JPH0442310A - Data converting device - Google Patents

Abstract

PURPOSE:To shorten the working time needed for change of controllers by converting the control information for an old controller into that for a new controller with use of an external device and driving a welding robot based on the converted control information for the new controller. CONSTITUTION:A data converting device 30 consists of a main body part 32, a keyboard 34, i.e., a 1st input means to which a converting instruction, etc., are inputted, a keyboard 34, i.e., a 2nd input means to which the conversion information is inputted, and a floppy disk 38, i.e., a 3rd storage means which stores the converted control information. When a welding robot is changed with another, the converting conditions, etc., are inputted by the device 30 for conversion of the control information for an old controller into that for a new controller without requiring any teaching operation nor complicated reinput operation. Thus the working time is shortened for change of controllers.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a data conversion device for a robot, and more specifically, when replacing the controller of a welding robot, the data and format of the controller can be easily changed. The present invention relates to a data conversion device capable of converting data.

[Prior Art] In spot welding robots, improvements have been made to the functions such as the moving speed and stopping accuracy of the robot hand. As a result, the hardware, software, etc. of the controller that controls the welding robot are changed, and it becomes necessary to replace the controller from an old model to a new model or to an improved model.

When replacing the controller, the actual welding robot is used to memorize the hand stop position by readjusting the welding robot's hardware, for example, readjusting the voltage applied to the displacement measurement sensor, which is often done at the same time. Teaching work is currently underway. Furthermore, since data formats, parameters, etc. differ for each controller, it is necessary to re-enter these items each time, which requires a large amount of time.

[Problems to be Solved by the Invention] The present invention has been made to solve the above-mentioned problems. The teaching work to memorize the stop position of the hand, which is performed using a robot, is omitted, and the control information for the old controller is converted to the control information for the new controller using an external device, and welding is performed using the converted control information for the new controller. An object of the present invention is to provide a data conversion device that can significantly reduce the work time required for controller replacement by making it possible to drive a robot.

[Means for Solving the Problems] In order to solve the above problems, a data conversion device for a welding robot according to the present invention is a data conversion device that converts old control information for controlling a controlled device into new control information. A storage means having a first storage means for storing old control information, a second storage means for storing conversion information, and a third storage means for storing new control information; A first input means into which an instruction command is input; a second input means into which conversion information is input; and a first storage means which reads the old control information in response to an old control information read command inputted to the first input means. a first writing means for storing the conversion information input into the second input means in the second storage means; and a second writing means for storing the old control information stored in the first storage means in the second storage means. The control means refers to the conversion information stored in the means, converts it into new control information, and stores the converted new control information in the third storage means.

[Operation] In the data conversion device according to the present invention, the first writing means
Upon receiving the old control information read signal output from the input means,
The old control information is read and stored in the first storage means.

Next, the second writing hand receives the conversion information output from the second input means and stores this conversion information in the second storage means.

The control means converts the old control information read out from the first storage means into new control information by referring to the conversion information read out from the second storage means in accordance with the conversion instruction signal outputted from the first input means; The information is stored in the third storage means.

[Embodiments] Next, preferred embodiments of the data conversion device according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 shows a welding robot system that operates with control information converted by the data conversion device according to the present invention,
Among these, reference numeral 10 represents a welding robot. The welding robot 10 has three axes x and ySz as drive axes,
Furthermore, it has two axes, U and V, as drive axes for the hand. These five axes, X, YSZ, U, and V, are equipped with drive motors (not shown) and displacement measurement sensors Xa, YaSZaSUaS, which are made up of absolute type potentiometers, for example.
Va are arranged respectively. Further, the welding robot 10 is connected to a controller 12, and the controller 12 has a control information storage section 14.

The welding robot system is configured as described above.
Next, the contents of the control information for each job stored in the control information storage section 14 will be explained.

The control information for each job includes the step number, X, Y
In addition to setting the displacement amount data of each SZ and USV axis, the displacement direction instruction of each axis, the presence or absence of safety interlock, the presence or absence of welding as welding conditions, initial pressure, pressurization time, etc. , an end signal, etc. are provided when the work ends at this step.

The control information for each job is configured as described above.
The operation of the welding robot will be explained with reference to FIGS. 2 and 3.

The electrode section 16 of the welding robot 10 is displaced to a desired position by the energization of a motor for driving each axis (not shown). This each axis drive motor is driven based on the displacement amount data in the control information for each step stored in the control information storage unit 14 and the displacement direction instruction, and is driven by the displacement measurement sensor attached to each drive shaft. Monitored by Xa, YaSZa, and UaSVa.

Next, welding work is performed based on the welding conditions preset in the control information for each step, and after the welding work is completed, driving of each axis is started according to the next step command.

An outline of the operation of the V-axis of the arm of the welding robot 10 is shown. This will be explained with reference to FIGS. 3a to 3C.

Figure 3a shows the basic position. When the data instructing the displacement direction stored in the control information for each step is positive, the hand turns in the Va direction (Fig. 3b), and when the data instructing the movement direction is negative, the Vb force is Turn around (Figure 3C). Therefore, the direction of rotation of the hand is changed depending on whether the data is positive or negative.

Next, the data conversion device according to this embodiment will be explained with reference to FIGS. 4 and 5.

In the figure, reference numeral 30 indicates a data conversion device.

The data conversion device 30 includes a main body 32 and a keyboard 34 as a first input means into which conversion instruction commands and the like are input.
, a keyboard 34 as a second input means into which conversion information is input, and a floppy disk 38 as a third storage means for storing the converted cut-off control information. an interface 40 of the cassette tape 36 as a second writing means; an interface 42 of the keyboard 34 as a second writing means into which a conversion instruction signal is input;
Memo of surface control information as a first storage means! ]A44 and
Conversion information memo', 1B46 as second storage means,
Memo! by a conversion instruction signal from the keyboard 34 as a control means! Memo the surface control information of JA44 IJ B 4
A conversion circuit 48 that converts the conversion information of No. 6 into disconnection control information.
and a floppy disk 38 serving as a third storage means for storing the converted disconnection control information.

Further, the cassette tape 36 is surface control information used in the old controller 31, and serves as an external signal input source for the data converter 30, and the welding robot 10 is driven by the new controller 33.

Next, a procedure for creating control information for a new type of controller using this data conversion device 30 will be explained.

First, the operator performs preparation work according to a preparation flowchart as shown in FIG.

The keyboard 34 is used to select the type of storage means for surface control information, such as a cassette tape 36, and the type of data pattern, which is the total number of steps.

Next, when a command to read surface control information from the cassette tape 36 is selected using the keyboard 34, the interface 40 reads the surface control information from the cassette tape 36 and transfers it to the memory A44.

Next, the operator inputs conversion conditions as shown below from the keyboard 34.

1st step For the drive axes X, YSZ, U, and ■ of the welding robot 10, the axis data of each axis is exchanged.

The data position of each axis on the data format may differ between the old and new controllers. At this time, specify a data position change for each axis.

2nd step Change settings for movement instructions.

According to the commands of the old controller, the arm of the welding robot stops at all designated points, regardless of the welding command and interlock command contained in the control information for each step.

However, depending on the presence or absence of welding commands and interlock commands included in the control information for each step, the new controller's commands either stop the welding robot's arm at a designated point, or pass through it and direct it to the next designated point. It is possible to judge whether to displace the That is, if there is at least one of a welding command and an interlock command in the control information for each step, the arm of the welding robot will stop at a designated point (FTP command) as in the case of the old controller. In the case of a so-called dummy point that does not have both a welding command and an interlock command, the welding robot's arm does not stop at the designated point, but passes through it and is displaced toward the next designated point (F
TP pass command).

FT commands for the new controller that performs such operations
This is called an FTP-FTP path command, and the conversion work of converting old control information into data that can accept an FTP-FTP path command in this data conversion device is called an FTP-FTP path conversion.

In this step, it is possible to select whether to perform FTP-FTP path conversion or to newly set operation commands such as welding commands and interlock commands.

3rd step Change setting of maximum displacement speed of each axis for drive axes X, YSZ, U, and V.

The setting of the maximum displacement speed, which is divided into 10 stages from 1 to 10, specified in the old control information is changed.

4th step Change setting of displacement direction instruction data of each axis for drive axes X, Y, ZSU, and V.

Motors (not shown) that are drive sources for each axis of the drive axes X, Y, Z, U, and V, and displacement measurement sensors Xa, Y
The polarity of hardware such as a, ZaSUa, Va, etc. may be different from the standard polarity of the new controller, so by changing the settings before data conversion, you can obtain new control information with the correct polarity for the new controller. .

This displacement direction instruction data can be set for each axis.

5th step Setting the proportional shift amount.

When replacing the controller, the displacement measurement sensor XaSYaX
When the applied voltages applied to Za, Ua, and Va are adjusted, correct control information can be obtained by adding or subtracting a displacement amount corresponding to the difference in the applied voltages to the new control information. The amount of displacement corresponding to the difference in applied voltage is called a proportional shift amount, and can be set for all axes collectively or for each axis.

6th step Setting the offset value.

When replacing the controller, the displacement measurement sensor XaSYa,
When the offset values in Za and UaSVa are adjusted, correct control information can be obtained by adding or subtracting a value corresponding to the difference in the offset values to the new control information. The value corresponding to the difference in offset values can be set for all axes at once or for each axis.

Using the data conversion device 30 for which the above preparation work has been completed, the operator creates new control information.

The procedure for creating shutoff control information for the new controller can be roughly divided into four steps (see Figure 7).

That is, a first step of calling the old control information stored in the memory A44 to the conversion circuit, a second step of calling the conversion information stored in the memo IJB 46 to the conversion circuit, and a second step of calling the old control information stored in the memory A44 to the conversion circuit. A third step of converting the information into new control information for each job according to the conversion information, and storing the converted new control information in a desired storage means, for example,
and a fourth step of outputting to a floppy disk.

Further, the cassette tape 36 and the floppy disk 38 can be replaced with other storage means such as a memory card, and the keyboard 34 can be replaced with another input means such as a mouse or communication input.

[Effects of the Invention] As described above, according to the present invention, when replacing a controller for a welding robot, the teaching work required to memorize the welding work position performed using an actual welding robot, and the controller Control information for old controllers can be easily converted into control information for new controllers by simply inputting conversion conditions, etc. using a data conversion device, without having to re-enter complicated data formats, parameters, etc. that were previously input directly into the computer. It becomes possible to convert. This has the effect of significantly shortening the time required for these tasks when replacing the controller.

[Brief explanation of drawings]

Fig. 1 is a complaint correspondence diagram of the data conversion device according to the present invention, Fig. 2 is an explanatory diagram of the operation of the welding robot, and Figs. 3 a to C.
is an explanatory diagram of the V-axis operation of the welding robot, FIG. 4 is a schematic configuration diagram of the data conversion device according to the present invention, FIG. 5 is a functional block diagram of the data conversion device according to the present invention, and FIG. 6 is , Flowchart for Data Conversion Preparation Work, FIG. 7 is a schematic process diagram of data conversion. 10... Welding robot 12... Controller 14... Control information storage section 30... Data conversion device 32... Main body section 34... Keyboard 36... Cassette tape 38... Floppy disk 40 .42...Interface X, YSZ, U, V...Drive axis XaSYa, Za, UaSVa...Displacement measurement sensor

Claims (1)

[Claims] (1) A data conversion device that converts old control information for controlling a controlled device into new control information, comprising a first storage means for storing the old control information, a second storage means for storing the conversion information,
and a storage means having a third storage means for storing new control information; a first input means into which an old control information read command and a conversion instruction command are input; a second input means into which conversion information is input; a first writing means for reading the old control information in response to an old control information read command inputted to the first inputting means and storing it in the first storage means; and a second storage means for storing the conversion information inputted to the second inputting means. a second writing means for storing the old control information in the first storage means, converting the old control information stored in the first storage means into new control information by referring to the conversion information stored in the second storage means, and then converting the converted new control information into the new control information. A data conversion device comprising: a control means for storing data in a third storage means;