also has a display section 15 consisting of an LED numerical display that displays 8-digit data, and as shown in FIG. 3, when the monitor changeover switch 14 is activated, 1) the monitor changeover switch is turned on; mosquito.

2) If it is on, add +1 to the display number.

3) Is the number number 8?

4) If it is 8, reset the display number to φ.

5) If it is off, go to the next step.

6) Is the display number φ?

7) If φ, set program number and subprogram number.

8) If not φ, go to next step.

9) Is the display number 1?

10) If it is 1, set the point number.

11) If it is not 1, go to the next step.

12) Is the displayed number 2?

13) If 2, set X data.

14) If not 2, go to the next step.

15) Is the display number 3?

16) If 3, set Y data.

17) If not 3, go to next step.

18) Is the displayed number 4?

19) If 4, Z data set.

20) If not 4, go to next skip.

21) Is the display number 5?

22) If 5, θ data set.

23) If not 5, go to next step.

24) Is the display number 6?

25) If 6, sequence number, interpolation or not, speed data set.

26) If not 6, go to next step.

27) Is there any abnormality?

28) If there is an abnormality, set the abnormal data.

29) If there is no abnormality, the data set is normal.

30) Performs 8-digit LED display.

31) Return to 1).

According to the above flowchart, the program number,
Step number, X data, Y data, Z data,
It is configured to sequentially display various operating conditions such as θ data, sequence data, and abnormality display.

Further, as shown in FIG. 4, the central control section 5 performs the following steps: 1) Determines whether the skip switch is on.

2) If the skip switch is not on, run another program.

3) If the skip switch is on, set the timer time to 0.5sec.

4) Increment the point number and set the position information of the point accordingly.

5) Activate the timer and after the set time elapses,
Half-cut to see if the skip switch is on.

6) If the skip switch is not on, return to 2).

7) If the skip switch is on, shorten the timer setting time to 0.05 sec and return to 4).

The display unit 15 is configured to sequentially display position information of an arbitrary point in accordance with the above flowchart.

A separate teaching box 16 is connected to the operation panel 8 via a communication cable, and this teaching box 16 rotates each motor X, Y, Z, θ by a certain amount in the forward or reverse direction. It has a key switch 17 that causes the key switch 1 to
7 is configured to move the robot body 2 to any desired position singly or in cooperation with a continuous key switch 18. Also, this teaching box 1
6 has a teaching key 19 for selecting a teaching mode, and when modifying the position information already stored in the storage unit 4 by the programmer device 7, the teaching key 19 is turned on and this operation command signal is sent to the central control unit 5. It is configured so that you can send and modify location information. Furthermore, this teaching box 16 has an entry key 20, and stores position information in the storage section 4 according to the corrected position of the robot body 2.
The device is configured to emit an operation command signal to be stored in the device.

In the above robot control device, the programmer device 7
When operating the robot body 2 from the beginning, necessary operating conditions and position information of an arbitrary point are stored in the storage unit 4 via the central control unit 5. After that, when modifying the position information of any point, display section 1 of operation panel 8
5, it is necessary to call the desired point. In this case, the monitor changeover switch 14 advances the display on the display section 15 to display the point number. When the skip switch is turned on from this state, the timer is set to a predetermined time, the point number is then incremented, and position information corresponding to the point number is set on the display section 15. At the same time, the timer is activated and the position information is displayed on the display 15 until the set time elapses. If the skip switch continues to be on even after this set time has elapsed, the set time of the timer is shortened and the point number is incremented again. Therefore, the display section 15
Position information corresponding to the point number at this time is set. At the same time, the timer is activated,
Since the setting time is short, the predetermined position information is displayed, but if the skip switch is still on, the point number immediately increments. Therefore, the display on the display unit 15 advances at a high speed, and even if there are many set positions, the point number can be called up quickly.

As explained above, the present invention separately arranges a control panel having a central control section and a storage section and an operation panel that sends operation commands to the central control section, and also includes a key switch for selecting a teaching mode on the operation panel. By connecting a teaching box with a motor drive key switch and an entry key that stores corrected position information, it is possible to approach the robot body and correct the position information of any point accurately and quickly. It is now possible to isolate the control panel, which is easily affected by adverse environments, from the work site.
This has the advantage of not causing malfunction of the device and extending the life of the device. Further, since the present invention provides a display section consisting of an LED numeric display on the operation panel, an expensive display section such as a CRT cathode ray tube is not required, and there is an advantage that an inexpensive device can be provided. In addition, the present invention changes the display on the display section by 1.
Since it is configured so that it can be performed each time or continuously, even if there are many position setting points, the desired point can be called up quickly and with the simple operation of simply pressing a switch, without the need for special operations. This method has the advantage that it is possible to confirm and correct the position information of any point in a short time.

[Brief explanation of drawings]

FIG. 1 is an overall explanatory diagram of the present invention, FIG. 2 is a circuit explanatory diagram showing the main parts of the present invention, FIG. 3 is a flowchart explaining the operation of the display unit according to the present invention, and FIG. 4 is a diagram illustrating the present invention. FIG. 5 is a flowchart illustrating the skip function of the display unit according to the present invention, and FIG. 5 is a circuit explanatory diagram of a conventional robot control device. DESCRIPTION OF SYMBOLS 1, 51... Robot control device, 2... Robot main body, 3, 53... Control panel, 4, 54... Storage unit, 5, 55... Central control unit, 6... Motor drive unit, 7... Programmer device, 8... Operation panel, 9...
...Automatic manual changeover switch, 10...Step/continuous switch, 11...Home cycle switch,
12...Skip/pause switch, 13...
Origin switch, 14...Monitor changeover switch, 1
5... Display section, 16, 66... Teaching box, 17, 67... Key switch, 18... Continuous key switch, 19... Teaching key, 2
0, 70...Entry key, 22...Program select switch, 73...Programmer section, 74
...Operation unit, 75...Mode select switch.

Claims (1)

[Scope of Claims] 1. A storage unit that stores position information of an arbitrary point, a central control unit 5 that controls input/output signals to the storage unit 4, and a motor driven by an operation command signal from the central control unit 5. a control panel 3 having a section 6; operating conditions necessary for operating the robot body 2 on the control panel 3;
a programmer device 7 for inputting position information of each point, etc.;
An operation panel 8 and an operation panel 8 that give operation commands to the central control unit 5 and are arranged separately from the control panel 3
Teaching key 1 is connected to the computer via a communication cable and is used to select the teaching mode.
In a robot control device comprising a teaching box 16 which inputs a position correction command for an arbitrary point to the central control unit 5 through an operation panel 8 and thereby corrects position information in the storage unit 4, the operation panel 8 is provided with a display section 15 consisting of an LED numeric display, and a monitor changeover switch 14 is arranged.
The display number is incremented by the monitor changeover switch 14, and the operating conditions of the robot body 2 are sequentially displayed on the LED numeric display.Furthermore, a skip switch is arranged on the operation panel 8, and the skip switch can be used to select any point. The number is incremented, the position information at that point is set on the display section 15 for a predetermined time, and when the skip switch is pressed even after the predetermined time has elapsed, the time is shortened and the above operation is repeated at high speed. robot control device.