JPH1153020A - Method and device for driving robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the maintainability of a program, to reduce program storage capacity, and to shorten a program transfer time by reading only corresponding position data in a robot controller according to works and driving the robot when at more than one kind of work is operated. SOLUTION: A teaching box 4 teaches a robot controller 2 position data corresponding to more than one kind of work and the robot controller 2 controls the operation of the robot 3 with a main operation program 2a. A host computer 1 stores position data on the works in the storage device 1a in a host computer 1 through the robot controller 2 and transfers position data corresponding to works to be operated to the robot controller 2. The robot controller 3 operates the works according to instructions of the robot controller 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for driving a robot in which a robot controller drives a robot for a plurality of types of works having different position data to execute the work.

[0002]

2. Description of the Related Art As shown in FIG. 5, a conventional robot driving method is executed by using a host computer 1, a robot controller 2, a robot 3, and a teaching box 4.

In this type of robot driving method, for example, a robot controller 2 drives a robot 3 with respect to a plurality of types of works which are components of a liquid crystal display.
Some of them perform liquid crystal display manufacturing operations.

The host computer 1 is connected to a robot controller 2 by a communication cable 5, and the robot controller 2 is connected to a robot 3 and a teaching box 4, respectively.

[0005] The teaching box 4 teaches the robot controller 2 position data corresponding to a plurality of types of works. The robot controller 2 stores a plurality of programs each including a combination of an operation application and position data for each type of work.

This motion application controls the motion of the robot using the position data of the work. When the type of the work is changed, the host computer 1 changes the program number of the robot controller 2 to operate the robot 3.

For example, in the case where the operation applications of the program 1 and the program 2 of the robot controller 2 (the operation application in this case is an operation of moving a work to a certain height corresponding to the type of work) are the same. When processing the work specified by the program 1, the work 1 is processed in accordance with the work position data (the height position A is set) of the program 1.
The robot 3 performs an operation of moving the work to a certain height A.

[0008] When the type of work is switched (the work of a type different from the work of the program 1 is processed), the host computer 1 controls the robot controller 2.
Switch the program number.

For example, in the case of the work specified by the program 2, the program number of the robot controller 2 is switched to the program 2, and the position data of the work of the program 2 (the height position is assumed to be set to B) .), The robot 3 performs an operation of moving the workpiece to a certain height B.

[0010] In addition to the conventional robot driving method shown in FIG. 5, as shown in FIG.
Some programs store and execute a plurality of programs. The host computer 1 stores a plurality of programs each consisting of a combination of an operation application and position data for each type of work.

When the type of work is switched, the host computer 1 transfers a program including position data of the work to the robot controller 2 to operate the robot 3.

[0012]

However, in such a conventional robot driving method, as shown in FIGS. 5 and 6, even when the operation application is the same and only the position data of a plurality of types of works are different, Program requires the same operation application.

When the change of the operation application occurs, it is necessary to perform a change operation for all the programs, so that the maintainability is poor. Further, there is a problem that the program storage capacity of the host computer 1 or the robot controller 2 increases.

Further, in the case shown in FIG. 6, there is a problem that it takes time to transfer a program from the host computer 1 to the robot controller 2. The present invention improves the maintainability of a program, reduces the program storage capacity of a host computer or a robot controller,
It is another object of the present invention to provide a robot driving method and a device for realizing a program transfer time which is reduced.

[0015]

According to the robot driving method of the present invention, when switching the type of work, the robot data is calculated by referring to the position data for each type of work stored in the position data reference program of the robot controller. A robot operation corresponding to all kinds of works is performed by storing the position data of the main operation program and changing only the position data of the main operation program.

According to the present invention, it is possible to improve the maintainability of the program, reduce the program storage capacity of the host computer or the robot controller, and shorten the program transfer time.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In a method according to the present invention, when a robot controller drives a robot with respect to a plurality of types of works having different position data to execute the work, the method according to the work to be worked is performed. The robot controller reads only the relevant position data inside the robot controller and executes a program based on the read position data inside the robot controller to drive the robot, and controls the operation of the robot. By maintaining only one program and changing the position data of the program to the position data of the corresponding work, the maintainability of the program can be improved. Further, the program storage capacity in the robot controller can be reduced.

More specifically, the position data of each work sequentially input from the input device is transferred to the host computer via the robot controller each time, and the robot moves from the host computer in accordance with the work to be operated. It is characterized in that only the corresponding position data is read into the controller.

According to this configuration of the present invention, since only the position data of the corresponding work is transferred from the host computer to the robot controller, the program transfer time can be reduced.

According to a third aspect of the present invention, there is provided an apparatus for driving a robot with a robot controller connected to a host computer to execute a work on a plurality of types of works having different position data. The robot controller is connected to a host computer and a teaching box, which is an input device for the position data of each work, and the robot controller reads the position data of each work sequentially input from the teaching box, A robot drive device configured to transfer to a host computer, read only the relevant position data from the host computer in accordance with the work to be received, and execute a program based on the read position data to drive the robot. Is the thing of the robot A program for controlling the work and only one, by changing the position data of the program to the position data of the appropriate type of work, it is possible to improve the maintainability of the program. Further, the program storage capacity in the robot controller can be reduced.

Further, since only the position data of the corresponding work is transferred from the host computer, the program transfer time can be reduced. In the method according to the fourth aspect of the present invention, when the robot is driven by a robot controller connected to a host computer to perform a plurality of types of works having different position data, the work is sequentially input from an input device. Record the position data of each work inside the robot controller, and select specific position data according to the work to be received among the plurality of position data recorded inside the robot controller,
This is a robot driving method of driving a robot by executing a program based on the selected position data. The robot controller stores all the position data of the type of work in the robot controller, and transfers the robot controller from the host computer to the robot controller. Since only the instruction to select the position data in the data is transferred, the program transfer time can be remarkably reduced.

The program for controlling the operation of the robot is
By using only one, the maintainability of the program can be improved. Further, since all the position data of the type of the work are stored in the robot controller, the program storage capacity of the host computer can be drastically reduced.

Hereinafter, a method and an apparatus for driving a robot according to the present invention will be described based on specific embodiments. (Embodiment 1) As shown in FIG. 1, a robot driving apparatus according to Embodiment 1 of the present invention includes a host computer 1, a robot controller 2, a robot 3, and a teaching box 4.

The host computer 1 is connected to the robot controller 2 by a communication cable 5, and the robot controller 2 is connected to the robot 3 and the teaching box 4, respectively.

The teaching box 4 teaches position data corresponding to a plurality of types of works to the robot controller 2. The robot controller 2 has a main operation program 2a and a position data reference program 2b, and controls the operation of the robot 3 by the main operation program 2a.

The host computer 1 stores position data of a plurality of types of works in the storage device 1a in the host computer 1 via the robot controller 2, and transfers position data corresponding to the work to be worked to the robot controller 2. I do.

The robot 3 performs an operation on a workpiece in accordance with an instruction from the robot controller 2.
As shown in FIG. 3, the robot driving device prepares to input position data for each type of work according to the flowchart.

In step S 1, the position data of the work obtained by the teaching box 4 is stored in the program No. in the robot controller 2. 63 is stored as the position data reference program 2b.

In step S2, the program No. in the robot controller 2 is set. 63, and reads out the position data reference program 2b in the storage device 1 of the host computer 1.
Stored in a.

In step S3, if there is a type of work to be added, the process returns to step S1, and steps S1 to S3 are repeated for each type of work. If there is no type of work to be added, the process proceeds to step S4.

In step S4, the teaching of the position data for each type of work is completed, and the preparation is completed. The robot driving device performs the processing according to the flowchart as shown in FIG.

In step S5, when the type of work is switched, the host computer 1 changes the position data reference program of the corresponding work to the program No. of the robot controller 2. Transfer to 63.

In step S6, the robot controller 2 sets the program No. When the main operation program 2a of the program No. 01 is started, the program No. The position data of the program No. 63 is referred to and calculated. 01 is stored as position data of the main operation program 2a.

In step S7, the robot controller 2 sets the program No. In accordance with the main operation program 2a, the robot 3 executes an operation corresponding to the work. In step S8, when switching the type of work, the process returns to step S5.

If the type of work is not to be switched, the process proceeds to step S9 and ends. As described above, the program for controlling the operation of the robot 3 is changed to the main operation program 2a.
When only one of the main operation programs 2a is to be changed, only one of the main operation programs 2a needs to be changed, so that the maintainability of the program can be improved.

Further, since only the position data of the corresponding work is read from the host computer 1 to the robot controller 2, the program storage capacity of the robot controller 2 can be greatly reduced.

Further, since only the position data is transferred from the host computer 1 to the robot controller 2, the program transfer time can be reduced by the transfer time of the conventional operation application.

(Embodiment 2) In Embodiment 1, the position data of a plurality of types of works are recorded in the host computer 1. However, as shown in FIG. In the case where a plurality of position data are recorded in the position data reference program 2c, the position data in the robot controller 2 is selected according to an instruction from the host computer 1, and the selected position data is referred to for calculation. 2 is stored as position data of the main operation program 2a, and the robot 3 executes an operation corresponding to the work in accordance with the main operation program 2a of the robot controller 2.

As described above, by maintaining only one of the main operation programs 2a as the program for controlling the operation of the robot 3, the maintainability of the program can be improved.

Further, since all the position data is stored in the robot controller 2 and only the instruction to select the position data is transferred from the host computer 1 to the robot controller 2, the program transfer time can be drastically reduced. .

Further, since all the position data is stored in the robot controller 2, the robot controller 2
Program storage capacity is reduced by the number of operating applications as compared with the prior art.

[0042]

As described above, according to the robot driving method of the present invention, when switching between a plurality of types of works, the program in the robot controller is changed to only one program for controlling the operation of the robot, and When only the position data is read into the robot controller to change the program, only one of the programs needs to be changed. Can be improved in maintainability.

According to this configuration, by reading only the position data of the corresponding work into the robot controller, the program storage capacity in the robot controller can be greatly reduced.

Since only the position data of the corresponding work is transferred from the host computer to the robot controller, the program transfer time can be reduced. Further, when all the position data of the work are stored in the robot controller 2, only the instruction for selecting the position data of the corresponding work is transferred from the host computer to the robot controller, so that the program transfer time is drastically reduced. be able to.

In the robot driving apparatus according to the present invention, a host computer and a teaching box which is an input device of position data of each work are connected to the robot controller, and the robot controller is sequentially inputted from the teaching box. The position data of each work is transferred to the host computer each time,
Since only the relevant position data is read from the host computer according to the work to be received, and the program is executed based on the read position data to drive the robot, the robot driving method of the present invention can be realized. .

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a robot driving device according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of a robot driving device according to a second embodiment of the present invention.

FIG. 3 is a flowchart for inputting work position data according to the embodiment of the present invention;

FIG. 4 is a flowchart of switching the type of work according to the embodiment;

FIG. 5 is a configuration diagram of a conventional robot driving device that stores all programs in a robot controller.

FIG. 6 is a configuration diagram of a conventional robot driving device that stores all programs in a host computer.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Host computer 1a Storage device 2 Robot controller 2a Main operation program 2b, 2c Position data reference program 3 Robot 4 Teaching box 5 Communication cable

Claims (4)

[Claims] When driving a robot with a robot controller for a plurality of types of workpieces having different position data to execute a task, only corresponding position data is read into the robot controller in accordance with a workpiece to be received. A robot driving method for driving a robot by executing a program based on the read position data inside a robot controller. 2. When a robot controller connected to a host computer drives a robot for a plurality of types of works having different position data and executes the work, position data of each work sequentially input from an input device is obtained.
In each case, the data is transferred to the host computer via the robot controller, and only the position data corresponding to the inside of the robot controller is read from the host computer according to the work to be received. A robot driving method for driving a robot by executing a program based on the program. 3. A robot driving device for driving a robot by a robot controller connected to a host computer for a plurality of types of works having different position data to execute the work, wherein the robot controller includes a host computer and each work. The teaching device is connected to a teaching box, which is an input device of the position data, and the robot controller transfers the position data of each work sequentially input from the teaching box to the host computer each time, and receives the work to receive the work. A robot driving device configured to read only the corresponding position data from the host computer in accordance with the position data and execute a program based on the read position data to drive the robot. 4. When driving a robot with a robot controller connected to a host computer for a plurality of types of works having different position data to execute the work, the position data of each work sequentially input from an input device is converted into the work data. A specific position data corresponding to a work to be received is selected from a plurality of position data recorded in the robot controller, and a program is executed based on the selected position data. Robot driving method to drive the robot by doing.