JPH05729A - Control device of robot for loading/unloading work - Google Patents

Abstract

PURPOSE:To simpify a JOB program for a robot by constituting a control device on a robot having a palletizing function so that a work can be loaded to/unloaded from the robot in plural number of places determined according to instructed data. CONSTITUTION:A basic procedure of automatic preparation starts in a step 20, and file setting of a palletizing operational condition is carried out in a step 21, and after identifying whether or not an instruction mode key is pressed down, the procedure is transferred to a step 23. When identification is carried out on whether or not a position file area is secured, in the case of affirmation, the procedure is advanced to the next step, but in the case of denial, it is a preparation error as indicated in a step 29, so that the procedure is returned again to the step 21. In a step 24, instruction is given up to m-th stage of a work, and in a step 25, identification is carried out on whether or not a position preparing key is pressed down, and the procedure is advanced to a step 26, and after shift distance is added to point up to m-th stage, position data can be prepared. In a step 27, after identifying the fact that preparation data is normal, the automatic preparation can be finished in a step 28.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention reduces teaching work for palletizing or depalletizing in a controller of an industrial robot having a palletizing function for stacking or unloading work, and simplifies an operating program. Control device for the robot.

[0002]

2. Description of the Related Art Conventionally, the sequence of stacking or unloading work generally performed by an industrial robot is shown in FIGS. 4 (a) and 4 (b).
As shown in, the sequence of palletizing or depalletizing up to the mth stage is repeated.When the robot stacks or unloads n stages, (1) Position is divided into n stages. It was done by teaching all, (2) teaching the position for m steps and performing parallel shift for the positions of (m + 1) steps or more, etc. [Hereinafter, this is called "conventional example". ]. Further, as one of the documents, there is Japanese Patent Publication No. 2-58172 [hereinafter, referred to as "conventional example"]. In this conventional example, a palletizing robot that loads cargos of different sizes on the same pallet is controlled by a loading control device that controls loading based on loading control data created by a loading design support device. Based on the information of the dimensional specifications of the cargo and the loading position information on the pallet, the top surface of the cargo and one side surface facing the loading / unloading direction of the cargo and either the right or left side surface orthogonal to the three sides. Cargo stowage operation control in which the outward normal of one plane determines the cargo loading and unloading order by sequentially seeking cargos that are not blocked by other cargoes, and the loading and unloading order is the reverse of the loading and unloading order. It is a device. Furthermore, JP-A-2-
Japanese Unexamined Patent Publication No. 100926 [hereinafter referred to as "conventional example"] can be seen. The conventional example is a motion pattern file number for designating each bottom point of the previously loaded work, the height of the topmost work, and the motion pattern of the robot hand for each bottom point. A position data file containing the motion pattern file number, and a motion pattern file for specifying the motion pattern corresponding to the motion pattern file number. Position data with palletizing command
A grid, which is the operating point of the robot, is specified by specifying the data file and the bottom point data included in the specified position data file, the height of the uppermost work and the current number of work. The points are calculated, the motion pattern defined at the bottom point corresponding to the grid point is shifted so as to pass through the grid point, and the robot is operated based on the shifted motion pattern. However, by designating the coordinate value of the bottom point, which is the position of each work in the first row, and the height of the work in the top row, the work is lined up and piled up or down on the bottom point. This is a palletizing / depalletizing control method for a robot.

[0003]

However, in the technique of item (1) in the conventional example and the conventional example, the work of all n stages is performed.
There are too many teaching points to teach the position of the work, and the operation is difficult, and with the technique of item (2) in the conventional example, it is not possible to partially change the teaching such as fine adjustment of the work posture. There was a point. Further, in the conventional example, for example, a so-called loose work in which the cargo is sorted according to destinations at a distribution center or the like, that is, cargos having different sizes are loaded on the same pallet without avoiding the cargo previously loaded. This is a means of efficiently stacking, the calculation is complicated, and the work of stacking a plurality of works having the same shape to some extent is wasteful. SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a robot control device for stacking and unloading a work which can teach a position to a robot as easily as possible and can independently change a teaching point one by one. To do.

[0004]

A robot controller for stacking and unloading a work according to the present invention has a work stack on a robot at a plurality of positions determined based on taught data. Alternatively, in a robot controller having a palletizing function for loading and unloading, when a, m, and n are natural numbers a <m <n, up to the mth stage of the work for loading or unloading Means for teaching the robot the sequence of stacking movements of the work, the total number of the stacked work pieces, and the position data required for teaching the operation path for loading or unloading one work piece. Number, stacking number of each stage up to the mth stage, shift amount which is the difference in the height direction from a stage to (m + a) stage, and the coordinate system that sets the shift amount is set as a condition file. The means and the number and the number of these means (m + 1) It is characterized in that it is provided with means for automatically creating the positions from the tier to the n-th tier and means for changing the created position for each point.

[0005]

According to the robot controller for stacking and unloading the work according to the present invention having the above-described structure, the robot is taught all the positions up to the n-th stage by teaching the positions up to the m-th stage. Since the teaching point can be taught and the teaching point can be changed, the teaching is simplified, the JOB program of the robot is simplified, and the stacking and unloading work can be performed efficiently, accurately and speedily.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to specific embodiments shown in FIGS. 1 to 6 by using the same reference numerals for the same or corresponding members. A robot controller for stacking and unloading works according to the present invention is a plan view showing the appearance of a plant when bag palletizing work is applied to a continuous pallet as shown in FIGS. 3 (a) and 3 (b). Figures and side view [partially omitted] A work (bag) is conveyed in the direction of the arrow from the width-shifting part 301a of the transfer conveyor 301 to the positioning part 301b, and the work gripping device 2a mounted on the wrist of the arm 2b of the robot 2 causes the robot 2 to move. Is one on the pallet 304 fed out from the pallet stocker 302 via the pallet transfer device 303 by the control device of the robot for picking up and unloading the work according to the present invention, which is not shown. Palletizing is performed accurately and quickly, and the pallets 305 are conveyed in the direction of the arrow and wait for movement. FIG. 1 is a block diagram showing a circuit configuration of an embodiment of a robot controller for stacking and unloading works according to the present invention.
The control device 10 receives / outputs data for moving the robot 2 by a data input / output device 9 installed outside via a floppy disk, a personal computer or the like [not shown]. This data is first given to the data bus 11 via the human interface controller 8. Data suitable for this internal calculation is stored in a condition file 7a and a position file 7b formed in a data storage area 7 composed of, for example, a RAM, and these data are DI / O [digital input / output].
A calculation for restricting the movement of the robot in the calculation unit 4 is performed by a signal from the control unit 6 or an operation of an operation panel or a teaching box (not shown). [Human Interface
The robot 2 is operated while adjusting the servo control unit 3 so that the deviation between the detection and the command from the control unit 8 is not shown.

Next, the operation method will be described in detail. Figure 4
(a), (b) is explanatory drawing showing the basic concept of this invention. Here, for example, it is assumed that the work sequence of the robot up to the second step [illustrated as m steps] and the work 1 is stacked on the pallet up to the seventh step [illustrated as n steps]. It's easy to understand when you think about it. Work 1 is 1 as shown in Fig. 4 (b).
Assuming that each of the routes 101 to 104 represented by a dotted line and an arrow is required, an instruction as shown in FIG. 5 is registered in advance in the JOB program. Where route step NO
Is the additional number of the path step for one work 1a, the condition file NO is the condition file NO referred to by this operation command, and the work on the pallet is the work on the pallet. It is a serial number. That is, in the command word PMOVJ, the route step NO is 101 and the condition file NO is PM # 01.
[No. 1 in palletizing operation condition file], work on pallet NO is I00 [I indicates a variable], etc. is a display such as operation speed and positioning pattern of device, and command word HAND1 is Release the grip of work 1a on the wrist
[OFF] means that the command word TIMER 1.00 here means stop the robot operation for 1 second. The palletizing operation file [7a in FIG. 1] will be described with reference to FIG. The mode is teaching (teaching) mode, and the execution job is ******** with L: *** [meaning additional number of line number] and S: *** [ It means the serial number of the operation step], and the robot is currently stopped. The date and time is 12:00 on April 17, 1990. Then, the edit job as the palrentizing operation condition (the condition number is No. 1) is that the number of works to be loaded is 30 and the number of route steps is 4 [see Fig. 4 (b)]. The coordinate designation is, for example, a base coordinate. Since the work 1 is stacked differently between the odd-numbered stage and the even-numbered stage, 6 units are stacked in the odd-numbered stage and 5 units are stacked in the even-numbered stage. It shifts only 50 centimeters and does not shift vertically and horizontally [X, Y axis direction]. Furthermore, when specifying edit items, the upper and lower sides 61, 62 of the soft key page, data change 63, coordinate designation 64, setting completion 65
Press the key to specify any of the five items. For example, when the data change 63 is designated, the mover 60 is shifted to the right in accordance with the numerical value to make the change setting. That is,
The number of piles 30 is the total number of works 1 to be stacked on the pallet, and the number of four path steps is the number of movement routes when one work 1a is loaded. The coordinate designation is a coordinate system that shifts the teaching points in the first and second steps to determine the shift amount when creating teaching points in the third and higher steps. For odd-numbered stages and even-numbered stages, the number of stacks in each stage and the respective shift amount are set.

After the setting of the data is completed, the next step, the teaching mode, is entered to secure the necessary position area. In other words, after that, enter the teaching mode,
After teaching the work of the first and second steps, create the position for the third step and above. Here, each position area is
Entered, (total number of positions) = (number of items stacked) x
The position of (number of route steps) is created. The position can be corrected by selecting the number of steps to be corrected, the work NO in the specified step, and the operation path step NO from a teaching box (not shown). At the time of execution, by changing the contents of the variable (I) that specifies the work NO, the teaching (instruction) of the registered routes of 101 to 104 is executed to reproduce the positions of all positions. be able to. Therefore, the matters explained so far will be expressed according to FIG. 2 of the flowchart. In step 20, the basic procedure for automatic creation starts, the palletizing operation condition file is set in step 21 [see FIG. 5], and the teaching mode key is pressed in step 22 [see FIG. 6 for the conditions of this teaching mode. The setting is completed, and the setting completion 64 is displayed by pressing. Press the teach mode key to display the teaching mode index on the entire screen, and proceed to step 23 to see if the position file area can be secured. If yes, proceed to the next step, but if not, go to step 29 Since the error is the creation error shown in, the process returns to step 21 again. At step 24, teaching is performed up to the mth stage of the work, and at step 25 it is confirmed whether the position creation key has been pressed [The explanation here is according to step 22].
, Proceed to step 26 to create position data by adding the shift amount to the points up to the m-th stage of the work, and check whether the created data is normal in step 27. If the result is affirmative, proceed to the next step. Since it is the preparation error shown in step 27, the process returns to step 21 again. Although the automatic creation is completed in step 28, if it is necessary to change the position due to the collapse of the work load, etc., proceed to step 30 to judge whether the teaching as it is is acceptable or not. The basic procedure is over,
If not, it is determined in step 32 whether or not the position or the like has been changed, and if it is repeatedly affirmed until it is affirmed, the process ends in step 33. In this way, the teaching is up to the m-th stage, and the teaching can be changed midway. It should be noted that although the above description has described the stacking of the works, it is clear that the stacking of the works can be performed by the same method.

[0009]

As described above, according to the present invention, m
By teaching up to the n-th stage, more position data up to the n-th stage can be created, and individual positions can be corrected, so that work can be piled up and down [palletizing / palletizing /
The depalletizing] actuator [robot] teaching is simplified and the JOB program is simplified, and there is a remarkable effect in teaching the optimum teaching point.

[Brief description of drawings]

FIG. 1 is a block diagram showing a circuit configuration of an embodiment of a robot controller for stacking and unloading works according to the present invention.

FIG. 2 is a flow chart for operating the circuit configuration of FIG.

3A and 3B are a plan view and a side view showing an external appearance of a plant when a palletizing operation of bags according to the present invention is applied to a continuous pallet by a robot palletizing work.

FIG. 4 is an explanatory diagram perspectively showing the basic concept of stacking and stacking of works in the present invention.

FIG. 5 is a registration instruction diagram of one embodiment of the present invention.

FIG. 6 is a diagram of a palletizing operation file according to the embodiment of the present invention.

[Explanation of symbols]

 1 Work 2 Robot 3 Servo Control Section 4 Computing Section 5 Motion Control Section 6 DI / O (Digital Input / Output) Control Section 7 Data Storage Area 8 Human Interface Control Section 9 Data input / output device 10 Control device 11 Data bus

Claims (1)

Claim: What is claimed is: 1. A robot controller having a palletizing function for causing a robot to stack or unload a work at a plurality of positions determined based on taught data. , M, n are natural numbers a <m <n, and means for teaching the robot the sequence of stacking motions of the work up to the m-th stage of the stacking work. , The total number of works to be loaded and the position data required for teaching the operation path of loading or unloading for one work.
Number of sheets, the number of stacked sheets in each stage up to the mth stage, and from the a stage (m
+ A) A shift amount which is a difference in the height direction up to the step and means for setting the coordinate system which sets the shift amount as a condition file, and the means and the number of these means, from the (m + 1) th stage to the nth stage. A control device for a robot for stacking and unloading a work, comprising means for automatically creating a position and means for changing the created position for each point.