JPH06190753A - Robot control device - Google Patents

Abstract

PURPOSE:To provide a control device for force control robot, with which operations such as polishing can be made at a higher speed along the surface of a work to be processed. CONSTITUTION:A robot control device comprises a condition acquiring means 11 installed in part of a working means 13 and acquiring the working path data 'Data', a memory means 12 to store Data, working means 13 which performs operations along the surface to be processed of a work 16 on the basis of Data, a stored condition controlling means 17 to control writing of the memory means 12, and a control means 14 to control the input and output of these means 11, 12, 13, and 17. In the condition that the working means 13 is instructed manually for works along the surface to be processed of the work 16, the stored condition control means 17 determines the starting/finishing point of time for the storing motion of Data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot control device, and more specifically, it is provided with
The present invention relates to improvement of a control device of a force control robot that performs work such as polishing and other processing.

[0002]

2. Description of the Related Art A robot controller according to a conventional example will be described below with reference to FIG.

As shown in FIG. 9, a robot controller according to a conventional example attaches a work such as a polishing brush to a hand 3A and performs some work along the work surface 6 to be worked. A device for controlling the driving of the robot working unit 1 and the robot arm 3 that drives the tip working unit 1, which has a configuration including a tip working unit 1, a position storage unit 2, and a robot arm 3.
And a control command generator 4. The tip working unit 1 includes a position detection unit 1A, a force sensor 1B, and a hand 3A, and the controller 4 includes an operation unit 4A and a position control unit 4.
B, a force control unit 4C, and a control command generation unit 4D.

The operation of the robot controller by the device will be described below. First, the operator is at the work start position,
The tip working unit 1 is moved and stopped at that position. Next, the operator starts driving the control command generation unit 4 and sets it in the teaching state. At the same time, the operation of storing the position of the tip working unit 1 by the position storage unit 2 is started.

At this time, since the tip working unit 1 has not moved, at this time, the position storage unit 2 stores a state in which the tip working unit 1 is stationary. Next, the operator again moves to the tip working unit 1, moves the tip working unit 1 along the work surface 6 from the work start position to the work end position, and stops at the work end position.

During this time, the position detecting section 1A detects the position of the tip working section 1 at any time, and the position data is stored in the position storing section 2. As a result, the work route is stored in the position storage unit 2 (a state in which the control device stores the work route as described above is hereinafter referred to as a teaching state).

Next, the operator moves to the position of the input device of the control command generating section 4 and ends the teaching state of the control command generating section 4. At the same time, the operation of storing the position of the tip working unit 1 by the position storage unit 2 is completed.

At this time, since the tip working unit 1 is stopped at the work end position, the position storage is performed after the tip working unit 1 is stopped until the teaching state of the control command generating unit 4 is finished. The stationary state is stored in the unit 2.

Next, the operator switches the control command generator 4 to the reproduction operation state. The reproduction operation state means a state in which the robot is operated according to the work route stored in the teaching state.

At this time, the position data Data indicating the work route written in the teaching state is read from the position storage unit 2 to the control command generation unit 4. Based on this, the set position parameter indicating the target position generated by the control command generation unit 4 is output to the position control unit 4B, and the set force parameter indicating the target force generated by the control command generation unit 4 is also the force control unit. It is output to 4C.

At the same time, the force sensor 1 is installed in the position controller 4B.
The position of the tip working unit 1 detected by the position detecting unit 1A detected by B at any time, the reaction force F0 from the work target surface 6 is input to the force control unit 4C, and based on them, A drive control signal is output from each of the position control unit 4B and the force control unit 4C. Based on the drive control signal, the operation section 4A drives the robot arm 3 and the tip working section 1 at the tip thereof.

As described above, the operation in which the operator manually teaches the robot in the teaching state is reproduced in the robot in the reproducing operation state.

[0013]

By the way, according to the conventional robot control apparatus, the operator moves the tip working unit 1 from the work starting position after the operator commands the control command generating unit 4 to start the teaching operation. Before that, there was a vacant time before the operator moved from the input device of the control device such as a keyboard to a certain position of the tip working unit 1.

At this time, the position storage unit 2 starts storing at the same time as the teaching operation starts, but since the tip working unit 1 is stationary until the tip working unit 1 is moved from the work start position, the position storage unit 2 stores the position. The stationary state is directly input to the section 2.

Similarly, at the end of the teaching operation,
There was a vacant time between the time when the operator stopped the tip working unit 1 at the work end position and the time when the operator moved to the position of the input device of the control device and commanded the end of teaching operation.

During this time, the tip working unit 1 remains stopped at the work end position, so that the stationary state is directly input to the position storage unit 2. Therefore, when the motion is reproduced, the stationary state is also reproduced, and the tip working unit 1 first stops at the work start position for a certain idle time, then moves along the work route to the work end position, and then there is a certain empty space. It will be stopped for the time.

Therefore, the work time in the reproduction operation state is wasted by that much, and in particular when the reproduction operation needs to be repeated many times, it becomes non-negligible, and the speed of a series of operations is increased. It was an obstacle.

The present invention was created in view of the problems of the conventional example, and an object of the present invention is to provide a robot controller capable of speeding up work without reproducing a stationary state when reproducing a motion. .

[0019]

FIG. 1 is a principle diagram of a robot controller according to the present invention. As shown in FIG. 1, the robot control device according to the present invention is provided in a part of the work means 13, and is a state acquisition means 11 for acquiring work path data Data, and a storage for storing the work path data Data. Means 12 and working means 13 for working along the work surface of the work object 16 based on the work path data Data
And a control means 14 for controlling the input / output of the status acquisition means 11, the storage means 12, the working means 13, and the storage status control means 17, and a storage status control means 17 for controlling the writing of the storage means 12. Comprises the working means 13
In the teaching state in which is manually taught along the work surface of the work target 16, the storage state control means 17 determines the start / end points of the storage operation of the work route data Data.

In the robot controller according to the present invention, the state acquisition means 11 includes a position detection means 11A for detecting the position state of the working means 13, a work means 13 and an object 16 to be worked. It is characterized by comprising force detection means 11B for detecting a contact force F0 with the work surface.

In the robot controller according to the present invention, the storage state control means 17 is the working means 13.
And the start / end time point of the storage operation of the work route data Data is determined based on the contact force with the work target 16.

Further, in the robot controller according to the present invention, the storage state control means 17 is the working means 1
It is characterized in that the start / end point of the storage operation of the work route data Data is determined based on the position state of No. 3.

In the robot controller according to the present invention, the storage state control means 17 is the working means 13.
It is characterized in that the end point of the storage operation of the work route data Data is determined based on the work time of.

Further, in the robot controller according to the present invention, the storage means 12 starts storing and holding the work route data Data at the same time as the teaching is started, and sequentially stores the preset number of work route data Data. Work route data Da that is updated and is acquired from the time when the start of the effective storage operation of the work path data Data is instructed and the sequential storage update is ended and the start of the effective storage operation is instructed
The above object is achieved by storing and holding ta and a preset number of work path data Data before the start of the storage operation is instructed.

[0025]

[Operation] According to the robot controller of the present invention, as shown in FIG. 1, the state acquisition means 11 and the storage means 12 are provided.
And a working unit 13, a control unit 14, and a storage state control unit 17.

For example, the status acquisition means 11 acquires the work route data Data, the storage means 12 stores the work route data Data, and the work means 13 follows the work target 16 based on the work route data Data. And the control means 14 controls the status acquisition means 1
1, teaching of manually controlling the input / output of the storage unit 12, the working unit 13, and the storage state control unit 17, and the storage state control unit 17 manually teaching the working unit 13 along the work surface of the work target 16. In the state, the start / end point of the storage operation of the work route data Data is determined.

Therefore, the start / end of the storage operation of the work path data Data by the storage means 12 is based on the storage state control means 1
Since it is controlled by 7, it is possible to separately set the start / end time point of the teaching operation and the start / end time point of the storage operation of the work path data Data by the storage means 12.

Therefore, from the position of the input device of the control unit until the operator moves the working unit 13 from the work starting position after the operator of the working unit 13 commands the control unit 14 to start the teaching operation. When there is a vacant time to move to the position of the working means 13 or when the teaching operation ends, the operator stops the working means 13 at the work end position and then moves to the position of the input device of the control device to finish the teaching operation. By stopping the storage operation before the command is issued, it is possible to prevent the storage unit 12 from storing the stationary state of the device.

Therefore, it is possible to prevent the loss of the working means 13 remaining stationary at the work starting position for the idle time, especially during the reproducing operation, so that the speed of a series of works can be increased.

In the robot controller according to the present invention, the storage state control means for determining the start / end time of the storage operation of the work path data Data based on the contact force between the work means 13 and the work object 16. It is equipped with 17.

For example, the storage operation is started when the contact force becomes larger than a certain constant force, and the storage operation is finished when the contact force becomes smaller than a certain constant force. For this reason,
During manual teaching operation, the work means 13 is placed at the work start position.
Is pressed against the work object 16, the contact force between them is made larger than a certain fixed value, and the contact force is released when the work end position is reached, so that the stationary state at the work start / end position is stored in the storage means. It becomes possible not to be stored in 12.

Therefore, it is possible to prevent a loss in which the working means 13 remains stationary at the work starting position for the idle time, especially during the reproducing operation, so that it is possible to speed up a series of works.

The robot controller according to the present invention further comprises a storage state control means 17 for determining the start / end time points of the storage operation of the work path data Data based on the position state of the work means 13.

For example, the storage operation is started when the working means 13 has moved a certain distance from the work start position, and is ended when the work means 13 reaches the work end position and stands still.

Therefore, while the working means 13 is stationary at the work starting position, the work path data Data is not stored, so that the stationary state during this time can be prevented from being stored in the storage means 12. become.

Therefore, it is possible to prevent the loss of the working means 13 being stationary at the work starting position for the idle time, especially during the reproducing operation, so that the speed of a series of works can be increased.

Further, the robot controller according to the present invention is provided with a storage state control means 17 which determines the end point of the storage operation of the work path data Data based on the work time of the work means 13.

For example, the storage operation is started at the same time when the teaching state is started, and the storage operation is ended when a certain time has passed thereafter. Therefore, by ending the teaching operation by hand within a certain time, the storing operation can be ended together with the end of the teaching operation, so that the stationary state generated at the end of the operation is not stored in the storage means 12. It will be possible.

Therefore, it is possible to prevent the loss that the working means 13 is stationary for the idle time at the work starting position, especially during the reproducing operation, so that the speed of a series of works can be increased.

Further, in the robot controller according to the present invention, the work route data Data is started to be stored and held at the same time as the teaching is started, and the work route data is sequentially updated to secure a preset number of work route data Data. When the start of the effective storage operation of the data Data is instructed, the sequential memory update is ended, and the work route data Data acquired from the time when the start of the effective storage operation is instructed and the start of the storage operation are instructed. The storage means 12 is provided for storing / holding the previously set number of work route data Data.

Therefore, when the start / end time of the storage operation of the work path data Data by the storage means 12 is determined based on the position state of the work means 13, in particular, the work means 13 has moved a certain distance from the work start position. When a storage operation is to be started from time to time, the number of work route data Data that will be lost before the work means 13 moves a certain distance from the work start position is obtained in advance, and work is performed based on the number. By performing the sequential memory update to secure the route data Data, it is possible to prevent the work route data Data from being lost during this period, and the reliability in the reproducing operation is improved.

[0042]

Embodiments of the present invention will now be described with reference to the drawings. 2 to 8 are views for explaining the robot controller according to the embodiment of the present invention.

(1) First Embodiment FIG. 2 is a block diagram of a robot controller according to a first embodiment of the present invention, and FIG. 3 is a position detection unit and force according to each embodiment of the present invention. It is a block diagram of a detection part. In addition, FIG. 4 is a flow chart for explaining the operation of the robot controller according to the first embodiment of the present invention.

The robot controller according to this embodiment is shown in FIG.
Is a device for controlling the drive of a robot arm 23 having a tip working part 21 for performing some work along the work surface of a work object 26 as shown in FIG. 21, a position storage unit 22, a robot arm 23, a controller 24, and a trigger generation unit 27.

The tip working unit 21 is an embodiment of the state acquisition means 11, and is provided with a hand 21C for attaching a work brush or the like (not shown) for performing some work along the work surface 26. The tip working unit 21 is provided with a position detecting unit 21A, a force sensor 21B, and the like.

For example, the position detecting section 21A is one embodiment of the position detecting means 11A and detects the position and posture of the robot arm 23 and outputs a position detection signal relating to the position X0 of the tip working section 21. Is. The position detection signal is output to the position storage unit 22 during the teaching operation and is output to the position control unit 24B during the reproducing operation.

The force sensor 21B is an embodiment of the force detecting means 11B and detects the reaction force F0 from the work surface, and outputs a force detection signal relating to the reaction force F0, for example. It is a thing. The force detection signal is output to the trigger generation unit 27 and the control command generation unit 24D during the teaching operation, and is output to the force control unit 24C during the reproduction operation.

The position storage unit 22 is an embodiment of the storage unit 12, and is based on the storage operation control signal SF output from the trigger generation unit 27, the contact transferred from the control command generation unit 24D during the teaching operation. Work route data that includes point coordinates X0, normal vector, moving direction vector, etc.
It stores Data. For example, the trigger generator 27
When the storage operation control signal SF is output from, the storage operation of the work path data Data is started, and when the output of the storage operation control signal SF is stopped, the storage operation is ended.

The robot arm 23 is an embodiment of the working means 13, and performs polishing and other work along the work surface based on the work path data Data. The controller 24 is an example of the control means 14,
The input / output of the tip working unit 21 and the position storage unit 22 is controlled. The control controller 24 includes an operation unit 24A, a position control unit 24B, a force control unit 24C, and a control command generation unit 2
Composed of 4D.

The operation unit 24A is composed of a servomotor or the like, and controls the output of the robot arm 23 based on the position control command vector vp relating to the position control direction and the force control command vector vf relating to the force control direction.

As shown in FIG. 3A, the position control section 24B comprises a gain calculation section 240 and a selection matrix calculation section 241, and the position and control command generation section output from the position detection section 21A during the reproduction operation. The position control command vector vp relating to the position control direction is generated based on the target position and the position parameter designated from 24D, and is output to the operation unit 24A.

That is, the preset target position Por
And the position detection signal Par detected by the position detection unit 21A, the deviation vector dp is calculated by the equation dp = Por−Par. The gain of this control system is Gp
Assuming that (s), the tentative position control command vector vp ′ is calculated by the gain calculator 240 by vp ′ = Gp (s) · dp. Furthermore, if the diagonal component is (1 1 1
The selection matrix S of 6 rows and 6 columns which is a diagonal matrix of 1 1 1)
By p, the position control command vector vp, which is the speed command component in the position direction of all axes, is calculated by the selection matrix calculation unit 241 by the following expression vp = Sp · vp ′, and is output to the operation unit 24A. In this way, the tip working unit 21 is controlled to follow the target position instructed by the control command generation unit 24D in the reproduction operation state.

As shown in FIG. 3B, the force control unit 24C is composed of a gain calculation unit 242 and a selection matrix 243, and has a force F0 output from the force sensor 21B or a set force designated from the outside. And a force control command vector vf related to the force control direction based on the force control parameter and output to the operation unit 24A.

That is, the preset target position For
And the position detection signal Far detected by the position detection unit 21A, the deviation vector df is calculated by the equation df = For-Far. The gain of this control system is set to Gf
Assuming that (s), the gain calculation unit 242 calculates the temporary position control command vector vf ′ by vf ′ = Gf (s) · df. Furthermore, if the diagonal component is (1 1 1
The position control command vector vf, which is the speed command component in the position direction of all axes, is calculated by the selection matrix calculation unit 243 by the following formula vf = Sf · vf ′ by the selection matrix Sf that is a diagonal matrix of 1 1 1) It is output to the operation unit 24A. In this way, control is performed so as to follow the target force commanded by the control command generator 24D in the reproduction operation state.

The control command generating section 24D sets the apparatus to the teaching state or the reproducing operation state based on the input signal from the operator during the teaching operation, and starts the position detection by the position detecting section 21A in the teaching state. Trigger generator 2
In the reproduction operation state, the state control signal JS is output to 7, and the set position parameter and the set force parameter are generated based on the work path data Data read from the position storage unit 22, and the position control unit 24B and the force are set. It is output to the control unit 24C.

The trigger generation unit 27 includes the storage state control means 1
7A and 7B, the position detecting unit 21A during the teaching operation
The memory operation control signal SF is output based on the position detection signal from the control command generator 24D and the state control signal JS from the control command generator 24D.

For example, when the state control signal JS and the position detection signal indicating that the work operation start position has been reached are input, the storage operation control signal SF is output, while the state control signal JS and the work operation are output. When the position detection signal indicating that the start position has been reached is input, the output of the storage operation control signal SF is stopped.

The operation of the apparatus will be described below with reference to the flowchart of FIG. First, in step P1 of the flowchart of FIG. 4, the operator manually moves the tip working unit 21 to the work starting position and stops it.

Next, in step P2, the control device is put in the teaching state. At this time, an input signal from the operator is input to the control command generation unit 24D of the control controller 24 to put the device in the teaching state, and the control command generation unit 24D.
Outputs the state control signal JS to the trigger generation unit 27.

Then, in step P3, the work object 2
The operator starts to move along the work path on the work surface 6 while manually pressing the tip work portion 21 onto the work surface, and at the same time, starts to store the position of the tip work portion 21.

At this time, the force sensor 21B detects the reaction force F0 applied to the force sensor 21B from the work surface, and the force detection signal is output to the control command generating section 24D and the trigger generating section 27. It At this time, at the same time, the position detection unit 21A detects the position of the tip working unit 21 and outputs a position detection signal to the position storage unit 22.

Next, the trigger generation unit 27 determines whether or not the force detection signal exceeds a certain value (10 g in this embodiment), and if it exceeds the certain value, a storing operation is performed in the position storage unit 22. The control signal SF is input.

When the storage operation control signal SF is input to the position storage unit 22, the position storage unit 22 stores and holds the position detection signal from the position detection unit 21A as work path data Data, and The travel route is stored.

Next, in step P4, the operator manually moves the tip working portion 21 along the working path while crimping the tip working portion 21 to the work surface, and stops at the work end position to stop the tip working portion 21 and the work portion. Release the crimped state with the work surface.

At this time, while moving along the work route, by the operation as shown in step P3,
The movement path of the tip working part 21 is stored, but when the tip working part 21 stops at the work end position and the crimped state between the tip working part 21 and the work surface is released, the detected force is 10
g or less, and the storage operation control signal SF is stored in the position storage unit 22.
Is not input, the position detection signal from the position detection unit 21A is not stored and held in the position storage unit 22, and the movement path of the tip working unit 21 is no longer stored.

Then, in step P5, the operator releases the teaching state of the apparatus. At this time, the teaching state of the device is released by the control command generation unit 24D based on the input signal from the operator.

Next, in Step P6, the apparatus starts the reproduction operation state. At this time, the reproduction operation state of the device is started by the control command generation unit 24D based on the input signal from the operator, and the position storage unit 2 is in the teaching state.
The robot arm 23 is operated so that the tip working unit 21 moves according to the work route stored in 2.

That is, the work route data Data stored in the teaching state from the position storage unit 22 is the control command generation unit 24D.
The control command generator 24D outputs the set force parameter to the force controller 24C and the set position parameter to the position controller 24B.

Further, the position detecting section 21A detects the position of the tip working section 21 at any time and outputs it as a position detection signal to the position control section 24B. At the same time, the force sensor 21B causes the work surface of the work object 26 to tip. The reaction force F0 exerted on the working unit 21 is detected and output to the force control unit 24C as a force detection signal.

Then, according to the set position parameter and the position detection signal indicating the position of the tip working unit 21 which is detected at any time, the position control unit 24B generates the position control speed command vector vp relating to the speed control in the position direction, and operates it. Part 2
It is output to 4A.

At the same time, the force control section 24C generates a force control speed command vector vf for speed control in the force direction based on the set force parameter and outputs it to the operating section 24A.

Further, based on the position control speed command vector vp and the force control speed command vector vf, the operation unit 24
The robot arm 23 is operated by A, and the tip working unit 21 is worked along the work path taught on the work surface of the work object 26.

Then, in step P7, the reproduction operation of the device is completed. At this time, the tip working unit 21 ends a series of works along the work route at the work end position. Next, in step P8, it is determined whether or not all the work has been completed. If it has ended (Yes), the process ends, and if it has not ended, the process returns to step P6 to repeat the above process.

As described above, according to the robot controller according to the first embodiment of the present invention, as shown in FIG.
The tip working unit 21, the position storage unit 22, the robot arm 23, the controller 24, and the trigger generation unit 27 are provided.

For example, the work path data Data indicating the moving path of the robot arm 23 on the work surface of the work object 26 by the position detection unit 21A provided on the tip working unit 21 provided at the tip of the robot arm 23. Is acquired, the work path data Data is stored in the position storage unit 22, the robot arm 23 performs a work along the work target object 26 based on the work path data Data in the reproducing operation, and the controller 24 The input / output of the tip working unit 21, the position storage unit 22, the robot arm 23, and the trigger generation unit 27 is controlled, and the trigger generation unit 2 is controlled.
7, the robot arm 23 and the work object 26
When the contact force with 10g or more, the position storage unit 22
The storage operation of the work route data Data by the
The position storage unit 22 is instructed to end the storage operation when the value becomes less than g.

As a result, in the manual teaching operation, the robot arm 23 is crimped to the work object 26 at the work start position and moved with the contact force between them kept at 10 g or more, and the work end position is reached. When the contact force is reached, it is possible to prevent the stationary state at the work start / end positions from being stored in the position storage unit 22.

Therefore, unlike the conventional case, the stationary state is not reproduced at the time of the reproducing operation, so that the work can be reproduced without wasting idle time, and the work can be speeded up. (2) Second Embodiment A robot controller according to a second embodiment of the present invention will be described below with reference to FIGS. 5 and 6. Note that items common to the first embodiment will be omitted because they overlap.

FIG. 5 is a block diagram of a robot controller according to the second embodiment of the present invention, and FIG. 6 is a flow chart for explaining the operation of the robot controller according to the second embodiment of the present invention. is there.

The robot controller according to this embodiment is shown in FIG.
As shown in FIG. 3, the tip working unit 21, the position storage unit 22, the robot arm 23, the controller 24, and the trigger generation unit 27 are included.

The tip working unit 21 is an embodiment of the state acquisition means 11 and is provided with a hand 21C for attaching a work brush or the like (not shown) for performing some work along the work surface 26. The tip working unit 21 is provided with a position detecting unit 21A, a force sensor 21B, and the like.

For example, the position detecting section 21A is one embodiment of the position detecting means 11A and detects the position and posture of the robot arm 23 and outputs a position detection signal relating to the position X0 of the tip working section 21. Is. The position detection signal is output to the position storage unit 22 and the trigger generation unit 27 during the teaching operation, and the position control unit 24A during the reproduction operation.
Is output to.

The force sensor 21B is one embodiment of the force detecting means 11B, and detects the reaction force F0 from the work surface. For example, the force sensor 21B outputs a force detection signal related to the reaction force F0. It is a thing. The force detection signal is not output during the teaching operation, but is output to the force control unit 24C during the reproduction operation state.

Since the functions and operations of the position storage section 22 and the robot arm 23 are the same as those in the first embodiment, their description will be omitted. The controller 24 is an embodiment of the control means 14, and controls the input / output of the tip working unit 21 and the position storage unit 22. The control controller 24 includes an operation unit 24A, a position control unit 24B, a force control unit 2
4C and a control command generator 24D.

The operation unit 24A, the position control unit 24B,
The configurations, functions, and operations of the force control unit 24C and the control command generation unit 24D are the same as those in the first embodiment, so the description thereof will be omitted.

The trigger generator 27 is configured to detect the position detection signal from the position detector 21A and the control command generator 24 during the teaching operation.
The memory operation control signal SF is output based on the state control signal JS from D.

That is, the state control signal JS and the position detection signal are input to the trigger generator 27, and it is determined by the trigger generator 27 that the tip working unit 21 has moved a certain distance from the work operation start position. Then, the storage operation control signal SF is output to the position storage unit 22, and when the state control signal JS and the position detection signal indicating that the work operation start position has been input are input, the storage operation control signal SF is input. Output is stopped.

The operation of the robot controller according to the second embodiment of the present invention will be described below with reference to the flowchart of FIG. First, in step P1 of the flowchart of FIG. 6, the operator manually moves the tip working unit 21 to the work start position and stops it.

Next, in step P2, the operator puts the control unit in the teaching state. At this time, the input signal from the operator is the control command generator 24 of the controller 24.
The control command generation unit 24D outputs the state control signal JS to the trigger generation unit 27.

Next, in Step P3, the operator manually operates the tip working unit 21 along the working path of the work surface.
To start moving on the work surface. At this time, the position detection unit 21A detects the position of the tip working unit 21 and outputs the position to the position storage unit 22 and the trigger generation unit 27.

Next, in step P4, the position storage of the tip working unit 21 is started when the tip working unit 21 moves by a preset fixed distance. At this time, the position of the tip working unit 21 is detected by the position detecting unit 21A at any time and is output to the position storage unit 22 and the trigger generating unit 27.
The position data is not stored until 1 moves a predetermined distance (0.5 mm in this embodiment) set in advance, and the trigger generation unit 2 moves at the time when it moves 0.5 mm.
7, the storage operation control signal SF is output to the position storage unit 22, and at the same time, storage of the position data in the position storage unit 22 is started.

The determination process of whether the tip working unit 21 has moved 0.5 mm from the work starting position is performed by the trigger generating unit 27. Then, in step P5, the operator manually ends the movement of the tip working unit 21 at the work end position.

At this time, the tip working unit 21 is moved to the work end position.
When is stopped, the position detection signal from the position detection unit 21A is not stored and held in the position storage unit 22, and the movement path of the tip working unit 21 is not stored.

At Step P6, the operator releases the teaching state of the apparatus. At this time, the teaching state of the device is released by the control command generation unit 24D based on the input signal from the operator.

At Step P7, the reproducing operation is started in the apparatus. At this time, based on the input signal from the operator, the control command generation unit 24D starts the reproduction state of the device, and the tip working unit 21 is moved in the teaching state according to the work route stored in the position storage unit 22. Then, the robot arm 23 is operated.

That is, the work route data Data stored in the teaching state from the position storage unit 22 is the control command generation unit 24D.
The control command generator 24D outputs the set force parameter to the force controller 24C and the set position parameter to the position controller 24B.

The position detecting unit 21A allows the tip working unit 21 to operate.
The position of the position is detected as a position detection signal.
B, and at the same time, the force sensor 21B exerts a reaction force F on the tip working portion 21 by the work surface of the work object 26.
0 is detected and output as a force detection signal to the force control unit 24C.

A position control speed command vector vp relating to speed control in the position direction is generated by the position control unit 24B according to the set position parameter and a position detection signal indicating the position of the tip working unit 21 which is detected at any time, and the operation unit is operated. It is output to 24A.

According to the set force parameter, the force control unit 24
A force control speed command vector vf relating to speed control in the force direction is generated by C and output to the operation unit 24A. The robot arm 23 is operated by the operation unit 24A based on the position control speed command vector vp and the force control speed command vector vf, and the tip working unit 21 is moved to the work path taught on the work surface of the work target 26. Work along.

At step P8, the reproduction operation of the device is completed. At this time, the tip working unit 21 ends a series of works along the work route at the work end position.

Next, in step P9, it is determined whether or not all the work has been completed. If it has ended (Yes), it ends, and if it has not ended yet, it returns to step P7 and repeats the above processing.

As described above, according to the robot controller according to the second embodiment of the present invention, as shown in FIG.
The tip working unit 21, the position storage unit 22, the robot arm 23, the controller 24, and the trigger generation unit 27 are provided.

For example, the tip working unit 21 obtains work route data Data indicating the movement route of the robot arm 23 on the work surface of the work subject 26, and the position storage unit 22 stores the work route data Data, Based on the work route data Data by the robot arm 23,
A work is performed along the work object 26, and the controller 24 causes the tip working unit 21, the position storage unit 22,
Input / output of the robot arm 23 and the trigger generation unit 27 is controlled, and when the position storage unit 22 stores the work route data Data, the trigger generation unit 27 instructs the position storage unit 22 to start / end the storage operation. It

When the robot arm 23 is moved by a certain distance from the work start position by the trigger generation unit 27, the operation of storing the work route data Data by the position storage unit 22 is started, and when the work end position is reached and the robot arm 23 stands still. The storage operation is ended.

For this reason, while the tip working unit 21 is stationary at the work starting position, since it has not moved a preset fixed distance, the position storage operation is not performed,
The position storage unit 22 is a stationary state from when the operator instructs the controller 24 to start the teaching operation until the operator moves the tip working unit 21 from the work start position.
It becomes possible not to be memorized in.

Therefore, during the reproduction operation, the stationary state at the start / end of the work is not reproduced, so that the work can be reproduced without wasting idle time, and the work can be speeded up.

As described above, when the tip working unit 21 starts to store the position of the tip working unit 21 when it moves 0.5 mm from the work starting position, from the work starting position to the point where the position storing starts. The position of the tip working unit 21 is not memorized within 0.5 mm, and the work path data Da
Since ta is missing, the reliability of the reproduction operation may be slightly reduced.

However, even in such a case, it can be solved by slightly changing the function of the position storage unit 22 in the control device of the present embodiment. That is,
0. from the work start position to the point where the position memory starts.
The number of the plurality of work route data Data expected to be missing within 5 mm is obtained in advance, and the control command generation unit 24
At the time when the state control signal JS from D is output, the obtained plurality (for example, 10) of work route data Data are constantly acquired and held, and the work route data Data before that are discarded, and At the time when the storage operation control signal SF is output from the trigger generation unit 27, the ten work path data Data before that and the work path data Data after the storage operation control signal SF is output are all acquired and stored. This can be solved by providing the position storage unit 22 as described above.

That is, the number of a plurality of work path data Data that should be missing within 0.5 mm from the work start position to the position storage start point is held in advance,
At the time when the storage operation control signal SF is output from the trigger generation unit 27, ten work path data Data before that,
By obtaining and storing all the work route data Data after the storage operation control signal SF is output, the work route data Data is missing from the work start position to the point where the position storage is started within 0.5 mm. Can be prevented
It is possible to prevent the reliability of the reproduction operation from decreasing.

The number of work route data Data is
Although it depends on the moving speed of the tip working unit 21, when the tip working unit 21 moves 0.5 mm from the work start position,
Work route data when starting the position storage of
It is sufficient to always acquire and retain Data.

(3) Third Embodiment A robot controller according to the third embodiment of the present invention will be described below with reference to FIGS. 7 and 8. It should be noted that matters common to the first and second embodiments will be omitted because they overlap.

FIG. 7 is a block diagram of a robot controller according to the third embodiment of the present invention, and FIG. 8 is a flow chart for explaining the operation of the robot controller according to the third embodiment of the present invention. is there.

The robot control device according to the third embodiment of the present invention is the same device as the first and second robot control devices, and its configuration is as shown in FIG.
1, a position storage unit 22, a robot arm 23, a controller 24, and a trigger generation unit 27.

The tip working section 21 is an embodiment of the state acquisition means 11 and is provided with a hand 21C for attaching a work brush (not shown). The tip working unit 21 is provided at a part of the tip of the robot arm 23, and the tip working unit 21 is provided with a position detection unit 21A, a force sensor 21B, and the like.

For example, the position detecting section 21A is one embodiment of the position detecting means 11A and detects the position and posture of the robot arm 23 and outputs a position detection signal related to the position X0 of the tip working section 21. Is. The position detection signal is not output during the teaching operation, but is output to the position control unit 24A during the reproducing operation.

The force sensor 21B is one embodiment of the force detecting means 11B and detects the reaction force F0 from the work surface, and outputs a force detection signal relating to the reaction force F0, for example. It is a thing. The force detection signal is not output during the teaching operation, but is output to the force control unit 24C during the reproducing operation.

Since the functions and operations of the position storage section 22 and the robot arm 23 are the same as those in the first and second embodiments, their description will be omitted. The controller 24 is an embodiment of the control means 14, and controls the input / output of the tip working unit 21 and the position storage unit 22. The control controller 24 includes an operation unit 24A, a position control unit 24B, a force control unit 24C, and a control command generation unit 24D.

The configurations, functions, and operations of the operation unit 24A, the position control unit 24B, and the force control unit 24C are the same as those in the first and second embodiments, and the description thereof is omitted. The control command generation unit 24D sets the device to the teaching state based on the input signal from the operator during the teaching operation, starts the position detection by the position detection unit 21A, and outputs the state control signal JS to the trigger generation unit 27. Then, at the time of reproduction operation, based on the work route data Data read from the position storage unit 22, the set position parameter and the set force parameter are generated,
It outputs to position control part 24B and force control part 24C.

The trigger generation unit 27 is the storage state control means 1
7 is an embodiment of the control command generation unit 2 in the teaching operation.
Based on the state control signal JS from 4D, the storage operation control signal S is output for a certain period of time after the state control signal JS is output.
It outputs F.

For example, when the state control signal JS is input, the storage operation control signal SF is output for a certain period of time (for example, 5 seconds in this embodiment), and after the certain period of time, the storage operation control signal SF is output. The output of SF is stopped.

The control method of the robot controller according to the third embodiment of the present invention will be described below, supplementing the operation of the device. First, in step P1 of the flowchart of FIG. 8, the operator manually moves the tip working unit 21 to the work start position and stops it.

Next, in step P2, the control device is placed in the teaching state, and at the same time, the storage of the position of the tip working unit 21 is started. At this time, an input signal from the operator is input to the control command generation unit 24D of the control controller 24 to put the device in the teaching state, and the control command generation unit 24D outputs the state control signal JS to the trigger generation unit 27. Then, the storage operation control signal SF is output from the trigger generation unit 27 to the position storage unit 22, the position detection signal from the position detection unit 21A is stored as work route data Data by the position storage unit 22, and the movement of the tip working unit 21 is performed. Memorization of the route is started.

Then, in step P3, the work object 2
The operator manually moves the tip working unit 21 along the work path on the work surface 6 of FIG. At this time, the position detection unit 21A detects the position of the tip working unit 21, and the position detection signal is stored in the position storage unit 22 as needed.

Next, in Step P4, five seconds after the control device is put into the teaching state, the operator manually stops the tip working unit 21 at the work end position. At this time, when the tip working unit 21 is moving along the work route, the movement route of the tip working unit 21 is stored by the operation as shown in step P3.

Further, after a certain period of time has passed since the control device was brought into the teaching state, the storage operation control signal SF is no longer input from the trigger generation unit 27 to the position storage unit 22, so that the position detection unit 21A thereafter. The position detection signal of is not stored and held in the position storage unit 22, and the moving path of the tip working unit 21 is not stored.

Then, in step P5, the operator releases the teaching state of the apparatus. At this time, the teaching state of the device is released by the control command generation unit 24D based on the input signal from the operator.

Next, in Step P6, the reproducing operation of the apparatus is started, and in Step P7, the reproducing operation of the apparatus is finished. The operation of the device at this time is as follows.
Since it is the same as the second embodiment, the description is omitted.

Next, in step P8, it is determined whether or not all the work has been completed. If it has ended (Yes), the process ends, and if it has not ended, the process returns to step P6 to repeat the above process.

As described above, according to the robot controller of the third embodiment of the present invention, as shown in FIG.
The tip working unit 21, the position storage unit 22, the robot arm 23, the controller 24, and the trigger generation unit 27 are provided.

For example, the tip working unit 21 acquires work route data Data indicating the movement route of the tip working unit 21 on the work surface of the work object 26, and the position storage unit 2 is acquired.
The work path data Data is stored by 2, and the robot arm 23 performs work along the work surface based on the work path data Data. The controller 24 causes the tip working unit 21, the position storage unit 22, and the robot arm 23 to operate. The input / output of the trigger generation unit 27 is controlled, and the operation of storing the work route data Data by the position storage unit 22 is started by the trigger generation unit 27 at the same time when the teaching state is started, and the storage operation is ended 5 seconds after that. The position storage unit 22 is instructed to do so.

For this reason, the storage operation can be ended at the same time as the end of the teaching operation by ending the teaching operation manually by just 5 seconds after the start of the teaching state. Part 2
It becomes possible not to memorize in 2.

Therefore, unlike the conventional case, the stationary state at the end of the reproduction operation is not reproduced at the time of reproduction, so that it is possible to save time in the reproduction work and realize high speed work.

[0132]

According to the robot controller of the present invention, it is provided with the state acquisition means, the storage means, the working means, the control means, and the stored state control means.

Therefore, based on the contact force between the work means and the work object, the position state of the work means, and the work time of the work means, the start / end of the storage operation of the work path data is stored state control means. It is possible to separately set the start / end time point of the teaching operation and the start / end time point of the operation of storing the work path data by the storage means.

Therefore, after the operator of the working means gives the control means a start of the teaching operation and before the operator moves the working means from the work starting position, the operator moves from the position of the input device of the control device to the working means. Free time to move to the position, and free time when the operator stops the work means at the work end position and moves to the position of the input device of the control device to command the end of the teaching motion at the end of the teaching motion. By stopping the storage operation at time, the stationary state of the device can be prevented from being stored in the storage means.

Therefore, it is possible to prevent the loss of the working means stationary at the work start position for the idle time, especially during the reproducing operation, so that the speed of a series of works can be increased. Further, in the robot control device according to the present invention, the storage and holding of the work route data is started at the same time as the teaching is started, and the sequential storage update for securing the preset number of work route data is performed, and the effective storage operation of the work route data When the start of the storage command is instructed, the sequential memory update is completed, and the work route data acquired from the time when the start of the effective storage operation is commanded and the preset number before the start of the storage operation is commanded. And storage means for storing and holding the work path data of.

For this reason, when setting the start / end points of the storage operation of the work path data based on the work position of the work means, the work means is conventionally missing until it moves a certain distance from the work start position. It is possible to prevent the work route data from being lost, and the reliability in the reproducing operation is improved.

[Brief description of drawings]

FIG. 1 is a principle diagram of a robot controller according to the present invention.

FIG. 2 is a configuration diagram of a robot controller according to a first embodiment of the present invention.

FIG. 3 is a supplementary explanatory diagram of the robot control device according to each embodiment of the present invention.

FIG. 4 is a flowchart illustrating an operation of the robot controller according to the first embodiment of the present invention.

FIG. 5 is a configuration diagram of a robot controller according to a second embodiment of the present invention.

FIG. 6 is a flowchart illustrating an operation of the robot controller according to the second embodiment of the present invention.

FIG. 7 is a configuration diagram of a robot controller according to a third embodiment of the present invention.

FIG. 8 is a flowchart illustrating an operation of the robot controller according to the third embodiment of the present invention.

FIG. 9 is a configuration diagram of a robot controller according to a conventional example.

[Explanation of symbols]

 11 ... State acquisition means, 11A ... Position detection means, 11B ... Force detection means, 12 ... Storage means, 13 ... Working means, 14 ... Control means, 16 ... Work object, 17 ... Storage state control means, DS ... Control Signals, Data ... Work path data, 21 ... Tip working unit, 21A ... Position detecting unit, 21B ... Force sensor, 22 ... Position storing unit, 23 ... Robot arm, 23A ... Hand, 24 ... Control controller, 24A ... Operating unit , 24B ... Position control section, 24C ... Force control section, 24D ... Control command generation section, 26 ... Work surface to be worked, 27 ... Trigger generation section, 240, 242 ... Gain calculation section, 241, 243 ... Selection matrix calculation section, For ... target force, Far ... detection force, Por ... target position, Par ... detection position.

Claims (6)

[Claims] 1. A state acquisition means (11) provided in a part of the work means (13) for acquiring work path data (Data), and a storage means (1) for storing the work path data (Data).
2), working means (13) for working along the work surface of the work object (16) based on the work route data (Data), the state acquisition means (11), and the storage means (13). 12), a control means (14) for controlling the input / output of the working means (13) and the storage state control means (17), and a storage state control means (17) for controlling the writing of the storage means (12). In the teaching state in which the working means (13) is manually taught along the work surface of the work object (16), the storage state control means (17) stores work path data (Data). A robot controller characterized in that the start / end point of an operation is determined. 2. The state acquisition means (11) is a position detection means (11) for detecting the position state of the working means (13).
A), the working means (13) and the work object (1)
6. A force detecting means (11B) for detecting a contact force (F0) between the work surface and the work surface of 6).
The described robot controller. 3. The storage state control means (17) starts / starts a storage operation of work path data (Data) based on a contact force between the working means (13) and the work target (16). The robot controller according to claim 1, wherein the end time is determined. 4. The storage state control means (17) determines a start / end point of a storage operation of work route data (Data) based on a position state of the working means (13). Item 1. The robot controller according to item 1. 5. The storage state control means (17) determines the end point of the storage operation of the work route data (Data) based on the work time of the work means (13). The described robot controller. 6. The storage means (12) starts storing and holding work route data (Data) at the same time as teaching is started, and performs sequential memory update for securing a preset number of work route data (Data). , Work path data (Data) that is obtained from the time when the start of the effective storage operation is instructed and the sequential storage update is ended, and the start of the effective storage operation is instructed. 5. The robot controller according to claim 1, further comprising storing and holding a preset number of work path data (Data) before the start of the storage operation is instructed.