JPH04209008A - Movement controller for industrial robot - Google Patents

Abstract

PURPOSE:To decrease the number of steps in the memory of a microcomputer by storing movement data on a head in the memory of the microcomputer, step by step, and moving the head according to the step-by-step movement data. CONSTITUTION:The microcomputer 36 stores the coordinates of a target position and speeds of the movement of the head 16 in the memory 42, step by step. Then the microcomputer 36 moves the head 16 according to the coordinates and speeds stored in the respective steps in step number order every time a driving signal is inputted from a sequencer 25. After the movement, the step number and a movement completion signal are outputted to the sequencer 25. When the head 16 is moved, a CPU 40 reads data of each step out of the memory 42 and drives pulse motors 18 and 20 to move the head 16 to the target position. For the industrial robot 10, information required for the movement of the head 16 is put in one step, so the number of steps may be small.

Description

[Detailed description of the invention]

[00011

[Field of Industrial Application] The present invention relates to a movement control device for an industrial robot used in a factory or the like, which moves the industrial robot under the control of a sequencer. [0002] [0002] Conventionally, for example, in factories,
Various industrial robots are used for transporting parts and assembling products. (00031 Such an industrial robot (1) shown in FIG. 3 has a working end (2) that performs operations such as pinching or releasing parts, etc., and a moving member (3) that moves this working end (2). and a control device (4) that controls the moving operation of the moving member (3). [0004] The working end (2) is configured to move the moving member with a moving motor provided in the moving member (4). (4) is moved. [0005] Such a working end (2) is moved by a sequencer (
In order to realize movement on a predetermined movement path in an industrial robot (1) having a movement control device that moves under the control of 5), an instruction input device called a teaching pendant (6) is used to control movement. Data necessary for movement, such as a plurality of coordinates defining a route and the speed of movement between each coordinate, is input to and stored in the memory of the control device (4). [0006] In such an industrial robot (1), the control device (4) controls the working end (2) by a sequencer (5).
), conventionally a program store method has been used. [0007] That is, for example, the control device (4) is made to store a program as shown in FIG.
This program is executed by a drive signal from ). [0008]

[Problems to be Solved by the Invention] However, this one-sided program store system has the problem of requiring a large number of steps. For example, in the case of FIG. 4, seven steps are required to move to two locations, point A and point B. [0009] Furthermore, in the event that a power outage occurs during the execution of a program, when the program is restarted, it will be unclear which steps have been executed, so the sequencer (5) and control device (4) There was a problem that it could not be synchronized. [00101] An object of the present invention is to provide a movement control device for an industrial robot that does not require a large number of steps and is easy to synchronize with a sequencer. [0011]

[Means for Solving the Problems] The movement control device for an industrial robot of the present invention includes a storage means for storing data on the movement position and speed of a moving member in a plurality of steps each having a set step number, and a sequencer. When a drive signal is input, a control means executes the movement of the movable member by a button stored in one step of the storage means, and when the movement of the movable member is completed, a movement completion signal is sent to the sequencer together with the executed step number. It consists of an output means for outputting to a sequencer. [0012]

According to the present invention, when a drive signal is input from the sequencer, the control means executes the movement of the moving member based on the movement position and speed data of one step stored in the storage means. When the movement of the movable member is completed, the output means outputs a movement completion signal to the sequencer together with the executed step number. Then, when the drive signal is input again from the sequencer, the control means moves the movable member based on the data of the step having the next step number of the step executed last time. [0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. [00141 FIG. 1 is a block diagram showing the configuration of an article transfer robot. [0015] This industrial robot (10) is equipped with two translational axes, an X-axis and a Y-axis, which are orthogonal to each other. [0016] (12) is an X-axis arm that constitutes the X-axis. [0017] (14) is a Y-axis arm that constitutes the Y-axis. [0018] (16) is a handling head (hereinafter referred to as head), which is provided on the Y-axis arm (14). The head (16) includes, for example, an air chuck and an air cylinder, and can grip and release an article by opening and closing the air chuck, and can move in the vertical direction, that is, in the X-axis direction, by the air cylinder. [0019] (18) is a pulse motor for positioning the X-axis arm (12). It is built into the X-axis arm (12), and the Y-axis arm (14) is connected to the X-axis arm (12).
is translated in the X-axis direction. [00201 (20) is a pulse motor for positioning the Y-axis arm (14). It is built into the Y-axis arm (14) and causes the head (16) to move in translation in the Y-axis direction with respect to the Y-axis arm (14). Therefore, the head (16) is movable in both axial directions by driving these pulse motors (18) and (20). [00211 (22) is both pulse motor (18) (2
0). [0022] (24) is a teaching pendant, which has various keys such as a numeric keypad (26), a return-to-origin key (28), and a start key (30), and a display window (32). [0023] (25) is a sequencer. This sequencer (25) can set the movement position of the head (16). [0024] (36) is a microcomputer (hereinafter referred to as a microcomputer), and this microcomputer (36)
is equipped with an I10 board (38), a CPU (40), and a memory (42). The teaching pendant (24) and both pulse motors (
18) Drive circuit (22) of (20) and sequencer (
25). [0025] The microcomputer (36) has a memory (42)
The coordinates of the target position of the head (16) and the speed at which the head (16) moves are stored for each step. and,
The microcomputer (36) moves the head (16) in accordance with the coordinates and speed stored in each step in the order of step numbers every time a drive signal is input from the sequencer (25). After the movement, the executed step number and movement completion signal are output to the sequencer (25). These data are input from the numeric keypad (26) of the teaching pendant (24) and stored in the memory (36) of the microcomputer (36).
42). When the head (16) is moved, the CPU (40) reads each data from each step of the memory (42) and controls each pulse motor (16).
8) Drive (20) to move the robot (16) to the desired position. [0026] Next, an industrial robot (10) having the above configuration
2, the movement mode of the microcomputer (36) when moving the head (16) will be explained based on the flowchart of FIG. [0027] In step 1, the sequencer (25
), the head (16) is moved to A according to the coordinates and speed of point A stored in step 1.
Move to a point. After the movement of the head (16) is completed, the step number 1 and a movement completion signal are output to the sequencer (25). In this state, instructions from the sequencer (25) are awaited. [0028] In the sequencer (25), step number 1
When the movement completion signal is input, a drive signal is output to the microcomputer (36). [0029] In step 2, the sequencer (25
) When a drive signal is input from λ, the head moves to point B (
16) Move. After the movement of the head (16) is completed, the step number 2 and a movement completion signal are output to the sequencer 5). In this state, instructions from the sequencer (25) are awaited.

With the industrial robot tatami mat 10) as described above, the information necessary for moving the head (16) is summarized in one step, so the steps necessary for moving the head (16) to two positions are The number of steps becomes 2, and the number of steps is smaller than that of the conventional method. In addition, after the movement is completed, the step number is output to the sequencer ((5). Therefore, if the program has been executed several times and a power outage occurs in the middle, the step number will be is easy to understand, and the sequencer (25) and 11.; period can be easily determined. [0031]

[Effects of the Invention] The movement control device for the industrial H punching pot as described above requires only a small number of steps. In addition, after the movement of the member to be transferred is completed, the step number is set to 1, so if the program is executed once and a power outage occurs during the process, when restarting the program, the step number is・Knob numbers are easy to understand and synchronization with the sequencer is easy.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an industrial robot showing an embodiment of the present invention.

[Figure 2] Flowchart of microcontroller movement mode [
・It is.

FIG. 3 is a block diagram of a conventional industrial robot. FIG. 4 is a flowchart when a conventional industrial robot moves.

[Explanation of symbols]

10 Industrial robot 16 head 24 Teaching pendant 25 Sequencer 36 Microcomputer

[Figure 1]

Claims (1)

[Claims] 1. A movement control device for an industrial robot in which movement of a moving member is executed under control of a sequencer, comprising:
A storage means stores data on the moving position and speed of the moving member in a plurality of steps each having a step number set, and when a drive signal is input from the sequencer, the moving member is stored in the data stored in one step of the storage means. 1. A movement control device for an industrial robot, comprising: a control means for executing the movement of the moving member; and an output means for outputting a movement completion signal to a sequencer together with the executed step number when the movement of the moving member is completed.