JPH05108135A - Robot loader controller - Google Patents

Abstract

PURPOSE:To very easily perform the setting of an action pattern corresponding to different kinds of the work and the setting of point data corresponding to this, not depending on the teaching operation of an operator, for the setting of the point data at a robot loader controller. CONSTITUTION:The controller is equipped with an action pattern storing part 8 to store the action channel of a work as an action pattern beforehand and an action pattern deciding part 10 to decide the action pattern by the deciding conditions; and based on the work shape data inputted or transferred separately and the reference position data at the machine and the robot loader, by the prescribed conditions, a suitable action pattern as a work action position channel is automatically decided, and in accordance with the action pattern, based on the work data and the reference position data, the point position data are counted, and by the action program including the counted point data, a work transporting action is performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot loader control device.

[0002]

2. Description of the Related Art In a robot / loader control device, each operating position is made to correspond to a variable, and positioning is performed by an operating program commanded by a variable name using set point data. FIG. 13 is a diagram showing an example of a processing line, RP1, RP2, RP3, RP4, RP5, RP
6, RP7 and RP8 are a standby position, a material stocker receiving position, a processing machine entry position, a processing machine inside position, an entry position, a processing machine entry return position, a finished product stocker entry position, and a finished product stocker delivery position, respectively. Variable names ZV1 to ZV8, YV1 to YV for the Z-axis coordinate value and Y-axis coordinate value of each operation position
If 8 is made to correspond and point data is set to each variable, the conveying operation can be performed by the program shown in FIG. FIG. 12 is a hardware configuration block diagram of such a conventional robot loader control device.
The operation program recorded on the paper tape 104 a is input via the tape reader interface 104 and stored in the operation program memory 102. Control panel 105
The point data input to a is stored in the point data memory 103 via the operation panel interface 105. The CPU 101 controls the whole.

[0003]

The point data setting in the robot loader control device described in the prior art is carried out by the robot up to each operation position commanded by the teaching operation by the operator before executing the operation program.・
The axis of the loader was moved, and the position was set as point data in correspondence with the variable name. However, in such a conventional setting method of the robot / loader control device, it is necessary to grasp the correspondence between the variable name and the operation position, and further it is necessary to move the axis of the loader robot to each operation position. However, there is a problem that it is very troublesome and takes a lot of time.

In order to solve such a problem of the conventional technique, Japanese Patent Application No. 3-42939 proposes a loader / robot control device capable of extremely easily setting point data. A hardware configuration block diagram of an embodiment of the loader / robot controller is shown in FIG.
The reference position data memory 106 in which the information of the reference position is stored, the RS232C interface 109 for inputting the information of the work conveyed from the external processing machine 110 by communication, and the information of the work are stored. A transport work data memory 108 and an arithmetic unit 107 for obtaining point data based on the reference position data stored in the reference position data memory 106 and the work information stored in the transport work data memory 108 are newly added. ..

FIG. 9 is a flowchart showing the operation procedure of the loader / robot control device provided previously. First, since the work to be conveyed has changed, work data is requested from the processing machine 110 (step S101). The processing machine 110 transmits the work data via the communication means (step S102). The present apparatus receives the work data transmitted from the processing machine 110 via the RS232C interface 109 (step S103). The received work data is stored in the transport data memory 108 in association with the variable name (step S104). Therefore, it is determined whether or not all data has ended (step S105). If not completed, the process returns to step S103, and if completed, the process proceeds to step S106.

In step S106, the arithmetic unit 107
Point data is obtained by calculation based on the work data and reference position data stored in association with the variable name, and the point data memory 103 is associated with the variable name of the operating position.
Remember. Next, it is determined whether or not all point processing is completed (step S107), and if not completed, step S10.
6 is repeated, and if completed, the process proceeds to step S108. In step S108, the operation program is executed using the point data stored in step S106. Finally, it is determined whether or not the conveyed work is the finished product (step S109), and if not, the step S1.
08 is repeated, and if the product is a finished product, the process ends.

FIG. 10 is a diagram showing an example of a work to be conveyed.
RWL, RWD, RWI, RWC, RSZ, and RSY are the work length, work diameter, work insertion / removal amount, work gripping position, work origin shift amount Z coordinate value, and work origin shift amount Y coordinate value, respectively. Data. Therefore, for example, the point data ZV1 to ZV8 and YV1 to YV8 in the operation example shown in FIG. 13 are the material stocker entry position SP1, the material stocker delivery position SP2, the machine entry position SP3, the machine origin point position SP shown in FIG.
4, using the finished product stocker entry position SP5 and the finished product stocker delivery center position SP6 as reference position data, the following formulas 1 to 16 are used.

[0008]

[Formula 1] ZV1 = SP1 + (RWC-RWL / 2)

[Formula 2] ZV2 = SP2 + (RWC-RWL / 2)

## EQU00003 ## ZV3 = SP3 + RSZ + RWI + (RWC-RWL / 2)

## EQU00004 ## ZV4 = SP3 + RSZ + RWI + (RWC-RWL / 2)

[Formula 5] ZV5 = SP4 + RSZ

[Equation 6] ZV6 = SP4 + RSZ

[Formula 7] ZV7 = SP5 + (RWC-RWL / 2)

[Formula 8] ZV8 = SP6 + (RWC-RWL / 2)

[Formula 9] YV1 = SP1

[Formula 10] YV2 = SP2 + RSY-RWD / 2

[Formula 11] YV3 = SP3

[Expression 12] YV4 = SP3 + RSY-RWD / 2

[Formula 13] YV5 = SP4 + RSY-RWD / 2

[Formula 14] YV6 = SP3

[Formula 15] YV7 = SP5

[Expression 16] YV8 = SP6 + RSY-RWD / 2

As described above, the previously proposed loader / robot control device does not require a troublesome and time-consuming teaching operation, and the point data can be easily set. However, with this method, it was possible to release the operator from the command each time by automatically calculating the point data, but since it is necessary to determine the operation path that becomes the reference of the loader / robot operation each time the workpiece changes, it is necessary for the operator to load the loader.・ There was a problem that knowledge and experience about robots were required and it was a heavy burden. The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to previously store a plurality of operation patterns corresponding to various works, and to store the work shape data and the reference of the machine and the robot loader. It is intended to provide a robot / loader control device that can remove the burden of setting the operation route from the operator by automatically selecting the appropriate operation route based on the position data and performing the transfer operation according to the selected operation pattern. is there.

[0010]

In order to achieve the above object, in the robot loader control device according to the present invention, a variable is associated with each operating position of the robot loader,
In a robot loader control device for controlling the robot loader based on a position data set in the variable and a program of operation for the robot loader instructed using the variable name of the variable, a machine and a robot loader are provided. Reference position data storage means for storing data on a reference position regarding the workpiece, work shape data storage means for storing data on a workpiece to be transported, and operation pattern storage means for storing data on the transport path of the workpiece. An operation pattern determining means for selecting a conveyance path of the work based on the reference position data and the data concerning the conveyed work; and the reference position data and the conveyance according to the selected conveyance path. To calculate the position data of the robot loader based on the data related to the workpiece. Consists of a, is to set the position data calculated in said corresponding variable.

[0011]

According to the present invention, when the type of the work carried by the robot loader changes, an appropriate operation pattern is automatically selected according to the reference position data concerning the machine and the robot loader and the data concerning the work carried. Therefore, it is not necessary to consider the movement path every time the type of work changes.

[0012]

EXAMPLES Examples will be described with reference to FIGS. FIG. 1 is a block diagram of a hardware configuration of an embodiment of a robot loader control device according to the present invention.
A keyboard 2, a paper tape 3, and a guide display on the CRT 1
This is a portion for inputting data input from the floppy disk 4 or the like into each of the storage units 6 to 8 described later. The work shape data storage unit 7 stores data relating to the work WK such as the work length WL and the work diameter WD in FIG. 3, and the reference position data storage unit 6 includes the reference point ZER of the chuck CK, the chuck diameter CHD, This is a part for storing the position data necessary for the operation other than the work shape including the height HIGT of the grip claw, the position LNG of the tool T, the gap DL and the like.

The operation pattern storage section 8 is a section for storing the work transfer operation path as an operation pattern. For example, when the two operation patterns of FIG. 4 and FIG. 5 are stored in the storage unit 8, the operation pattern determination unit 10 determines the work length WL and the carryable work length SL between the chuck grip claw and the tool T. By comparison, in the case of SL> WL, it is a part for automatically determining the operation path passing through P4 to P6 in FIG. 4, and in the case of SL ≦ WL, the path passing through P5 and P6 via P1 to P3 in FIG. However, SL = LNG-HIGT-2DL.

The operation pattern reading section 11 is a section for reading the corresponding operation pattern from the operation pattern storage section 8 according to the judgment of the operation pattern judging section. The point position calculation unit 9
A part that obtains point data corresponding to the movement pattern based on the work data and the reference position. The analysis unit 12 analyzes the data of the point position calculation unit 9 and the motion pattern reading unit 11 and outputs a motion command to the function generation unit 13. The drive unit 14 controls the feed axis of the robot loader according to the motion command. This is the part that drives.

Next, the operation of this embodiment will be described in the order of the flowchart of FIG. When the input item is determined and the motion pattern is input in step S1, the motion pattern storage unit 8 stores the motion pattern in FIG.
Two motion patterns as shown in FIG. 5 are input and stored. When the work shape reference position is input, the work shape data is stored in the work shape data storage unit 7 in step S3. In step S4, required position data for operations other than the work shape is input and stored in the reference position data storage unit 6. It should be noted that since this data is input once and is retained until a cancel instruction is issued, only different items may be input after the second time.

In step S5, when the two motion patterns shown in FIGS. 4 and 5 are stored in the motion pattern determination section 10 in the motion pattern storage section 8, for example, when SL> WL, the motion pattern shown in FIG. 4 is calculated in step S6. Is read, and when SL ≦ WL, the operation pattern of FIG. 5 is read in step S6. In step S7, in the case of the operation pattern of FIG.
When the loading position P4 of the loader, the chuck center position P5, and the insertion position P6 into the catch CH are point patterns, or when the work pattern in FIG. 5 is long and it is necessary to avoid interference with the tool T, , The upper position P of the robot loader where the right end of the work WK does not interfere with the tool T1, the lower position P2 where the left end of the work does not interfere with the chuck 2, the rightward position P3 where it does not interfere with the chuck 3, and the chuck center position P
5, the Z-axis and Y-axis coordinate values of each point position of the insertion position P6 into the chuck are calculated, and variable names ZV1 to ZV
6, YV1 to YV6 are stored. 6 and 7 show examples of programs corresponding to FIGS. 4 and 5.

In step S8, the data from the point position calculation section 9 and the movement pattern reading section 11 are analyzed, and in step S9, the operation command is sent to the function generation section 13, and in step S10, the drive section 14 drives the robot. Controls each axis of the loader. Although the above description has been given by taking the work carry-in as an example, in the case of the work carry-out, an operation route that returns the same operation route as the carry-in is adopted. In the present embodiment, the input data is input by the keyboard or the like, but it can be transferred from another device or the NC device of the NC machine.

[0018]

Since the above-mentioned configuration is adopted, the following effects can be obtained. According to the robot loader control device of the present invention, in setting the point data of the operation position when the type of the work carried by the robot loader is changed, the data concerning the work to be carried first and the relationship between the machine and the robot loader are set. The operation pattern is selected from the reference position data of. Since the point position data corresponding to this operation pattern is calculated from the work data and the reference position and set as the variable name, the work transfer operation path according to the work shape can be automatically determined, which is troublesome and takes a lot of time. All operations are unnecessary, and you can handle different types of data simply by inputting workpiece shape data. For this reason, not only can the operator's load be greatly reduced, but if the work shape data transfer function is also used, continuous unmanned operation of different kinds of works becomes possible and it can be utilized for unmanned work.

[Brief description of drawings]

FIG. 1 is a hardware configuration block diagram of an embodiment of a robot loader control device of the present invention.

FIG. 2 is a flowchart showing an operation procedure of the present invention.

FIG. 3 is an explanatory diagram showing an example of a positional relationship between a workpiece to be conveyed, a chuck, and a tool.

FIG. 4 is a diagram showing an example of a standard carry-in operation pattern.

FIG. 5 is a diagram showing an example of a carry-in operation pattern when a work is long.

6 is a diagram showing an example of an operation program for the operation pattern of FIG.

7 is a diagram showing an example of an operation program for the operation pattern of FIG.

FIG. 8 is a hardware configuration block diagram of an embodiment of the previously proposed loader / robot control device.

FIG. 9 is a flowchart showing an operation procedure of the previously proposed loader / robot control device.

FIG. 10 is a diagram showing an example of a work conveyed by the previously proposed loader / robot control device.

FIG. 11 is a diagram showing reference position data of the previously proposed loader / robot control device.

FIG. 12 is a hardware block diagram of a conventional loader / robot controller.

FIG. 13 is a diagram showing an example of a processing line cited in a conventional technique.

FIG. 14 is a diagram showing an operation program for the loader robot cited in the related art.

[Explanation of symbols]

6 Reference position data storage unit 7 Work shape data storage unit 8 Operation pattern storage unit 9 Point position calculation unit 10 Operation pattern determination unit 11 Operation pattern reading unit

Claims (1)

[Claims] 1. A robot corresponding to each operation position of the robot loader, and based on a position data set in the variable and an operation program for the robot loader instructed using a variable name of the variable, the robot. In a robot loader control device for controlling a loader, reference position data storage means for storing data on a reference position for a machine and a robot loader, and work shape data storage for storing data on a workpiece to be transported. Means, operation pattern storage means for storing data of the work transfer path, and operation pattern determination means for selecting the work transfer path based on the reference position data and data on the transferred work. , Relating to the reference position data and the transported work according to the selected transport path And a means for calculating the position data of the robot loader based on the data, and setting the calculated position data in the corresponding variable.