JPH11226888A - Working device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform the optimum operation in accordance with a case merely by preparing one teaching program for individual operation each by preparing the teaching program after adding a degree of priority to a teaching point and operating a working means using a predetermined teaching point selected based on the degree of priority only. SOLUTION: A teaching part of a work robot A1 makes a work arm 31 perform desired operation through a control part, stores a point on a travel locus of a hand 32 at the time as a teaching point sequentially, and prepares teaching data using the teaching points. At this time, either of attributes, namely, a prerequisite point through which the hand 32 must pass and a selection point through which it passes arbitrarily, is added to each teaching point. When this work robot A1 is operated singly by teaching program P1, it is operated sequentially starting from an operation start point S1 using all the teaching points irrespective of the attributes. When its operation is done continuously, it skips the selection point sandwiched between the prerequisite points to operate it in the optimum state so that work efficiency can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working device for operating a working means such as a working arm based on a teaching program taught in advance.

[0002]

2. Description of the Related Art A so-called teaching / playback type working robot (working device) performs a predetermined work by faithfully reproducing an operation according to a taught program. Here, the teaching program is generally described by intermittently taking a plurality of teaching points on the movement trajectory of the arm (working means) of the working robot, and sequentially specifying the positions of the teaching points. In this case, the teaching program that represents one cycle of the operation must be created so that the operation start point and the operation end point are the same for reasons such as ensuring continuity with other operations. There are many. FIG.
(A) and (b) show two examples of setting the teaching point in the conventional working device A0. The teaching points shown in FIGS. 6A and 6B constitute teaching programs P3 and P4, respectively. Here, 31 is a work arm, 32 is a hand provided at the tip of the work arm 31, and 33 is a transport trolley on which the work arm 31 is mounted. 6 (a) and 6 (b)
The same reference numerals are used for the teaching points set at the same position in and. When the working device A0 operates according to the teaching program P3, the teaching points S1 → S2 →.
The operation is performed in the order of S9 → S10 (= S1). When the operation is performed according to the teaching program P4, the teaching points S1 → S
The operations are performed in the order of 2 ′ →... S9 → S10 (= S1). Also, for example, when the operations of the teaching programs P3 and P4 are performed continuously, the above two operations are simply performed continuously and the teaching points S1 → S2 →... S9 → S10 (= S1) → S2 ′ →
.. Operate in the order of S9 → S10 (= S1).

[0003]

However, in the conventional working apparatus A0, when the operations of two or more teaching programs are performed continuously, the operation of each teaching program alone is simply continued. For this reason, there has been a problem that work efficiency is reduced due to execution of unnecessary operations. For example, S9, which is necessary when the operations of the teaching programs P3 and P4 are performed independently,
The locus of S10 (= S1) is unnecessary at the connection portion of each operation when the operations are continuously performed, and by faithfully reproducing the unnecessary locus, the work efficiency is reduced accordingly. Would. In the connection part of the operation of the teaching programs P3 and P4, the teaching point S10 is skipped and S9 →
By operating with S2 ', unnecessary operations can be omitted. Of course, this is exactly the same when the operation of the same teaching program is repeatedly performed. In addition to the above-mentioned teaching programs P3 and P4, it is also possible to create a teaching program that skips the above-mentioned teaching point S10 after making them continuous. However, in this case, any combination of the individual teaching programs can be used. Since a large number of teaching programs must be created and stored in consideration, it is not realistic considering the amount of work and storage capacity involved. Not only in the case of the continuous processing of the teaching program as described above, but also in the case of one teaching program, the teaching point in the middle is skipped to increase the working speed, or the detailed operation using all the teaching points is performed. In some cases, it is desired to select only necessary teaching points, for example, to perform the following. The present invention has been made in view of the above circumstances, and an object of the present invention is to prepare an instruction program for teaching each operation one by one, and to perform an optimal operation according to the case. It is to provide a possible working device.

[0004]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a teaching device comprising a working device for performing a predetermined work, and a plurality of teaching points set intermittently on a movement locus of the working device. In a working device comprising teaching means for creating a program, and control means for controlling the operation of the working means based on the teaching program created by the teaching means, the teaching means may: A work device, wherein the teaching program is created after adding a priority, and the control means operates the work means using only predetermined teaching points selected based on the priority. It is configured. In addition, the priority
In addition to the essential points that must pass through and the selection points that can pass arbitrarily, the control means connects the plurality of teaching programs created by the teaching means and connects the operating means to the operating means. When a series of operations are performed continuously, the operation means can be operated by omitting the passage of the arbitrary point sandwiched between the essential points, so that the teaching program can be used alone or continuously. In such a case, an optimal operation is realized in each of the operations, and the work efficiency can be improved.

[0005]

According to the working device of the present invention, when operating the working means in accordance with the teaching program, the teaching point used (passed) in the operation is selected based on, for example, conditions that are prioritized in the work. it can. For example, if it is necessary to faithfully reproduce the taught trajectory, all the teaching points with lower priority are used, and if the highest priority is given to work efficiency, only the teaching points with higher priority are used, and Just by teaching one teaching program, for example, omitting the passage of a low teaching point, the operation level can be freely changed to operate. In addition, when connecting a plurality of teaching programs to make the above-mentioned operation means continuously perform a series of operations, if it is desired to omit unnecessary operations as much as possible,
The essential points that must pass the above priority,
In addition to the two stages of selection points that can be arbitrarily passed, the work means is operated by the control means by omitting the passage of the arbitrary points sandwiched by the essential points. This realizes an operation that is optimal when each of the teaching programs is operated independently or continuously, thereby improving work efficiency. In addition, since the number of teaching programs to be taught is not different from the conventional one, the storage capacity can be suppressed only to a slight increase due to the addition of the attribute, and a new teaching program is created with the trouble of adding the attribute. It is slight compared to the case.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments and examples of the present invention will be described below with reference to the accompanying drawings to facilitate understanding of the present invention. The following embodiments and examples are mere examples embodying the present invention, and do not limit the technical scope of the present invention. Here, FIG. 1 is an example of setting of teaching points in two different operations in the working robot A1 according to the embodiment of the present invention, FIG. 2 is a block diagram showing a schematic configuration of an arm control system of the working robot A1, and FIG. FIG. 3 is an explanatory view showing the meaning of a teaching point, and FIG.
FIG. 4 is an explanatory view showing a rule for selecting a teaching point when the operations of two or more teaching programs are continuously performed in FIG.
FIG. 5 is an explanatory diagram showing the passing order of moving points when the operations of the teaching programs P1 and P2 shown in FIG. 5 are performed continuously. FIG. 5 is an explanatory diagram showing an example of setting the priority of each teaching point according to the embodiment of the present invention. It is. The work robot A1 according to the present embodiment is similar to the work robot A1 shown in FIG.
As shown in FIG. 1, like the above-mentioned conventional work robot A0, the work robot A0 includes a work arm 31 having a hand 32 at the tip and a movable carriage 33 on which the work arm 31 is mounted. Also, as shown in FIG.
1 includes a control unit 2 (control means) and a teaching unit 1 (teaching means)
And are connected.

The teaching section 1 causes the work arm 31 to perform a desired operation via the control section 2 and sequentially stores points on the movement locus of the hand 32 as teaching points at that time. Create teaching data using. that time,
Each teaching point must have a required point that must pass,
Any attribute of the selection point that can be arbitrarily passed is added. Here, the attributes of the essential points and the selection points are an example of the setting of the priority. FIGS. 1A and 1B show two examples of setting of a teaching point by the teaching unit 1. FIG.
The teaching points shown in (a) and (b) constitute teaching programs P1 and P2, respectively. 1 (a) and 1 (b)
The same reference numerals are used for the teaching points set at the same position in and. In this example, in each of the teaching programs, the operation start point S1 and the operation end point S10 are set as selection points, and all other points are set as essential points. During actual work, the operation of the work arm 31 is controlled by the control unit 2 in accordance with the teaching program created by the teaching unit 1 so that the operation at the time of teaching is faithfully reproduced. The attribute of each teaching point is referred to. First,
When the teaching program P1 is operated alone, S1 → S2 →... Using all the teaching points regardless of the attribute.
The operation is performed in the order of S9 → S10 (= S1). Similarly, even when the teaching program P2 is operated alone, S1 → S2 ′ →... Using all the teaching points regardless of the attribute.
The operation is performed in the order of S9 → S10 (= S1).

On the other hand, for example, when the operation of two or more teaching programs is performed continuously, as shown in FIG.
The selection points sandwiched between the essential points are skipped. That is, for example, when the teaching programs P1 and P2 are to be continued, two selection points S1 are set between S9 (essential point) of the teaching program P1 and S2 '(essential point) of the teaching program P2.
Since 0 and S1 are sandwiched, the above-mentioned S10 and S1
Is not passed and is skipped. Therefore, the actual operation is performed in the order shown in FIG. 4, and unnecessary trajectories from S9 to S10 (= S1) are omitted in the continuous operation. Moreover,
Since a teaching program that teaches the operation as shown in FIG. 4 is not separately prepared, the storage capacity for storing the teaching program can be suppressed only to a slight increase by the addition of the above attribute. In addition, the time and effort for adding the above-mentioned attributes is small compared to the case where a new teaching program is created. Of course, this is exactly the same when the operation of the same teaching program is repeatedly performed. As described above, in the working robot A1 according to the present embodiment, any one of the essential points that must pass through the teaching points constituting each teaching program and the selection points that can pass arbitrarily can be selected. Attributes are added, and 2
When the operation of one or more teaching programs is performed continuously, the operation is performed so as to skip the selected point sandwiched between the essential points. In each case, an optimal operation is realized, and work efficiency can be improved. In addition, since the number of teaching programs to be taught is not different from the conventional one, the storage capacity can be suppressed only to a slight increase due to the addition of the attribute, and a new teaching program is created with the trouble of adding the attribute. It is slight compared to the case.

[0009]

In the above embodiment, two attributes, an essential point and a selection point, are used as an example of the priority, and the passage of the selection point is omitted as necessary in the continuous processing of two or more teaching programs. I explained what to do. However, the method of setting the priority and the method of operation control based on the priority are not limited thereto. For example,
As shown in FIG. 5, essential points that must pass through each teaching point and selection points that can be arbitrarily passed are classified, and the selection points are selected according to their priorities. Classified as Then, at the time of actual work, the control unit 2 selects and executes one of the following three modes according to the work content at that time. Use all required and selected points. The selection point 2 is omitted using the essential point and the selection point 1. The selection points 1 and 2 are omitted using only the essential points. In this way, the operation level can be improved by only teaching one teaching program, for example, when it is necessary to faithfully reproduce the taught trajectory, or when the highest priority is given to work efficiency. Can be freely changed to operate.

[0010]

As described above, according to the present invention, there is provided a teaching device for creating a teaching program comprising working means for performing a predetermined work and a plurality of teaching points intermittently set on the movement locus of the working means. And a control means for controlling the operation of the working means based on the teaching program created by the teaching means, wherein the teaching means adds a priority to the teaching point. The teaching device is constructed as a working device, wherein the teaching program is created above, and the control means operates the working means using only predetermined teaching points selected based on the priority. Only by teaching one teaching program, it becomes possible to freely change the operation level based on, for example, a condition that is prioritized in the work, and to perform the operation. In addition, the priority is configured in two stages, an essential point that must pass through, and a selection point that can pass arbitrarily, and the above-mentioned teaching program created by the above-mentioned teaching unit is controlled by the above-mentioned control unit. When a plurality of connections are made and the work means continuously performs a series of operations, the work means can be operated without passing through the arbitrary point sandwiched between the essential points. Optimum operation can be realized in each of the cases of operating independently or continuously, and the work efficiency can be improved. In addition, since the number of teaching programs to be taught is not different from the conventional one, the storage capacity can be suppressed only to a slight increase due to the addition of the attribute, and a new teaching program is created with the trouble of adding the attribute. It is slight compared to the case.

[Brief description of the drawings]

FIG. 1 is a work robot A1 according to an embodiment of the present invention.
FIG. 7 is an explanatory diagram showing an example of setting a teaching point in two different operations in FIG.

FIG. 2 is a block diagram showing a schematic configuration of an arm control system of the work robot A1.

FIG. 3 is an explanatory diagram showing a rule for selecting a teaching point when the operation of two or more teaching programs is continuously performed in the work robot A1.

FIG. 4 is an explanatory diagram showing a passing order of moving points when the operations of the teaching programs P1 and P2 shown in FIG. 1 are continuously performed.

FIG. 5 is an explanatory diagram showing an example of setting the priority of each teaching point according to the embodiment of the present invention.

FIG. 6 is an explanatory view showing a setting example of teaching points in two different operations in the conventional work robot A0, and the meaning of the teaching points.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Teaching part (teaching means) 2 ... Control part (control means) 31 ... Working arm (an example of a working means) A1 ... Working robot (an example of a working device)

Claims (2)

[Claims] 1. A work means for performing a predetermined work, a teaching means for creating a teaching program including a plurality of teaching points set intermittently on a movement locus of the work means, and a teaching means created by the teaching means. In a working device having a control means for controlling the operation of the working means based on the teaching program, the teaching means creates the teaching program after adding a priority to the teaching point, and A work device, wherein the control means operates the work means using only predetermined teaching points selected based on the priority. 2. The method according to claim 1, wherein the priority is configured in two stages: an essential point that must pass through, and a selection point that can pass arbitrarily, and the control unit is created by the teaching unit. When a plurality of the above teaching programs are connected and the above-mentioned operation means continuously performs a series of operations,
2. The working device according to claim 1, wherein the working means is operated by omitting passage of the arbitrary point sandwiched between the essential points.