JPH0887316A - Controller - Google Patents

Abstract

PURPOSE: To model the controller for a robot and its peripheral device and develop a control program, and to control the robot and peripheral device actually in real time while performing accurate simulation execution operation. CONSTITUTION: This controller has an input means for inputting models for the robot 23 and peripheral device 31, an execution means 9 which performs simulation execution based on the models for the robot 23 and peripheral device 31, a check means 10 which checks interference between models, a display means 14 which displays information on the simulation execution, input/output means 18 and 19 which control controllers 21 and 22 for the robot 23 and peripheral device 31, a describing means 3 which describes the control procedure of the robot 23 and peripheral equipment 31, a control means 2 which performs control based on the control procedure of the robot 23 and peripheral device 31, a comparing means 2 which compares the simulation execution with actual control, a time measuring means 7 which measures the actual time of individual input and output by the control procedure of the robot 23 and peripheral device 31, and a time matching means 2 which matches the measured actual time of the input and output with the input and output time of the execution means 9.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device, and more particularly, to modeling and control of a control device for robots and peripheral devices, which has an input / output unit for controlling the control devices for actual robots and peripheral devices. Apply to an online control device that has a time measurement unit that performs simulated execution of operation and measures the actual input / output time, and measures the actual input / output time by this time measurement unit to perform accurate simulated execution. In particular, it is possible to model the control device of the robot and peripheral devices, to develop a control program, and to perform an accurate simulated execution operation to realize the actual robot and peripheral devices in real time. The present invention relates to a control device that can perform control while performing simulation.

[0002]

2. Description of the Related Art Conventionally, when processing or assembling parts by a robot is simulated, first, a geometric model of the robot or a peripheral device is input to define the motion of the robot, and then a teaching point of the robot is defined. And set these data to C
The simulated execution is repeated on the RT screen, the teaching point is changed until the series of operations becomes the intended operation, and the simulated execution is repeated. Also, at this time, it is checked whether there is any interference between the robot and peripheral devices. Furthermore, the completed control description defines the robot motion and converts it into the actual robot language. Further, abnormality processing and the like are developed exclusively by the control device of each device, and the monitoring device also depends on the dedicated control procedure of each device.

[0003]

However, in the conventional control device as described above, although the control operation of the peripheral device or the main control device of the robot actually exists,
Since the simulated execution operation related to the control command of the peripheral device or the main controller of the robot is not performed, the control device of the robot and the peripheral device cannot be modeled.
There is a problem that the development efficiency is not good because the sequence control command is not developed offline in the control device.

Further, since it is only an off-line simulation execution, it does not have a function as an actual control device, and it is not possible to compare the operation and the operation time in real time of the control devices of the actual robot and peripheral devices. However, there is a problem that it is not possible to perform accurate simulation execution, and it is not possible to control the actual robot and peripheral devices while performing simulation execution in real time.

Therefore, according to the present invention, the control device for the robot and the peripheral device can be modeled, the control program can be developed, and an accurate simulation execution operation can be performed to realize an actual robot in real time. Another object of the present invention is to provide a control device capable of controlling while simulating execution of peripheral devices.

[0006]

According to the first aspect of the present invention,
Input means for inputting models of the robot and peripheral devices,
Execution means for performing simulation execution based on models of robot and peripheral device, check means for performing interference check between models, display means for displaying information on simulation execution, and control device for robot and peripheral device Input / output means for describing, a description means for describing the control procedure of the robot and the peripheral device, a control means for controlling based on the control procedure of the robot and the peripheral device, and a comparing means for comparing simulated execution and actual control, It has a time measuring means for measuring the real time of each input / output according to the control procedure of the robot and the peripheral device, and a time matching means for matching the measured real time of the input / output with the input / output time of the executing means. It is what

According to a second aspect of the present invention, in the above-mentioned first aspect of the present invention, the comparison means compares the control means of the peripheral device and the robot with the control procedure of the simulation execution, and as a result of the comparison, the control procedure is It monitors whether or not the peripheral device and the robot are operating normally by means of generating an abnormality signal when they are different, and if an operation abnormality is found, an alarm and abnormality information are displayed and pre-input. It is characterized in that it has a monitoring device comprising control means for making an emergency stop or a temporary stop of the robot or the peripheral device depending on conditions.

According to a third aspect of the present invention, in the above-mentioned first aspect of the invention, the comparison is made with comparison means for comparing the input / output time previously measured by the time measuring means with the actual input / output time. As a result, the determination means for determining whether or not the preset allowable range is exceeded, and when it is determined that the allowable range is exceeded, whether or not the peripheral device and the robot are operating normally is determined by the abnormal signal generating means. When an abnormal operation is detected by monitoring, an alarm and abnormal information are displayed, and a monitoring device including a control means for emergency stop or temporary stop of the robot or the peripheral device according to a pre-input condition is provided. It is what

According to a fourth aspect of the present invention, in the above-mentioned first to third aspects of the invention, comparing means for comparing the operation signal of the actual component supply control device and the simulated execution operation, and the component supplied by the component supply device. The counting means for counting the number of parts, the calculating means for calculating the remaining number of parts from the counted number of parts, the display means for displaying the calculated remaining number of parts and the number of used parts, and the remaining number of calculated parts The present invention is characterized by having a parts supply monitoring device including a warning means and a warning means for notifying the timing of additional supply of parts when the remaining number of parts is set in advance.

According to a fifth aspect of the present invention, in the above-described first to fourth aspects of the present invention, there is provided a communication means for communicating with another control device different from the present control device, and the other control device. The shared memory area is provided.

[0011]

According to the present invention, the control operation for the control device of the peripheral device is confirmed and debugged by describing the control operation for the control device of the peripheral device and the simulation execution thereof which has not been done in the past. I / O on the same bus
By incorporating the / O port, the robot and peripheral devices can be controlled directly. In addition, an accurate simulation execution can be performed by accurately measuring the operation time in the actual robot or the peripheral control device and the time measuring unit of the control device.

Further, by comparing the simulated execution operation and the actual equipment operation on-line, whether or not the robot and the peripheral device are operating normally without the robot and the peripheral device individually performing their own abnormal processing control. When an abnormal operation is detected, the alarm, abnormal information display, and emergency stop or temporary stop of the robot and peripheral devices can be used to speed up the recovery work. Hereinafter, the operation of the present invention will be described for each claim.

According to the first aspect of the invention, the control device for the robot and the peripheral device can be modeled, and the control program can be developed by describing the simulated execution operation. Moreover, the actual time of each input / output by the control means of the robot and the peripheral device is actually measured by the time measuring means, and the actual time of input / output measured from the data is adjusted to the input / output time of the simulated execution. As a result, since accurate simulation execution can be performed, it is possible to efficiently control the actual robot and peripheral devices while performing simulation execution in real time.

According to the second aspect of the present invention, the control procedure of the actual peripheral device and the robot is compared with the control procedure of the simulated execution, and as a result, when the control procedure is different, an abnormal signal is generated, whereby the robot Alternatively, since the peripheral device can be emergency stopped or temporarily stopped, it is possible to notify the operator of the abnormality of the robot, and particularly, the abnormality information display enables quick recovery work, and the conventional robot control and peripheral device It is possible to eliminate the control dedicated to the abnormality processing in each device that had to be incorporated in the control.

According to the third aspect of the present invention, the real time of each input / output by the control procedure of the robot and the peripheral device is measured in advance, and the real time of the input / output and the actual input / output of the input / output operating online are measured. If it exceeds the preset allowable time range, it is compared with the time, and if it exceeds that range, an abnormal signal is generated, and if an abnormal operation is found, an alarm and abnormal information are displayed. The robot or peripheral devices can be stopped or stopped in an emergency according to the conditions entered in advance, so that the operator can be notified of any abnormalities in the robot, and the restoration work can be performed quickly by displaying the abnormality information. In addition, it is possible to eliminate the need for the control dedicated to the abnormality processing in each device, which had to be incorporated in the robot control and the peripheral device control in the related art.

According to another aspect of the invention, the operation signal of the actual component supply control device is compared with the simulated execution operation, the number of components supplied by the component supply device is counted, and the remaining number of components is calculated. Display the remaining number of parts and the number of parts used,
When the calculated remaining number of parts matches the preset remaining number, it is possible to inform the operator of the additional supply time of parts by a warning and an alarm. The supply work can be performed quickly and efficiently.

According to the fifth aspect of the present invention, the state of the other process can be grasped by the shared memory by communicating with the other control device, and the state of the next process can be detected. For example, in the case of mixed production, the product type information of the product is pre-read from the shared memory, and if there is a defect in the next process, the product will not be transferred. Can be realized.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing the configuration of a control device according to an embodiment of the present invention. The control device 1 of the present embodiment is
Main control unit 2, main storage unit 3, auxiliary storage unit 4, shared memory 5, communication control port 6, interrupt timer 7, simulated language compiler 8, simulation execution unit 9, interference check unit 10, expansion storage unit 11, Image memory 12, CRT controller 1
3, CRT 14, standard input / output port 15, keyboard 1
6, mouse 17, input / output I / O port 18 and input / output I
The I / O port 19 and other components are connected to the bus 20, and data is exchanged via the bus 20.

The main control unit 2 is a control unit for executing the processing of the control device 1. The main control unit 2 includes a control program for controlling the control device, a created robot operation program, robot teaching data, and control. For temporarily storing a control program of the device (PLC), a conversion program of this control program, pre-input data for abnormality processing, pre-input data for the allowable range of input / output time, and for arithmetic processing. Main storage unit 3 used for data storage of the robot, the shape and structure data of the robot and the control device, the conversion from the position of the Cartesian coordinate system to the rotation angle of each axis, and the robot motion analysis program for performing the conversion, Robot data such as axis movement range, maximum speed, maximum acceleration, etc., part data of the part shape of the work target of the robot, operation program of the part supply device, etc. System, communication control for transmitting and receiving data to and from other control devices, and auxiliary storage unit 4 that stores data that describes communication relationships with peripheral control devices, and also stores created robot operation programs and sequence control commands. A port 6, a shared memory 5 for sharing data with other control devices via the communication control port 6, and an interrupt timer for accurately measuring the actual execution time of input / output of the robot and peripheral devices. 7, a simulated language compiler 8 for compiling a simulated language for simulated execution, a simulated execution unit 9 for executing the simulated language, and an interference check unit for checking whether the equipment interferes during the simulated execution. 10 and
An expansion storage unit 11 for expanding the main storage unit, an image memory 12 for storing the screen position of an image, and a standard input / output port 15 for interfacing with a keyboard or a mouse. An input / output I / O port 18 for controlling the robot controller 21 and an input / output I / O port 19 for controlling a peripheral control device (PLC) 22 are connected via a bus 20.

To the standard input / output port 15, a keyboard 16 having various command keys and numeric keys and a mouse 17 for moving a cursor on the graphic display screen and designating a position on the screen are connected. Also,
The standard input / output port 15 is connected to the robot 23 via the interface terminal of the robot controller 21, and is connected to the external peripheral control device 22 via the input / output I / O port of the sequence control unit. The image memory 12 is connected to a CRT controller 13, and the CRT controller 13 is connected to a CRT 14 which draws a robot, parts, peripheral devices and the like, and simulates and displays the operation and control signals of the robot. .

In this embodiment, not only the online robot control but also the control operation of the controller 22 is controlled online. Specifically, the setting and operation description of the control device are input, the sequence control command is converted by the conversion program, and transferred to the main control unit 2 via the bus 20. On the contrary, by transferring and converting the sequence program from the main controller 2 to the controller 22,
Can be simulated. Further, the interrupt timer 7 can be used to measure the actual operation time of the input and output of the robot and the peripheral device 31, and the data can be taken into the simulated execution to perform an accurate simulated execution.

In this embodiment, the models of the robot 23 and the peripheral device 31 are input, and the robot 23 and the peripheral device 31 are input.
Based on the model, the simulated execution unit 9 performs the same simulated execution, the interference check unit 10 performs the interference check between the models, the simulated execution is displayed on the CRT 14, and the actual robot 23 and peripheral devices are displayed. 31 control device 22 is controlled by input / output I / O ports 18 and 19,
The control procedure of the robot 23 and the peripheral device 31 is stored in the main storage unit 3.
The main control unit 2 controls the robot 23 and the peripheral device 31 based on the control procedure, compares the simulated execution with the actual control by the main control unit 2, and controls the robot 23 and the peripheral device 31 individually. The real time of the input / output is measured by the interrupt timer 7, and the real time of the input / output measured by the main control unit 2 is made to coincide with the input / output time of the simulation executing unit 9.

Therefore, the robot 23 and the peripheral device 31
The control device can be modeled and the control program can be developed by describing the simulated execution operation. Moreover, the actual time of each input / output by the robot 23 and the main control unit 2 of the peripheral device 31 is actually measured by the interrupt timer 7, and the actual time of input / output measured from the data is simulated. Since accurate simulation execution can be performed by adjusting to the output time, it is possible to efficiently control while performing simulation execution of the actual robot 23 and the peripheral device 31 in real time.

This embodiment (Claim 5) has a communication control port 6 for communicating with another control device, and is provided with a shared memory 5 area for the other control device. Therefore, by performing communication with other control devices through the communication control port 6, the states of other processes can be grasped by the shared memory 5, and in the case of mixed production, for example, product types By prefetching information from the shared memory 5 or detecting the state of the next process,
For example, when there is a defect in the next process, it is possible to realize a prompt and efficient response such as not transferring the product.

In this embodiment, the robot controller 21 and the control device 22 have a built-in CPU and memory, but the built-in CPU is the main control unit 2.
It may be configured to be shared with (multi-CPU),
The built-in memory may be configured to use the expansion storage unit 11, or may be configured to provide a local memory separately. The interface that constitutes the communication control port 6 includes RS-232C / 422 and GP.
IB, ETHERNET, etc. are mentioned.

Next, FIG. 2 is a view showing a monitoring device, a robot, and a parts feeder and a display device as a parts supply device according to one embodiment of the invention of claims 2, 3 and 4, and FIG.
3 is a flowchart showing a processing flow of the monitoring device and the robot of one embodiment according to the invention of FIG. In FIG. 2, 41,
Reference numerals 42 and 43 are a monitoring device, a component supply device, and a display device, respectively.

In this embodiment, the input / output I / O port 18 allows the actual robot controller 21 to operate the robot 23.
Connected to the actual external control device 22 through the input / output I / O port 19, and the control signal from the simulation execution unit 9 is transmitted to the main control unit 2 in real time on the bus 20 to simulate the actual operation signal. The execution operations are compared (steps S1 to S1).
By doing so, it is monitored whether or not the robot 23 and the peripheral device 31 are operating normally, and if an operation abnormality is found (step S12), the operation status is analyzed and an alarm and abnormality information are displayed (step S13). ), The monitoring device 41 is configured to make an emergency stop or a temporary stop of the robot 23 or the peripheral device 31 (step S14).

As described above, in the present embodiment, the main control unit 2 compares the actual control procedure of the peripheral device 31 and the robot 23 with the control means for simulation execution, and as a result of comparison, when the control procedure is different, By generating an abnormal signal, it is monitored whether the peripheral device 31 and the robot 23 are operating normally. If an abnormal operation is found, an alarm and abnormal information are displayed, and the robot is operated according to pre-input conditions. The monitoring device 41 is configured to make an emergency stop or a temporary stop of the peripheral device 23 or the peripheral device 31.

Therefore, the control procedure of the actual peripheral device 31 and the robot 23 is compared with the control procedure of the simulation execution, and as a result, when the control procedure is different, an abnormal signal is generated, so that the robot 23 or the peripheral Since the device 31 can be stopped in an emergency or temporarily, the operator can be notified of the abnormality of the robot 23, and the restoration work can be quickly performed especially by displaying the abnormality information, and the conventional robot control and peripheral devices can be performed. It is possible to eliminate the control dedicated to the abnormality processing in each device that had to be incorporated in the control.

Next, FIG. 4 is a flow chart showing the processing flow of the monitoring device and the robot of one embodiment according to the invention of claim 3. In this embodiment, the input / output I / O port 18 allows the actual robot controller 21 to operate the robot 23.
Connected to the actual external control device 22 via the input / output I / O port 19, and transmits an operation signal to the main control unit 2 in real time via the bus 20 to confirm the actual input / output waiting time and the simulation execution unit 9 When the input / output abnormality is found by monitoring the robot 23 and the peripheral device 31 to see if the preset allowable range is exceeded by comparing the input / output waiting time with the input / output wait time (steps S21 to S31). (Step S32), the operation status is analyzed, an alarm and abnormality information are displayed (step S33), and the monitoring device 41 is configured to make an emergency stop or a temporary stop of the robot 23 or the peripheral device 31 (step S34).

As described above, in this embodiment, the main control unit 2 compares the input / output time previously measured by the interrupt timer 7 with the actual input / output time, and as a result of the comparison, the preset allowance is set. Whether the range is exceeded is determined by the main control unit 2, and when it is determined that the allowable range is exceeded, an abnormal signal is generated to monitor whether or not the peripheral device 31 and the robot 23 are operating normally to detect an abnormal operation. In the case where is detected, an alarm and abnormal information are displayed, and the monitoring device 41 is configured so as to make an emergency stop or a temporary stop of the robot 23 or the peripheral device 31 according to a condition input in advance.

Therefore, by measuring the input / output time in advance,
By comparing that time with the actual time of the input / output operating online, it is determined whether the preset allowable time range is exceeded, and if it exceeds that range, an abnormal signal is generated. When an operation abnormality is found, an alarm and abnormality information are displayed, and the robot 23 or the peripheral device 31 can be emergency stopped or temporarily stopped according to the condition input in advance, so that the operator is informed of the abnormality of the robot. In addition, it is possible to quickly perform the recovery work by displaying the abnormality information, and it is possible to eliminate the need for the control dedicated to the abnormality processing in each device which had to be incorporated in the robot control and the peripheral device control in the related art.

Next, FIG. 5 is a flow chart showing a processing flow of the component supply monitoring device and the component supply device of an embodiment according to the invention of claim 4. In this embodiment, input / output I / O
Control device 2 of actual component supply device 42 by port 19
2 and the main control unit 2 in real time by the bus 20
To the parts supply device 42 to send a parts removal confirmation signal,
By counting the number of parts (steps S41 to S47), it is monitored whether the number of parts set in advance is exceeded (step S48), and an alarm is issued when it is time to supply the parts of the parts supply device 42. The monitoring device 41 is configured to display a warning (step S49).

As described above, in this embodiment, the operation signal of the actual component supply controller 22 is compared with the simulated execution operation,
The number of parts supplied by the parts supply device 42 is counted, the remaining number of parts is calculated from the counted number of parts, the calculated remaining number of parts and the number of used parts are displayed, and the calculated remaining number of parts is preset. The monitoring device 41 is configured to give a warning and a warning when the additional supply time of the parts coincides with the remaining number of the parts.

Therefore, the operation signal of the actual component supply control device 22 is compared with the simulated execution operation, and the component supply device 42 is compared.
Count the number of supplied parts to calculate the remaining number, display the remaining number and the used number, and add the part when the calculated remaining number of parts matches the preset remaining number of parts. Since the supply timing can be notified by a warning and a warning, the component supply operation can be performed quickly and efficiently by notifying the worker of the component supply timing to the component supply device.

[0036]

According to the present invention, the control device for the robot and the peripheral device can be modeled, the control program can be developed, and an accurate simulated execution operation can be performed in real time. The robot and peripheral devices can be controlled while being simulated.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a control device of an embodiment according to the invention of claim 1.

FIG. 2 is a diagram showing a monitoring device, a robot, and a parts feeder and a display device as a parts supply device according to an embodiment of the present invention.

FIG. 3 is a flowchart showing a processing flow of a monitoring device and a robot of an embodiment according to the invention of claim 2;

FIG. 4 is a flowchart showing a processing flow of a monitoring device and a robot of one embodiment according to the invention of claim 3;

FIG. 5 is a flowchart showing a processing flow of a component supply monitoring device and a component supply device according to an embodiment of the invention of claim 4;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 control device 2 main control unit 3 main storage unit 4 auxiliary storage unit 5 shared memory 6 communication control port 7 interrupt timer 8 simulated language compiler 9 simulation execution unit 10 interference check unit 11 expansion storage unit 12 image memory 13 CRT controller 14 CRT 15 standard input / output port 16 keyboard 17 mouse 18, 19 input / output I / O port 20 bus 21 robot controller 22 control device 23 robot 31 peripheral device 41 monitoring device 42 parts supply device 43 display device

Claims (5)

[Claims] 1. Input means for inputting models of robots and peripheral devices, execution means for performing simulation execution based on models of robots and peripheral devices, check means for performing interference check between each model, and simulation execution. Display means for displaying information, input / output means for controlling the control device for the robot and peripheral devices, description means for describing control procedures for the robot and peripheral devices, and control based on the control procedures for the robot and peripheral devices Control means, comparing means for comparing simulated execution and actual control, time measuring means for measuring the real time of each input / output by the control procedure of the robot and peripheral devices, and the measured real time of the input / output. A control device comprising: time matching means for matching the input / output time of the execution means. 2. Comparing the peripheral device with the control means of the robot and a control procedure of simulation execution, and comparing the peripheral device with the peripheral device by means of an abnormal signal when the control procedure is different. It monitors whether the robot is operating normally, and if an abnormal operation is found,
2. The control device according to claim 1, further comprising a monitoring device configured to display an alarm and display abnormal information and control means for emergency stop or temporary stop of the robot or the peripheral device according to a previously input condition. 3. A comparing means for comparing the input / output time previously measured by the time measuring means with the actual input / output time, and a judgment for judging whether or not a preset allowable range is exceeded as a result of the comparison. And a means for generating an abnormal signal to monitor whether the peripheral device and the robot are operating normally, and if an operation abnormality is found, an alarm and an abnormality information are detected. 2. The control device according to claim 1, further comprising a monitoring device including a control means for displaying and performing an emergency stop or a temporary stop of the robot or the peripheral device according to a condition inputted in advance. 4. Comparing means for comparing the operation signal of the actual component supply control device with the simulated execution operation, counting means for counting the number of the components supplied by the component supply device, and remaining parts from the counted number of components. A calculation means for calculating the number, a display means for displaying the calculated remaining number of parts and the number of used parts, and an additional supply time of parts when the calculated remaining number of parts matches the preset remaining number of parts 4. The control device according to claim 1, further comprising a component supply monitoring device including a warning unit and a notifying unit for notifying the same. 5. A communication device for communicating with another control device different from the control device, and a shared memory area with the other control device is provided.
The control device according to any one of claims 1 to 4.