JPH0431831B2 - - Google Patents
Info
- Publication number
- JPH0431831B2 JPH0431831B2 JP26941384A JP26941384A JPH0431831B2 JP H0431831 B2 JPH0431831 B2 JP H0431831B2 JP 26941384 A JP26941384 A JP 26941384A JP 26941384 A JP26941384 A JP 26941384A JP H0431831 B2 JPH0431831 B2 JP H0431831B2
- Authority
- JP
- Japan
- Prior art keywords
- control circuit
- horizontal movement
- arm
- hand
- movement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000001133 acceleration Effects 0.000 claims description 11
- 238000010586 diagram Methods 0.000 description 9
- 230000000630 rising effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
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- Numerical Control (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】
[産業上の利用分野]
本発明はハンドまたはアームを垂直方向に上下
させうる専用の駆動軸(以下Z軸と呼ぶ)と、水
平方向に移動させうる専用の単数もしくは複数の
駆動軸(以下XY軸と呼ぶ)を持つロボツトの制
御装置に関する。Detailed Description of the Invention [Industrial Application Field] The present invention has a dedicated drive shaft (hereinafter referred to as Z-axis) that can move a hand or arm up and down vertically, and a dedicated drive shaft that can move a hand or arm horizontally. This invention relates to a control device for a robot that has multiple drive axes (hereinafter referred to as XY axes).
[従来の技術]
通常、ロボツトに仕事をさせるためには第1図
イに示すごとく、Z軸が上昇し次にXY軸が水平
移動を行い、最後にZ軸が下降するといういわゆ
るピツク・アンド・プレイスの動作が必要にな
る。従来の制御装置では演算機能を内蔵した移動
制御回路が単数であつたため、前記ピツク・アン
ド・プレイス動作を三動作に分割し、おのおのの
動作が完了した後、その動作に移つていた。すな
わちZ軸の上昇が加速・減速・停止した後、XY
軸が加速を開始し、これが減速・停止した後、Z
軸の下降が始まるという制御を行つていた。[Prior art] Normally, in order to make a robot do a job, the Z-axis moves up, then the XY-axes move horizontally, and finally the Z-axis moves down, as shown in Figure 1A.・ Place movement is required. In conventional control devices, there was only a single movement control circuit with a built-in calculation function, so the pick-and-place operation was divided into three operations, and after each operation was completed, the movement was started. In other words, after the Z-axis ascends, accelerates, decelerates, and stops, the XY
The axis starts accelerating, decelerates and stops, and then Z
It controlled the shaft to begin descending.
[発明が解決しようとする問題点]
作業時間の短縮化を図るためにはロボツト動作
の高速化が必要であるが、むやみに加速度を大き
くしたり速度を速めたりするとロボツトの寿命に
悪影響を与えてしまう。[Problems to be solved by the invention] In order to shorten working time, it is necessary to increase the speed of robot operation, but unnecessarily increasing acceleration or speed will have a negative impact on the life of the robot. I end up.
従来の制御装置では前述のごとく一つ一つの動
作を順番に実行しているため、ロボツトの高速化
を図るには速度・加速度を速めるしかなく、寿命
を犠牲にするか、機構部を大幅に補強するかして
対処していた。 Conventional control devices execute each operation in sequence as described above, so the only way to increase the speed of a robot is to increase its speed and acceleration, which either sacrifices its lifespan or requires significant mechanical parts. They dealt with it by reinforcing it.
また一部の制御装置では、駆動制御回路からのパ
ルス出力が終了した後、その駆動軸が完全に停止
した事を確認せずに次の動作に移り、駆動系の電
気的・機械的遅れ時間分の短縮化をはかつている
物もある。In addition, some control devices move to the next operation without confirming that the drive shaft has completely stopped after the pulse output from the drive control circuit ends, causing electrical and mechanical delay time in the drive system. There are also items that are trying to shorten the time.
本発明の目的はロボツトの移動時間を短縮し、
もつて作業時間の短縮化を図ることにある。 The purpose of the present invention is to reduce the moving time of robots,
The aim is to shorten the working time.
[問題点を解決するための手段]
本発明によるロボツトの制御装置は、ハンドま
たはアームを垂直方向に移動させる駆動軸と、水
平方向に移動させる単数もしくは複数の駆動軸を
有するロボツトの制御装置において、前記制御装
置は互いに独立した垂直移動制御回路と水平移動
制御回路とを有し、前記垂直移動制御回路は前記
ハンドまたはアームの加速終了タイミングまたは
減速開始タイミングを計算する手段と、前記ハン
ドまたはアームが前記タイミングになつたことを
前記水平移動制御回路に伝える信号Aを発生する
手段とを有し、前記水平移動制御回路は、前記ハ
ンドまたはアームの下降移動に要する時間を予測
する手段と、前記ハンドまたはアームの水平移動
を完了するまでの残り時間が前記下降に要する予
測時間より短くなる水平移動速度を計算する手段
と、前記ハンドまたはアームが前記水平移動速度
になつたことを検出すると共に前記水平移動速度
になつたことを前記垂直移動制御回路に伝える信
号Bを発生する手段とを有し、前記水平移動制御
回路は前記垂直移動回路からの前記信号Aを受け
て水平移動を開始し、前記水平移動制御回路は前
記水平移動制御回路からの前記信号Bを受けて下
降運動をする事を特徴とする。[Means for Solving the Problems] A robot control device according to the present invention has a drive shaft for vertically moving a hand or arm and one or more drive shafts for horizontally moving the hand or arm. , the control device has a vertical movement control circuit and a horizontal movement control circuit that are independent of each other, and the vertical movement control circuit includes means for calculating an acceleration end timing or deceleration start timing of the hand or arm, and a means for calculating an acceleration end timing or deceleration start timing of the hand or arm. means for generating a signal A to notify the horizontal movement control circuit that the timing has come, and the horizontal movement control circuit has means for predicting the time required for the downward movement of the hand or arm; means for calculating a horizontal movement speed at which the remaining time until the horizontal movement of the hand or arm is completed is shorter than the predicted time required for the lowering; and means for detecting that the hand or arm has reached the horizontal movement speed; means for generating a signal B to notify the vertical movement control circuit that the horizontal movement speed has been reached, and the horizontal movement control circuit starts horizontal movement upon receiving the signal A from the vertical movement circuit; The horizontal movement control circuit is characterized in that it receives the signal B from the horizontal movement control circuit and performs a downward movement.
更に垂直方向と水平方向とを同時に補間制御す
る場合は、前記垂直移動制御回路か前記水平移動
制御回路かのどちらかのみで全軸の移動制御を行
うことを特徴とする。 Furthermore, when performing interpolation control in the vertical and horizontal directions simultaneously, the present invention is characterized in that movement of all axes is controlled by only either the vertical movement control circuit or the horizontal movement control circuit.
[作用]
本発明は複数の移動制御を並列して実行するこ
とによりロボツトの高速化を実現したものであ
り、第1図ロに示すごとく、Z軸の上昇が終了し
ないうちにXY軸の移動を開始し、それが終了し
ないうちにZ軸の下降が始まるといつた動作を行
う。従つて第2図ロに示すごとくロボツトのアー
ムは途中で停止することなくピツク・アンド・プ
レイス動作を行い、作業時間の大幅な短縮化が可
能である。[Function] The present invention realizes speeding up of the robot by executing multiple movement controls in parallel. , and before it ends, the Z-axis begins to descend. Therefore, as shown in FIG. 2B, the arm of the robot can perform pick-and-place operations without stopping midway, making it possible to significantly shorten the working time.
[実施例]
以下に、本発明の実施例を図面にもとづいて詳
細に説明する。[Example] Hereinafter, an example of the present invention will be described in detail based on the drawings.
第3図は本発明による制御装置内における駆動
制御全体の構成例を示したものである。 FIG. 3 shows an example of the overall configuration of drive control within the control device according to the present invention.
同図において、1の移動指令を受けて3の垂直
移動制御回路はZ軸の上昇パルス6を出力し、8
のパルス選択回路を経てZ軸駆動パルス9として
12のサーボ駆動回路に入る。一方2の水平移動
制御回路は1の移動指令を受けても水平移動パル
スを出力せず、3の垂直移動制御回路から出力さ
れる特許請求の範囲に記載した信号Aである水平
移動開始タイミング信号4(以下、水平移動開始
タイミング信号4という)を受けてX軸駆動パル
ス10とY軸駆動パルス11の出力を開始する。
パルス10,11はともに12のサーボ駆動回路
に入力され、12は13のX軸モータ、14のY
軸モータ、15のZ軸モータを駆動する。3の垂
直移動制御回路はZ軸上昇パルスの出力終了後、
2の水平移動制御回路からの特許請求の範囲に記
載した信号Bである下降移動開始タイミング信号
5(以下、下降移動開始タイミング信号5とい
う)を受けてZ軸下降パルスを6に出力する。下
降パルスは上昇パルスと同様に8のパルス選択回
路を経てZ軸駆動パルス9に出力され、12のサ
ーボ駆動回路に入力される。8はXYZ同時補間
制御の場合、Z軸駆動パルスが2の水平移動制御
回路からZ軸駆動パルス7に出力されるので、1
2のサーボ駆動回路へ入力される信号を6か7か
に選択するためのものである。 In the same figure, in response to the movement command 1, the vertical movement control circuit 3 outputs a Z-axis ascending pulse 6, and 8
The Z-axis drive pulse 9 enters the 12 servo drive circuits through the pulse selection circuit. On the other hand, the horizontal movement control circuit No. 2 does not output a horizontal movement pulse even if it receives the movement command No. 1, and the horizontal movement start timing signal, which is the signal A described in the claims, is output from the vertical movement control circuit No. 3. 4 (hereinafter referred to as horizontal movement start timing signal 4), output of an X-axis drive pulse 10 and a Y-axis drive pulse 11 is started.
Pulses 10 and 11 are both input to the servo drive circuit 12, and 12 is the X-axis motor 13 and the Y axis motor 14.
Axis motor, drives 15 Z-axis motors. After the output of the Z-axis rising pulse is completed, the vertical movement control circuit No. 3
In response to the downward movement start timing signal 5 (hereinafter referred to as the downward movement start timing signal 5), which is the signal B described in the claims from the horizontal movement control circuit No. 2, a Z-axis downward pulse is outputted to No. 6. Like the rising pulse, the falling pulse is outputted as a Z-axis drive pulse 9 through 8 pulse selection circuits, and is input to 12 servo drive circuits. In the case of XYZ simultaneous interpolation control, 8 is 1 because the Z-axis drive pulse is output from the horizontal movement control circuit 2 to Z-axis drive pulse 7.
This is to select either 6 or 7 signals to be input to the servo drive circuit No. 2.
第4図は移動制御回路内の処理の流れを、第5
図はXY軸とZ軸の加減速曲線を示したものであ
る。第4図において移動指令1を受けると2の水
平移動制御回路の内ではあらかじめ定められた加
減速曲線に則つて下降移動量から第5図に示す下
降移動所要時間aを21の手段で計算する。この
結果を受けて22の手段では下式によりZ軸下降
移動を開始すべきXY軸水平移動速度vを計算す
る。 Figure 4 shows the flow of processing within the movement control circuit.
The figure shows the acceleration/deceleration curves of the XY and Z axes. In Fig. 4, when movement command 1 is received, the horizontal movement control circuit 2 calculates the required time a for downward movement shown in Fig. 5 from the downward movement amount according to a predetermined acceleration/deceleration curve by means 21. . Based on this result, the means 22 calculates the XY-axis horizontal movement speed v at which the Z-axis downward movement should be started using the following formula.
v≦(a/b−c)v0
ここでbはあらかじめ定められた加減速曲線と
水平移動量から算出された水平移動原則時間であ
り、cは水平移動が終了してもなおいくぶんかの
下降移動があるようにあらかじめ定められたオフ
セツト量であり、v0は水平移動の最高速度であ
る。なお上式は水平移動の原則曲線を直線に近似
したものであるが、他の曲線であつても直線を大
幅にはずれるのでなければcのオフセツト量を調
製することにより上式にあてはめる事ができる。 v≦(a/b−c)v 0 Here, b is the horizontal movement principle time calculated from the predetermined acceleration/deceleration curve and the horizontal movement amount, and c is the horizontal movement time that remains somewhat even after the horizontal movement is completed. It is a predetermined offset amount so that there is downward movement, and v 0 is the maximum speed of horizontal movement. The above formula approximates the principle curve of horizontal movement to a straight line, but other curves can also be applied to the above formula by adjusting the offset amount of c, as long as they do not deviate significantly from the straight line. .
一方3の垂直移動制御回路内では、23の手段に
より上昇移動加速終了時点または減速開始時点
等、水平移動を開始すべき適当なタイミングを計
算し、24の上昇移動パルス出力手段によりZ軸
駆動パルスを出力する。25のタイミング検出手
段は上昇移動中23の手段で計算されたタイミン
グに達したことを検出し、水平移動開始タイミン
グ信号4を出力する。2の水平移動制御回路内で
は26の判断手段により27の水平移動パルス出
力手段を起動しXY軸駆動パルスが出力される。
28のタイミング検出手段は水平移動速度が22
の手段で計算された速度にまで減速したことを検
出し下降移動開始タイミング信号5を出力する。
判断手段29は下降移動開始タイミング信号5の
入力と上昇移動終了を確認して下降移動パルス出
力手段30を起動刷る。31の判断手段は水平移
動と下降移動がともに終了した事を確認し、処理
終了信号32を出力する。On the other hand, in the vertical movement control circuit 3, the means 23 calculates an appropriate timing to start horizontal movement, such as the end of upward movement acceleration or the start of deceleration, and the upward movement pulse output means 24 outputs a Z-axis drive pulse. Output. The timing detection means 25 detects that the timing calculated by the means 23 has been reached during the upward movement, and outputs a horizontal movement start timing signal 4. In the horizontal movement control circuit No. 2, the judgment means No. 26 activates the horizontal movement pulse output means No. 27 to output XY-axis drive pulses.
The timing detection means of 28 has a horizontal movement speed of 22
It detects that the speed has been reduced to the calculated speed by means of , and outputs a downward movement start timing signal 5.
The determining means 29 confirms the input of the downward movement start timing signal 5 and the end of the upward movement, and activates the downward movement pulse output means 30. The determining means 31 confirms that both the horizontal movement and the downward movement have been completed, and outputs a processing end signal 32.
[発明の効果]
以上の説明で明らかなように本発明によれば、
Z軸の上昇が終了しないうちにXY軸の移動を開
始し、XYの移動が終了しないうちにZ軸の下降
を始めるようにしてロボツトアームのピツク・ア
ンド・プレイスをスムースに動作させることによ
つて単軸の移動速度を速めなくても作業時間を短
縮できる。しかも水平移動と垂直移動を独立に制
御しているにもかかわらず互いにタイミングの授
受を行うため、ワークを引きずつたり、ひつかけ
たりすることがない。[Effects of the Invention] As is clear from the above explanation, according to the present invention,
By starting the XY-axis movement before the Z-axis has finished rising, and starting the Z-axis descent before the XY movement has finished, the robot arm's pick-and-place can operate smoothly. Therefore, the work time can be shortened without increasing the movement speed of the single axis. Furthermore, although the horizontal movement and vertical movement are controlled independently, timing is exchanged with each other, so there is no need to pull or hit the workpiece.
第1図は制御装置によるピツク・アンド・プレ
イス動作のアーム先端の作動を示した図で、イは
従来の作動図、ロは本発明の作動図。第2図は制
御装置によるピツク・アンド・プレイス動作の速
度と時間の関係を示した図、イは従来例の関係
図、ロは本発明の関係図。第3図は本発明による
ロボツト制御装置の駆動制御部全体の構成例を示
した図。第4図は本発明による制御回路内の処理
の手順例を示した図。第5図はXY軸とZ軸の加
減速曲線を示した図である。
1……移動指令、2……水平移動制御回路、3
……垂直移動制御回路、4……水平移動開始タイ
ミング信号、5……下降移動開始タイミング信
号、6……Z軸上昇パルス、7,9……Z軸駆動
パルス、8……パルス選択回路、10……X軸駆
動パルス、11……Y軸駆動パルス、12……サ
ーボ駆動回路、13……X軸モータ、14……Y
軸モータ、15……Z軸モータ、21……下降移
動所要時間計算手段、22……下降移動開始タイ
ミング計算手段、23……水平移動開始タイミン
グ計算手段、24……上昇移動パルス出力手段、
25,28……タイミング検出手段、26,2
9,31……判断手段、27……水平移動パルス
出力手段、30……下降移動パルス出力手段、3
2……処理終了信号。
FIG. 1 is a diagram showing the operation of the end of the arm in pick-and-place operation by the control device, A is a conventional operation diagram, and B is an operation diagram of the present invention. FIG. 2 is a diagram showing the relationship between the speed and time of the pick-and-place operation by the control device, A is the relationship diagram of the conventional example, and B is the relationship diagram of the present invention. FIG. 3 is a diagram showing an example of the overall configuration of the drive control section of the robot control device according to the present invention. FIG. 4 is a diagram showing an example of a processing procedure within a control circuit according to the present invention. FIG. 5 is a diagram showing acceleration/deceleration curves of the XY axes and the Z axis. 1...Movement command, 2...Horizontal movement control circuit, 3
... Vertical movement control circuit, 4 ... Horizontal movement start timing signal, 5 ... Downward movement start timing signal, 6 ... Z-axis rising pulse, 7, 9 ... Z-axis drive pulse, 8 ... Pulse selection circuit, 10...X-axis drive pulse, 11...Y-axis drive pulse, 12...Servo drive circuit, 13...X-axis motor, 14...Y
Axis motor, 15...Z-axis motor, 21... Descending movement time required calculation means, 22... Descending movement start timing calculation means, 23... Horizontal movement start timing calculation means, 24... Upward movement pulse output means,
25, 28...timing detection means, 26, 2
9, 31... Judgment means, 27... Horizontal movement pulse output means, 30... Downward movement pulse output means, 3
2...Processing end signal.
Claims (1)
駆動軸と、水平方向に移動させる単数もしくは複
数の駆動軸を有するロボツトの制御装置におい
て、前記制御装置は互いに独立した垂直移動制御
回路と水平移動制御回路とを有し、前記垂直移動
制御回路は前記ハンドまたはアームの加速終了タ
イミングまたは減速開始タイミングを計算する手
段と、前記ハンドまたはアームが前記タイミング
になつたことを検出すると共に前記タイミングに
なつたことを前記水平移動制御回路に伝える信号
Aを発生する手段とを有し、前記水平移動制御回
路は前記ハンドまたはアームの下降移動に要する
時間を予測する手段と、前記ハンドまたはアーム
の水平移動を完了するまでの残り時間が前記下降
に要する予測時間より短くなる水平移動速度を計
算する手段と、前記ハンドまたはアームが前記計
算した水平移動速度になつたことを検出すると共
に前記計算した水平移動速度になつたことを前記
垂直移動制御回路に伝える信号Bを発生する手段
とを有し、前記水平移動制御回路は前記垂直移動
制御回路からの前記信号Aを受けて水平移動を開
始し、前記垂直移動制御回路は前記水平移動制御
回路からの前記信号Bを受けて下降移動を開始す
ることを特徴とするロボツト制御装置。 2 垂直方向と水平方向とを同時に補間制御する
場合は、前記垂直移動制御回路か前記水平移動制
御回路のどちらかのみで全軸の移動制御を行うこ
とを特徴とする特許請求の範囲第1項記載のロボ
ツト制御装置。[Scope of Claims] 1. A robot control device having a drive shaft that moves a hand or arm in a vertical direction and one or more drive shafts that move a hand or arm in a horizontal direction, wherein the control device includes mutually independent vertical movement control circuits. and a horizontal movement control circuit, and the vertical movement control circuit includes means for calculating an acceleration end timing or deceleration start timing of the hand or arm, and means for detecting that the hand or arm has reached the timing, and a means for calculating the acceleration end timing or deceleration start timing of the hand or arm. means for generating a signal A to notify the horizontal movement control circuit that the timing has come, and the horizontal movement control circuit has means for predicting the time required for the downward movement of the hand or arm; means for calculating a horizontal movement speed at which the remaining time until the horizontal movement of the hand or arm is completed is shorter than the predicted time required for the descent; and means for detecting that the hand or arm has reached the calculated horizontal movement speed, means for generating a signal B to notify the vertical movement control circuit that the horizontal movement speed has reached the specified horizontal movement speed, and the horizontal movement control circuit starts horizontal movement upon receiving the signal A from the vertical movement control circuit. The robot control device is characterized in that the vertical movement control circuit starts downward movement upon receiving the signal B from the horizontal movement control circuit. 2. When performing interpolation control in the vertical and horizontal directions simultaneously, the movement of all axes is controlled by either the vertical movement control circuit or the horizontal movement control circuit, as claimed in claim 1. The robot control device described.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26941384A JPS61146487A (en) | 1984-12-20 | 1984-12-20 | Controller for robot |
US07/166,767 US4815007A (en) | 1984-12-20 | 1988-03-03 | Apparatus for controlling a robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26941384A JPS61146487A (en) | 1984-12-20 | 1984-12-20 | Controller for robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS61146487A JPS61146487A (en) | 1986-07-04 |
JPH0431831B2 true JPH0431831B2 (en) | 1992-05-27 |
Family
ID=17472067
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP26941384A Granted JPS61146487A (en) | 1984-12-20 | 1984-12-20 | Controller for robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS61146487A (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2735126B2 (en) * | 1988-12-27 | 1998-04-02 | キヤノン株式会社 | Robot control method and control device thereof |
-
1984
- 1984-12-20 JP JP26941384A patent/JPS61146487A/en active Granted
Also Published As
Publication number | Publication date |
---|---|
JPS61146487A (en) | 1986-07-04 |
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EXPY | Cancellation because of completion of term |