JPH03182907A - Numerical controller of robot - Google Patents

Abstract

PURPOSE:To eliminate the need of inserting a special command into a program for a parallel processing and to reduce a burden on the program by providing a write enable/inhibit designation means and instruction temporary storage parts. CONSTITUTION:Data showing the write permission of a subsequent instruction into the temporary storage part 3i or data of effect prohibiting writing is stored in the write enable/inhibit storage part 5. An instruction write control part 2 refers to information in the write enable/inhibit storage part and executes the write processing of the instruction based on said information. An instruction read part 6 collectively reads the instructions from the temporary storage part 3i in an order which an order storage part 4i gives and transfers them to an execution part 7 when the subsequent instruction comes to a write prohibition state. Thus, troublesome inserting the special command into the program for the parallel processing is eliminated and the burden on the program can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION A numerical control device for a robot according to the present invention will be explained according to the following items.

A. Industrial field of application B1 Overview of the invention C9 Prior art [Figs. 8 and 9] a. Numerical background Prior art [Figs. 8 and 9] D9 Problems to be solved by the invention E0 Means for solving the problem F, Example [Figures 1 to 7] a. Basic configuration [Figures 1 and 2 b, Operation [Figures 3 to 5] C1 Configuration example [ FIGS. 6 and 7 G8 Effects of the invention (A. Field of industrial application) The present invention relates to a novel numerical control device for robots. In detail, when parallel processing of commands in robot language and peripheral device control commands, or simultaneous operation of multiple commands related to robot operation, it is possible to uniformly and efficiently execute commands by imposing certain conditions on the instruction writing and execution procedure. The purpose of this invention is to provide a new robot numerical control device that can be easily processed.

(B. Summary of the Invention) The numerical control device of the robot of the present invention has a plurality of temporary storage units for storing instructions, and upon receiving a request to write an instruction, writes the instruction to the temporary storage unit under certain conditions. writing means;
write permission/disapproval designation means for permitting or prohibiting writing of the next instruction to be performed in the temporary storage section according to the type of instruction written in the temporary storage section by the writing means; A numerical control device for a robot comprising a reading means for reading out a command read out by the reading means and an execution means for executing the command read out by the reading means, wherein The write permission/deny designation means specifies whether to permit or prohibit the next command from being written into the temporary storage unit, to the writing means at the time of writing or executing the command, and the write permission command means temporarily If permission to write to the storage section is not given, the next instruction will not be written to the temporary storage section, and all instructions stored in the temporary storage section up to this point will be read out and the execution means will perform parallel processing. It is designed to be executed almost simultaneously, and requires complex communication processing when processing commands in the robot language in parallel with peripheral device control commands, or when simultaneously operating multiple commands related to robot motion. This allows these parallel processes to be realized using unified procedures without complicating the program.

(C, Prior Art) [Figures 8 and 9] (a, - Numerical Background) Due to their inherent flexibility, industrial robots are well suited for high-mix, low-volume production, and have recently been used in various production processes. In addition, as computer software technology improved, there was a need for robots that operated within a comprehensive production system using computers, and the robot controller itself also became a sequencer such as I10 control.
This function has become necessary.

(b, Conventional Example) [Figs. 8 and 9] Conventionally, there have been two methods for realizing these functions. One method is to use multiprocessors, and the other is to use a multitasking computer management program to make it appear to operate as a multiprocessor. These methods achieve almost the same effect, so
We will discuss the case using multiple processors. In both cases, the sequencer function description language and the robot language were realized independently as separate processes, so synchronization between the languages was basically done by the user.

FIG. 8 shows m pieces a using the above method.

In the figure, the part surrounded by the dotted chain line is the sequencer.
The sequencer program stored in the program storage area C is read out, interpreted by the interpreter d, decomposed into low-order execution instructions, and then sent to the execution unit e. The execution unit e generates signals necessary for controlling various peripheral devices f, f, . . . and transmits the signals to each peripheral device f, f, .
Send to.

In addition, the part g surrounded by the two-dot chain line in the figure is the robot control part, in which the robot program stored in the program storage area is read out by the interpretation part i and interpreted, and the low-order After being decomposed into execution instructions, they are sent to execution unit j. The execution unit j sends control signals to servo motors, etc. to operate the robot k, and also receives information from detection means such as a position detector built into the robot, and performs operations accordingly. It is designed to control the position of the robot.

Each language used to write sequencer and robot programs can be interpreted using a sequential interpretation (interpreter) method or a batch interpretation method (
However, normally, the processing in sequencer b and the processing in robot control unit g are processed by separate CPUs, or 2 for multitasking management programs
One process will be performed by the - CPU.

Incidentally, the following is an example of a case in which a plurality of commands related to the control of a robot or peripheral devices f, f, . . . need to be simultaneously processed.

One of them is instructions regarding robot k and peripheral devices f, f,
This is parallel processing with instructions related to... For example, if a workpiece on a production line comes within the robot's work range,
When robot k processes a workpiece, sequencer b monitors the arrival of the workpiece and stops the workpiece.
In this case, the arrival of the workpiece is notified by a signal from b, and the workpiece is then processed.

In such a case, in the above-described apparatus a, it is necessary to synchronize through communication between the execution section e of the sequencer b and the execution section j of the robot control section g.

Another case is a situation where commands related to robot operations are processed in parallel.

For example, as shown in FIG. 9, suppose the robot hand L is initially at the retracted position (this is referred to as "point P+J"), grabs the part m located at the ridge point P2, and moves to the point P located above it.
3, and then the robot hand C is moved horizontally to the insertion point P5 on the workpiece n through a point P4 which is at the same height as the point P3.

At this time, the robot hand A does not need to choose a linear path 0 as shown by the solid line, but instead chooses a curved path 0' as shown by the broken line in the figure, so that the robot hand A does not have to choose a linear path 0 as shown by the solid line. You may choose not to let it pass. This is done when an object is taken out, moved, and attached to another object, where it is simply a matter of avoiding obstacles in the path, and is a standard task in the assembly process. be.

When performing such an operation, the second operation of moving the robot hand toward point P4 is started before the first operation of moving the robot hand stand from point P2 to point P3 is completed. In this way, the first and second motions are performed redundantly (hereinafter, the robot motions performed in parallel in this manner will be referred to as "superimposed motions").

(D, Problem M to be solved by the invention) By the way, in the above example, the parallel processing of commands related to the control of the robot and peripheral devices was processed individually, so the parallel processing of limited commands was limited. However, there is a problem in that it is not easy to uniformly perform parallel processing for various instructions.

For example, if you try to process the robot's movement and the control of peripheral devices by a sequencer at the same time, communication is required to synchronize the execution parts, and there is also a need for communication such as a multitasking O3 (Operating System). In the case where tasks are independent, if one attempts to compensate for overlapping operations, very complicated communication between the tasks is required. Furthermore, if you try to simultaneously execute commands related to sequencer control in addition to the robot's superimposed movements, special program processing will be required for this purpose, which will lead to program complexity and the risk of causing the robot to run out of control. It will increase.

So, either run this independently for a certain instruction, or
Alternatively, it is known to create a special command to instruct whether to perform parallel operations with other commands and write this in the program, but this increases the programming burden as the number of special commands increases. This may also increase the possibility of programming errors.

(E. Means for Solving the Problems) In order to solve the above-mentioned problems, the numerical control device for the robot of the present invention includes a plurality of temporary storage units for storing instructions;
A writing means for writing the instruction into a temporary storage section under certain conditions upon receiving a request to write an instruction, and a command to be performed next depending on the type of instruction written to the temporary storage section by the writing means. A writing permission specifying means for permitting or prohibiting writing to the temporary storage section, a reading means for reading out the command stored in the temporary storage section, and an execution means for executing the command read by the reading means. A numerical control device for a robot according to the present invention, wherein the write permission/disapproval designation means allows or prohibits writing of the next command to the temporary storage unit depending on the type of command written to the temporary storage unit. is specified to the writing means at the time of writing or executing the command, and if the write permission command means does not issue write permission to the temporary storage section, the next command will not be written to the temporary storage section, All the instructions stored in the temporary storage unit up to this point are read out and executed almost simultaneously by the parallel processing of the execution means.

Therefore, according to the present invention, when writing or executing an instruction, the write permission specifying means determines whether or not the next instruction can be written to the temporary storage section according to the type of the instruction, and the write permission specifying means A unified procedure is adopted in which all instructions stored in the temporary storage unit are read out at once by the reading means until writing of the next instruction is prohibited by the execution means, and then buried in the parallel IA by the execution means. , it is possible to perform parallel processing of commands in the robot language and control commands for peripheral devices, and simultaneous operation of multiple commands related to robot operation, and it is possible to execute robot control commands and peripheral device control commands in the same processing system. This frees you from complex communication processing between robot control devices and peripheral devices, or between tasks related to robot motion, and allows you to easily program programs without the hassle of inserting special instructions into programs for parallel processing. This reduces the burden on users and prevents an increase in programming errors.

(F. Embodiment) [FIGS. 1 to 7] The details of the numerical control device for the robot of the present invention will be described below according to the illustrated embodiment 1.

(a. Basic configuration) [Figures 1 and 2] 2 is an instruction write control unit, and when a write request (hereinafter referred to as “WreQ”) is input to the write control unit from the outside, , an instruction to be written (hereinafter referred to as "C1") is stored in the -time storage unit 3° (i-1, 2, 3, 4). Note that write requests are issued until the program ends.

41 (i=1.2.3.4) has an order storage section,
- It is provided to give an order index to the information stored in the time storage section 3I, and the order storage section 4I, which is distinguished by the subscript ri, is paired with the temporary storage section 31 that has the same subscript. It corresponds to 1.

5 is a write permission storage unit, which is a temporary storage unit 3 for subsequent instructions.
．． Data indicating permission to write to (hereinafter referred to as rALWJ) or data indicating prohibition of writing (hereinafter referred to as rALWJ).
Hereinafter, it will be referred to as rlNHJ. ) is stored, and the instruction write control unit 2 refers to the information in the write permission/denial storage unit 5 and performs @write processing of the instruction based on this information. .

Reference numeral 6 denotes an instruction reading section, which reads all of the information in the storage section 31 when the subsequent instruction becomes write-inhibited (that is, when the write-inhibited data rINHJ is stored in the write permission/denial storage section 5). When the instructions are stored and there is no more space, the instructions are read out all at once from the temporary storage part 31 in the order ordered by the order storage part 4I and transferred to an execution part to be described later. Here, the reason why the instructions are read out in the order stored in the -time storage section 3I is to always maintain the execution order according to the program, but if this is not necessary, the instructions are read out in the order stored in the order storage section 3I.
becomes unnecessary. In other words, the order storage unit 4I is used only to sequentially execute instructions that are not executed simultaneously, such as control instructions related to peripheral devices, whose execution ends instantly.

7 is an execution unit which executes the command from the command reading unit 6 and sets data corresponding to the command in the position setting register unit 8 to be used as a target value for the robot's servo control system. There is. That is, the position setting register section 8 is as shown in FIG.
), the reference position register 8a and the deviation register 8
b, and the reference position information of the reference position register 8a and the deviation (offset) information of the deviation register 8b are added to the adder 9.
It is added by .

As shown in FIG. 2(B), consider a simple robot operation command (for example, FTP operation between two points).

In this case, first, coordinate data of a reference position (this is defined as point A) is set in the reference position register 8a. If no value is set in the deviation register 8b at this time (that is, if the amount of deviation is "ΔX", Δx=0), then the addition unit 19
The tip of the robot arm remains stationary at point A because the signal indicating the coordinates of the starting point A is still output.

At this point, a robot operation command for moving the robot arm to the final destination position (this is referred to as point B) is stored in the temporary storage unit 3I by the command writing control unit 2, and then executed by the command reading unit 6. When transferred to the section 7, the execution section 7 outputs the amount of deviation ΔX from the reference position A point. This deviation amount ΔX is added to the deviation register 8b.

At the time when writing of the next instruction to the temporary storage section 31 is prohibited by the write permission storage section 5, all the instructions stored in the temporary storage section 3I are read out at once by the instruction reading section 6. However, since the contents of the displacement register 8b are reset to zero before the readout is started, the addition result in the displacement register 8b corresponds to the deviation from the reference position. In other words, if the robot arm simply moves linearly, the data values in the displacement register 8b will be added over time, and eventually the distance between the reference position A and the final reached position B will be calculated. The value corresponds to the difference.

After the robot operation command is completed, the post-filling command is stored in the temporary command storage section 3. The coordinate data of the final position reached by the execution of the instruction is set in the reference position register 8a by the execution unit 7 when the command is deleted.

In this way, by updating the contents of the reference position register 8a every time the execution of a command related to the movement of the robot is completed, it is possible to prevent errors from accumulating when calculating the amount of deviation in the execution unit 7. Accurate positioning control of the robot can be performed.

In this way, the control value outputted by the adder 9 is referred to by the robot's servo control device (not shown) to perform actual robot operation control.

At this time, there is a risk that the contents of the position setting register section 8 may change while the execution section 7 is operating, so in order to prevent this, the position setting register section 8 may be changed before starting the reading operation of the instruction reading section 6. It is preferable to use the contents of the register section 8 by latching them.

The following conditions (1) to (5) are imposed on the processing performed by the instruction write control section 2 and the execution section 7 described above.

Condition (1): Instructions that are directly related to robot operation (hereinafter referred to as "robot operation instructions") or instructions that require the completion of a specially designated process before the next instruction can be executed ( Immediately after writing the instruction (hereinafter referred to as "execution end wait instruction") to the time storage section 3I, writing is prohibited to the write permission storage section 5 so that the next instruction is not written to the temporary storage section 3I. Set data rlNHJ.

Condition (2) Among robot operation commands, for commands that are specially permitted to execute the next command even while the robot is in motion (hereinafter referred to as "special permission commands"), writing permission is determined at the time when writing is permitted. Write permission data rA_LWJ is set in the storage unit 5.

Condition (3) An instruction written in the knee storage section 3I is deleted from the temporary storage section 31 when the execution of the instruction is completely completed. Incidentally, at this time, the contents of the write permission storage section 5 are not changed.

All commands are deleted from temporary storage section 3I. When the data is deleted, it is stored in the write permission storage unit 5. Set write permission data r　A　j　W　J.

: Robot movement commands and execution completion wait orders Orders other than orders can be executed immediately. (hereinafter referred to as "immediate execution command") Say. ), in this case the instruction Write permission is enabled when writing or at the end of execution. The contents of the negative storage section 5 are not changed.

Condition (4) Condition (5) Conditions (1) to (5) above were adopted based on the following objectives.

That is, regarding condition (1), in the case of robot movement commands (excluding special permission commands), it takes a relatively long time to complete the movement, and the chronological nature of program processing (
This is because, in order to preserve the temporal context, the next command cannot be executed until the end of the previous command.

Regarding condition (2), among the robot motion commands, in the case of a command related to a superimposed motion, other commands are stored in the temporary storage unit 3. even if that motion is not completed. This is because by additionally registering an action, it becomes possible to perform an action that overlaps with another action.

Regarding condition (3), the reason is that there is no need to store the instruction at any time when the execution of the instruction is finished. Therefore, the instruction that has finished execution is deleted in the -time storage section 3I so that the next instruction to be executed can be stored.

The reason for condition (4) is that if execution of all instructions stored in the -time storage unit for three summers has been completed, there is no need to keep write-protected forever. In this case, write permission data rALWJ is stored in the write permission/denial storage unit 5 so that the next instruction to be executed can be stored in the -time storage unit 3I, and writing of the command is permitted.

Regarding condition (5), in the case of an instruction other than a robot movement instruction or an instruction to wait for execution completion (for example, an instruction to turn on/off a peripheral device), a signal of at most several pulses is generated when the instruction is executed. This is because execution of the instruction ends instantly, and there is no problem even if such an immediate execution instruction is executed while other instructions are being executed.

The execution unit 7 performs the following processing in relation to the above conditions.

Process (1): The immediate execution command is executed as is, and after the execution is completed, the command is deleted from the temporary storage unit 3° (see conditions (3) and (5)).

Processing (2): Regarding the robot movement command, only calculate the position to which the arm, etc. should be moved, and set the target position (reference position + deviation amount) to be controlled at the next moment in the position setting register unit 8. .

and execution of robot movement commands When the process is completed, the current Delete the order (condition (1), (2), (3)).

That is, according to process (2), the execution unit 7 does not actually perform servo control processing for the robot, but only performs calculations for position control, and the processing time depends only on the calculation capacity. , can be calculated instantly in most cases.

Therefore, the concrete meaning of the fact that it takes time to execute a robot motion command is that it takes time for the actual robot motion to finish, and the processing for that purpose does not require time. The fivefold principle of special permission commands as shown in condition (2) becomes possible. That is, in the case of superimposed motions, the position is controlled by a commanded position that is a composite of the positions corresponding to two robot motion commands, thereby making it possible to process a plurality of robot motion commands in parallel.

(b. Operation) [FIGS. 3 to 5] Next, the flow of processing in the robot numerical control device 1 described above will be explained using the programs shown in FIGS. 3 to 5 and Table 1 as examples.

In FIG. 3, reference numeral 10 denotes a control device corresponding to the numerical control device 1 of the robot, which provides position information to the servo control unit 12 in response to a write request Wreq and command 01 input manually via the man-machine interface 11. robot 13
or interface 1
4 and sends a control signal to the 1st boat (rOP, J
) is used to control the opening and closing of the hand 13a of the robot 13, and the second boat (hereinafter referred to as rOP, J) is used to control the workpieces 16.16 flowing on the conveyor 15,
It is designed to perform stop control for... In addition, 17 in the figure is a parts supply pallet, and parts 18, 18,...
・are arranged.

In such a configuration, the robot 13
.

Table 1 In Table 1, the rOUTJ command is a command for the output ports OP, O20, and when the first boat OP1 is turned on by the commands rOUTON and IJ, the hunt 13a is closed and the command r
OUT OF F.

Hunt 13 when the number 1 boat OPI is turned off by "1"
A will be opened. Also, the command rOUTON, 2J causes 2
When the No. 1 boat OP 2 is turned on, the workpiece 16 on the conhair 15 is stopped, and when the No. 2 boat OP2 is turned off by the command rOUT OFF, 2J, the stoppage of the workpiece 16 is canceled, and the workpiece 16 is moved to the next process. It will be done. This r
The OUT and l instructions belong to immediate execution instructions.

Further, the commands rMOVE P, J are commands for moving the tool tip of the robot arm to the target point "Pl", and belong to robot operation commands. Furthermore, point p,
The meaning of (i=1.2.3.4.5) is as described above, and point P8 is a retreat point located above point P5.

Furthermore, the command rMOVE:xPHJ is a movement command related to a superimposing operation and belongs to a special permission command. In this case, the point "Pl" is not a point on the path that the robot arm actually moves, but is a virtual reference point for specifying the path, and the index x'' is a virtual reference point from the movement start point. It means the completion ratio of a process when all the processes up to point p are set to 1, and when the operation corresponding to this completion ratio X% is completed, the execution of the next instruction starts (condition (2) )
).

By including the virtual reference point in the instruction and explicitly indicating it in this way, it becomes easier to discover errors during programming.

First, in the initial state, no command is stored in any of the time storage units 31 as shown in FIG. It is assumed that write permission data rA_LWJ is stored in 5.

When a write request regarding the command rOUT ON, 2J in step 1) is made, the command write control unit 2 stores the command in a vacant temporary storage unit, for example, 3□, and stores the command in the corresponding order storage unit 4□. writes the rank “1” (4th
(See figure (B)).

As described above, since the rQUTJ instruction belongs to the immediate execution instruction, the contents of the write permission storage unit 5 do not change according to condition (5), so that writing in the next step 2) is permitted.

The instruction in step 2) is also an rOUTJ instruction, as shown in Figure 4 (
As shown in B), it is stored in one of the temporary storage units, for example, 32, and a rank “2” is written in the order storage unit 42, and at this time, the contents of the write permission storage unit 5 are also changed. It remains "rALW" instead. Therefore, writing regarding the next step 3) instruction is permitted.

The rMOVEJ command in step 3) is one of the temporary storage units,
For example, the order storage unit 4 corresponding to this is stored in 33.
Rank "3" is written in I. As mentioned above, the rMOVEJ command is a robot movement command, so condition (1) is met.
Accordingly, writing of subsequent instructions is prohibited. That is,
Write prohibition data rINHJ is written into the write permission storage section 5 (see FIG. 4(C)).

In this way, the remaining temporary storage units 34 remain unregistered and suspended, and writing of subsequent instructions is prohibited.

After that, the rOU stored in the − hour storage unit 31.32
The TJ instructions are sequentially read out by the instruction reading unit 6.

Then, the rOUTJ command in step 1) is instantaneously executed by the execution unit 7, thereby stopping the workpiece 16 on the conveyor 15. After the execution of the instruction is completed, the instruction is stored in the temporary storage section 3. according to condition (3). will be deleted from However, since the contents of the write permission storage section 5 are not changed, writing of the command in step 4) remains prohibited.

Subsequently, the command in step 2) is processed in the same manner, and the robot hand 13a is closed by executing the command. After the execution unit 7 finishes executing the command, it is deleted from the time storage unit 32, but at this time, the contents of the write permission storage unit 5 remain unchanged (see FIG. 4(D)).

Next, when the rM'0VEJ command in step 3) is read out and executed by the execution unit 7, the robot arm or
It is moved to the evacuation position P as shown in A). When this operation is completed, the rMOVEj command will be deleted from the temporary storage unit memory 33 according to the condition (3) described above, and as a result, all commands will be deleted from the time storage unit 33, so according to the condition (4). Writing of the next command is permitted (write permission storage unit 5'IC stores write permission data "ALW").
is written, resulting in the same state as in FIG. 4(A)).

The instructions in steps 4) and s) are also processed in the same manner as above. That is, after the rOUTJ command in step 4) is stored in the temporary storage unit 3I, the rMO in step 5)
Once the VEJ instruction is registered in the temporary storage section, writing of subsequent instructions to the temporary storage section 31 is prohibited. When the operation of grasping the robot hand 13a or the component 18 is completed by executing step 6), the temporary storage section 3I becomes completely empty and writing of the command for the next step is permitted.

FIG. 4(E) shows the state after the instruction in step 7) is stored in the temporary storage section 32. Step 7) (II
)rMOVE:, 50J instruction is a special permission instruction as described above, and writing of the next instruction is not permitted at the time the instruction is stored in the temporary storage unit 32 according to condition (2).

However, since this command has the attribute r:50J, the action of the command, that is, the point at which the robot arm reaches the halfway point of the virtual target point (in this case, the movement distance to point P3) Then, according to condition (2), perform the next step 8.
), ” are allowed to be written. In other words,
As shown in FIG. 4(F), the execution unit 7 performs rMOVE:
When half of the operations corresponding to the 50J command are completed, a signal is sent so that the write permission data rALWJ is written into the write permission storage section 5.

This results in step 8) as shown in Figure 4(G).
The rMOVE・30J instruction of the temporary storage section, e.g.
At the same time, the order storage unit 41 stores the rank "2".
" is written (rMOVE: order storage section 32 corresponding to the temporary storage section 32 in which the 50J instruction is stored.
The order of ``1'' is determined after executing the roUTJ instruction in step 6).
).

Then, the rMOVE: 30J instruction is read by the instruction reading section 6 and transferred to the execution section 7, and a superimposed operation by these two special permission instructions is performed.
The situation at this time is shown in FIG.

That is, the tip of the robot arm is at point P2 at the end of the execution of the command in step 5), and after step 6), the robot hand 13a is in a state where it grips the component 18. Assuming that this point P2 is the first reference point, the coordinates of the first reference point P2 are set in the reference position register 8a by the start of execution of the rMOVE:50J instruction in step 7).
The deviation from the first reference point P2 is added to the deviation register 8b over time.

Therefore, the robot arm will initially move toward the virtual target point P3 of the rMOVE:50J command, but
When the robot arm reaches the midpoint Q between the first reference point P2 and the virtual target point P3, the next step 8) rMOVE: 3
The operation based on the 0J instruction is started. At this time, the data in the reference position register 8a is not changed, and the data in the deviation register 8b is unchanged.
In this case, the deviation amount related to the rMOVE: 50J instruction and the deviation amount related to the rMOVE: 30J instruction are added, and the result is added to the data in the reference position register 8a by the adding section 9 and finally read by the servo control section 12. It will be done.

As a result, the robot arm, which was heading towards the virtual target point P3, also aims at the virtual target point P4, taking the path 19 shown by the broken line.
The process progresses in a curved manner as shown in FIG. 1, and when it reaches point R on path 19, writing of the next step 9) is permitted. In other words, the projected component of the position of point R with respect to the axis connecting points P3 and P4 corresponds to a point that internally divides the distance between points p3 and p4 into 3, and at point R, rMO
VE: Since the operation corresponding to the completion ratio (30%) of the 30J instruction has been completed, writing of the rMOVEJ instruction in the next step 9) is permitted according to condition (2), and for example, as shown in FIG. 4(H) rMO is stored in the temporary storage unit 33 as shown in
A VEJ instruction is stored, and its order storage unit 43 has a rank "
3" is written. Since this rMOVEJ command belongs to the robot movement command, writing of the next step 10) command is prohibited according to condition (1).

In this way, the three operations according to the instructions in steps 7), 8), and 9) are realized in duplicate, and the robot arm moves toward point P5. Figure 5 (B) conceptually shows the situation at this time, and the moment-by-moment achievement level is expressed by points on a line segment with 100% at the time when the action corresponding to each command is completed. There is. Note that sequential writing of instructions until all of these instructions are completed is prohibited.

When the above superimposition operation is completed, Robot Hunt 13
a is at the device position of the part to the workpiece 16, and
-Time storage section 3. are all empty, so the instructions in the next steps 10) and 11) are sequentially written.

Then, when the arm retreats to point P6 after the robot hunt 13a is opened by these commands, step 1 is executed.
The stoppage of the workpiece 16 is canceled by the rOUTJ command in 2), and the workpiece 16 is passed to the next process.

(c. Configuration Example) [Figs. 6 and 7] Fig. 6 shows an example 20 in which a control system is constructed using the numerical control device 1 for a robot.

In the figure, reference numeral 21 denotes an input unit such as a keyboard, and the program input through the input unit 21 is manually written through the program writing unit 22 and stored in the program storage unit 23.

The program writing section 22 has processing such as area management when writing a program to the program storage section 23.

24 is a program interpretation section, and a program storage section 23
When a program is written in a high-level language, it is interpreted and broken down into low-order simplified instructions.

For example, a program written in a high-level language as shown in Table 2 is interpreted and converted into instructions that can be sent directly to a robot, Ilo, etc. as shown in Table 3.

Table 2 (Example of a program in a high-level language) Table 3 (Program after interpretation) The individual instructions that make up the program converted into a low-level (level) language as described above are processed by the program interpreter 24 as instructions for the robot's numerical control device 1. By making a write request W, 9 to the write control unit 2, the alternation is passed.

Then, when the instruction stored in the -time storage section 3I is read out by the instruction reading section 6 and transferred to the execution section 7, the execution section 7 sets the target position in the position setting register section 8. The servo control unit 25 refers to the robot 26, and the execution unit 7 and the interface 27
Auxiliary work for the robot 26 is performed by sending control signals to the peripheral devices 28, 28, . Note that it is preferable from the viewpoint of operability that synchronization between the peripheral device control program and the robot program is ensured within the program interpreter 24.

Figure 7 is another example 29 using the robot numerical control device 1.
In the example 2o mentioned above, the program related to the robot and the program related to the peripheral devices were written in a mixed format as a - program.
In 9, each control program is an independent format.

In this case, the peripheral control program in the storage section 30 is interpreted by the interpretation section 31 and decomposed into simple control instructions.

Also, the robot program in the storage unit 32 is stored in the interpretation unit 3.
3, it is also decomposed into simple action instructions.

The time-series instructions output from the interpreters 31 and 33 are input one after another to the mixer 34. When the command arrives, the mixing unit 34 issues a write request to the command writing control unit 2 of the numerical control device 1 of the robot on a first-come, first-served basis.

In this way, the robot's numerical control device 1 processes the instructions as described above, and the information in the position setting register section 8 is read by the servo control section 35 and the robot 3
6 is controlled, and peripheral devices 38, 38, . . . are controlled via the interface 37.

In this way, multiple instructions can be processed in parallel even if the programs are written individually.

(G Effect of the Invention) As is clear from the above description, the first numerical control device for the robot of the present invention includes a plurality of temporary storage units for storing commands and a request for writing commands. a writing means for writing the command into the time storage section under certain conditions when received, and writing into the temporary storage section regarding the next command to be executed according to the type of the instruction written into the temporary storage section by the writing means. writing permission designation means for permitting or prohibiting writing;
A numerical control device for a robot, comprising: a serialization means for reading out an instruction stored in a time storage section; and an execution means for executing the instruction read out by the reading means; Depending on the type, the write permission/denial designation means specifies whether to permit or prohibit writing to the temporary storage unit for the next instruction at the time of writing or executing the command, and allows writing. If the command means does not give permission to write to the temporary storage unit, the next command will not be written to the temporary storage unit, and all commands stored in the temporary storage unit up to this point will be read and executed. It is characterized in that it is executed almost simultaneously by means of parallel processing of the means.

Accordingly, when writing or executing an instruction, the write permission designation means determines whether or not the next instruction can be written to the temporary storage section according to the type of the instruction, and the write permission designation means The robot language is developed using a unified procedure in which all instructions stored in the temporary storage unit are read out at once by the reading means until writing of the next instruction is prohibited, and then processed in parallel by the execution means. It is possible to perform parallel processing of commands and peripheral device control commands, and to perform simultaneous operations on multiple commands related to robot motion, and it is possible to load robot control commands and peripheral device control commands on the same processing system. This eliminates the need for complex communication processing between robot control devices and peripheral devices, or between tasks related to robot motion, and eliminates the need to insert special commands into programs for parallel processing, reducing the burden on programs. This reduces the number of program errors and does not cause an increase in program errors.

Moreover, the second numerical control device for the robot of the present invention is
In addition to the components of the first invention, it further includes a first language interpreter that successively interprets a program written in a robot language and decomposes it into individual simple operation instructions, and a first language interpreter that sequentially interprets a program written in a robot language and breaks it down into individual simple operation instructions; a second language interpreter that successively interprets and decomposes a program into individual simple control instructions; and a mixer that mixes the instructions obtained by the first and second language interpreters; The present invention is characterized in that the controller requests the writing means to write an instruction.

Therefore, even if the program for controlling the robot or peripheral device is created separately in an independent format, simultaneous operation is possible by parallel processing of a plurality of commands related to the robot or peripheral device.

Furthermore, the third numerical control device for the robot of the present invention is:
In the first or second invention, a command position setting means is provided in which a command position regarding the operation of the robot is set by the execution means, and the command position setting means sets a reference position for setting a reference position for the command position. a deviation amount setting section to which the amount of deviation from the reference position is added; and an addition section to add the reference position information of the reference position setting section and the deviation information of the deviation amount setting section; Writing of the next instruction to the temporary storage section is prohibited by the write permission/denial designation means, and the execution means writes the contents of the deviation amount setting section before the reading means starts a series of reading operations for the instructions from the temporary storage section. If the command is read out or the command involves movement of the robot, the execution means sets reference position information regarding the command position in the reference position setting section and calculates the amount of deviation from time to time. Then, the calculation result is added to the deviation information of the deviation amount setting section, and the movement of the robot is controlled based on the addition result of the reference position information and deviation information by the addition section, and after the execution of the command is completed, the corresponding The present invention is characterized in that when an instruction is deleted from the temporary storage section, the final position information according to the instruction is set in the reference position setting section by the execution means.

Therefore, according to this, writing of the next instruction to the temporary storage section is prohibited by the write permission/denial designation means, and the execution means is executed before the reading means starts a series of read operations for the instructions from the temporary storage section. By initializing the contents of the deviation amount setting section, it is possible to prevent errors from accumulating when calculating the deviation amount by the execution means, and to prevent the errors from increasing.

It should be noted that the above-mentioned embodiments are merely examples of implementation of the numerical control device for the robot of the present invention, and the technical scope of the present invention should not be interpreted narrowly only to these embodiments.
For example, it is not necessary to set the maximum number of − hour storage units to 4,
It may be selected as appropriate within the range permitted by the storage capacity, and the present invention can be implemented in various forms without departing from the technical scope of the present invention.

[Brief explanation of drawings]

1 to 7 show an example of the implementation of the numerical control device of the robot of the present invention, FIG. 1 is a block diagram showing the basic configuration, and FIG. 2 is a block diagram for explaining the position setting register section. FIG. 3A is a block diagram showing the configuration;
(B) is an explanatory diagram of the operation, Fig. 3 is a block diagram schematically showing an example of control using a robot numerical control device, and Fig. 4 is an explanatory diagram of the operation.
The figure is an explanatory diagram showing an example of the flow of processing in order from (A) to (H), and FIG. 5 is an explanatory diagram regarding the superimposition operation,
(A) is a schematic diagram showing the robot's movement in a simplified manner; (B)
) is an explanatory diagram conceptually showing the situation of parallel processing of operation commands,
FIG. 6 is a block diagram showing a configuration example using a robot numerical control device, FIG. 7 is a block diagram showing another configuration example, and FIG. 8 is a block diagram showing an example of a conventional robot numerical control device. FIG. 9 is a schematic diagram for explaining the outline of the superimposing operation. Explanation of symbols 1... Robot numerical control device, 2... Writing means, 31 (i=1.2.3.4)...-time storage unit, 5... Writing permission/denial designation means , 6... Reading means, 7... Executing means, 8... Command position setting means, 8a... Reference position setting section, 8b... Deviation amount setting section, 9... Adding section, 13...
・Robot, 26...Robot, 31...Second
33...First language interpretation unit, 34...Mixing unit, 36...Robot applicant Sony Corporation

Claims (3)

[Claims] (1) A plurality of temporary storage units for storing instructions, a writing means for writing the instructions into the temporary storage unit under certain conditions upon receiving a write request for an instruction, and a temporary storage unit by the writing means. writing permission/disapproval designating means for permitting or prohibiting writing of the next instruction to be performed in the temporary storage section according to the type of instruction written in the instruction; and reading means for reading out the instruction stored in the temporary storage section; A numerical control device for a robot comprising execution means for executing the command read by the reading means, wherein the writing permission/disapproval designation means is configured to perform the next command according to the type of the command written in the temporary storage unit. Allow writing to temporary storage, or
If the writing permission command means does not issue permission to write to the temporary storage unit, the next command will be written to the temporary storage unit. A numerical control device for a robot, characterized in that all instructions stored in a temporary storage unit up to this point without being written are read out and executed almost simultaneously by parallel processing of an execution means. (2) A first language interpreter that sequentially interprets a program written in a robot language and breaks it down into individual simple operation commands; a second language interpreter that decomposes the instructions into simple control instructions; and a mixer that mixes the instructions obtained by the first and second language interpreters, and the mixer sends the instructions to the writing means. A numerical control device for a robot according to claim 1, characterized in that it makes a write request. (3) A command position setting means is provided in which a command position related to the robot's operation is set by the execution means, and the command position setting means includes a reference position setting unit for setting a reference position for the command position, and a reference position setting unit for setting a reference position for the command position. It consists of a deviation amount setting part to which the deviation amount of is added, and an addition part to add the reference position information of the reference position setting part and the deviation information of the deviation amount setting part,
The write permission designation means prohibits writing of the next instruction to the temporary storage section, and the execution means sets the deviation amount setting section before the reading means starts a series of reading operations for the instructions from the temporary storage section. The content is initialized, and if the read command is a command that involves movement of the robot, the execution means sets reference position information regarding the command position in the reference position setting section and calculates occasional deviation amounts. The calculation result is added to the deviation information of the deviation amount setting section, and the movement of the robot is controlled based on the addition result of the reference position information and deviation information by the addition section. The robot according to claim 1 or 2, characterized in that when the instruction is deleted from the temporary storage section, the final arrival position information according to the instruction is set in the reference position setting section by the execution means. numerical control device