JPS58143984A - Instruction device for industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a teaching device for an industrial robot.

Conventionally, robot movements have been taught to a single robot, and there is no teaching device that can teach the movements of multiple robots at once. Therefore, when teaching tasks that involve synchronizing or cooperating with multiple robots, first consider the operation sequence for each robot, and then do so.

After adjusting the synchronization relationship between each robot, individually 1. .

By adding a synchronization command to the operation sequence of the four pots,
Robot another program and its professional.

The procedure was to teach Durham. The disadvantages of this method are: (1) Programs are created for each robot individually;
%It is difficult for humans to understand the overall work flow just by looking at individual programs.

(2) If you try to modify a part of the entire program, it will take time to modify it due to the reason of (1).

Furthermore, errors are likely to occur during correction.

i5) Adjusting the synchronization relationship between robots is complicated.

Also, errors υ are likely to occur during adjustment.

Here are five points.

The purpose of the present invention is to overcome the above-mentioned drawbacks of the prior art.
An object of the present invention is to provide a teaching device for an industrial robot which is designed to quickly and accurately teach the motion tactance of a plurality of robots.

Therefore, the present invention can be used to teach a number of robots at once.

In order to perform the operation quickly and easily, an external input device and an interface circuit (FC)), operation commands for multiple robots (ROI), and a robot distinguishing ring (R1) are used.
)I),.

and a general storage means (m) for storing parallel operation commands (PHI), and operation commands (ROI) for multiple robots and robot differentiation commands (R) stored in the general storage means (KM).
1) Read the I input and parallel operation command C7''Ml) and use the decoding circuit (5AC) and synchronization command generation circuit (MIC) to program each robot.

Durham (#l, RI)2, ..., the processor (Cp(J)) that creates lψ1, and the processor < cpU
) created by robot-specific programs (Rpr, R
A teaching device for an industrial robot, characterized in that a robot-specific program is created from a robot operation command (ROI) that stores robot operation instructions (Pz, ..., Rpn), a robot-specific loss (RDI input, and a parallel operation command (pMI)). 3. The present invention also provides the above-mentioned industrial robot teaching device, in which the processor (PU) uses a decoding circuit (SAC) and a synchronization command generation circuit <, vrc') to issue a robot discrimination command (RD).
I) and multiple robots based on parallel motion instructions (PMI).

This feature is characterized in that it is configured to automatically create synchronization commands.

The present invention will be described below based on embodiments shown in the drawings.

Explain to the body.

As shown in FIG. 1, an example will be given in which two robots are used to assemble two parts. 1 in the figure,
2 is robot, 3.4 is parts, 5゜6Fi parts stand, 7
is the assembly table, 8 is the assembly part placement table, 9 is the grasping midpoint of part 6, 10 is the grasping point of part 6, 11 is the middle point during assembly of part 6, 12 is the grasping middle point of part 4, 15 is the gripping point of part 4, 14 is the assembly point of part 4, 15 is the assembly point of part 4,
16 is an assembly component installation point.

FIG. 2 shows the flow of operations of each robot in the above-described configuration. In other words, robots 1 and 2 go to pick up parts 5 and 4, respectively, and robot 2 or part 4 is first picked up.
is placed on the assembly table 7, then the robot 1 inserts the part 6 into the part 4, and after i, the robot 2 immediately places the assembled part 3 and the part 4 on the assembly table 8. A method of teaching the work shown in FIG. 2 using the teaching method and device 1 according to the present invention will be described below.

An external input device (for example, a keyboard) 2 is used as a means to input operation commands (ROI), robot differentiation commands (RDj''), and parallel operation commands (PMI) for multiple robots.
Assume that a string of alphanumeric characters starting from 0 is input, and the input shown in FIG. 3 is given.

In the figure, the movement commands (ROI) of the 56 robots include movement command MOVE i (iri movement point number), hand open command 0PEN, and hand close command CLO5.
E.

and a program end command END are given. (SEQ No ErVDS) () is the robot number, for example, as it corresponds to the Robot Distinction Directive (RDI).

)'-1Or2) is given, SEQ ) and ENI
) with S.

Sandwiched between, MOVE, 0PEN, CLO5E u
Assume that the motion is as follows. In addition, <PARA-EN> corresponds to the parallel operation command (pMI).
DP) is given, the operations of each robot 1.2 sandwiched between pARA and ENDp are executed in parallel, and each robot 1.2 has its .

The start and end of work shall be synchronized. .

In addition to the above-mentioned methods, characters such as those shown in Figure 3 can be used to input operation commands (ROI), robot differentiation commands (RDI), and parallel operation commands (PHI) for multiple robots. Possible methods include directly reading the rows by optical means, using a teaching box containing push buttons, etc. corresponding to each command shown in the figure, and teaching by voice.

Next, the above MOVE, 0PEN, CLO5E,
5. The program shown in FIG. 5, which is composed of the commands EQ-ENDS, PARA-ENDP, and END, is set in the integrated memory unit (ldrio 22) via the interface circuit 1I8 (IFC) 21.

FIG. 5 shows a procedure for creating robot-specific programs RpI and Rp2 (two robots in the example) by the teaching device 19 (shown in FIG. 4) of the invention. The function of the valley block in FIG. 5 is as follows.

(1) 101: According to the command from the processor (CPU) 25, the command for one step is read from the 4-way storage device it (AfAf) 22, and the *g circuit (SAC)
24 is set.

(2) 102, 105, 104, 105. +06
: The decoder circuit (SAC) 24 ``'' decodes the given commands and gives each parallel operation command ``PARA'' (determined in step 102), for terminating the parallel operation.

command ENI)P (determined in 104), continuous command SEQ
' (determined in 106), continuous end command ENDS
(determined at 105), end command END (at 106;
judge. ), and responses indicating other commands are sent back to the processor (CPU) 23.

(3) The decoding circuit (SAC) 24 allows the general storage device (m
) 22 is determined to be the parallel operation command PARA, the process proceeds to the following steps.

(3,1) 107: A flag indicating that the processor (CpU) 2S is in a parallel operating state.

Set PAF, and reset the flag SEFf indicating that the robot is in an individual operating state.

(6, 2) +os: The processor (CpU) 25 generates a synchronization command using the synchronization command generation circuit (MIC) 25.
MAcH) was created and the robot shown in Figure 6 was created.

Programs RPs, RP2, -, RPn are stored 1
Set the IMl, R1yh, .

In addition, if there are three or more robots 1 and 2.

PARA,! : In the area sandwiched by EIVDP.

A certain robot distinction command RDI is determined, and synchronization/commands M and 4Cfl are set only for Rpn that requires synchronization.

(4) If the decoding circuit (, SAC) 24 determines that the command read from the general memory (KM) 22 is a continuous command (5EQ), the process proceeds to the following steps.

(4,1) 109: CPU 25 robot distinction flag R
Set the song (RDF-)).

(4, 2) +10: CPU 25 Determines whether or not the Fi flag px indicating that the parallel operation state is set is set, and if it is set, the above operation 101 is performed, otherwise the next operation 111 is performed.

(4, 5) N1: Flag SEP indicating that the CPN 25 is in robot-specific operation state is set.

If it is 1'', the next step 112 is performed, otherwise the next step 113 is performed.

(4, 4) 112: CJ) N25 is the operating state of each robot.

Set a flag SEP indicating that there is. .

(4, 5) +15: The CPU 23 creates a synchronization command MACH using the synchronization command generation circuit (MIC) 25 and selects it to the program RP of RAf in the storage device 26.

(5) Reading from N22 by the decoding circuit (SAC) 24.

If the received command is determined to be the parallel operation end command ENDP, the following steps proceed. .

(5, 1) 114: CPU 25 uses robot distinction flag p
AF, Ya2i. /゛' ・ (5,2) 115: CPN25 creates a synchronization command MACH using MIC25, and stores it in the storage @26 layer! .

Rldz program Rp1. Set to Rpx.

Ru. In addition, if there are three or more robots, (5,
In the same procedure as 2), write the synchronization commands M and 40H to the memory device @2.
Set to RPn of 6.

Ru. 1゛''(S)
5AC2d f) The command read from ADd22.

If it is determined that the continuous end command is ENDS, proceed to the next step.

Proceed to Tegu.

(6, 1) 116: CPU2S issues continuous end command EN
The next step of DS is parallel operation command PARA)
・Determine whether (read ahead the steps of the program 1,
5, 4 (determined using '24) Parallel operation command pARA
If so, perform the operation in step 101 above; otherwise, perform the operation in step 117.

(6, 2) +17: The CPU 23 uses the MIC 25 to create a synchronization command MACH and selects the robot in the storage device 26 specified by the robot distinction flag U.

Set the program Rp) of the RM) corresponding to the tonneau.

(If the command read from MIIf22 is determined to be MOVE, 0PEN, or CLO5E by 715AC2A, proceed to the next step.

(7,1) N8; The CPU 25 checks the robot discrimination flag RDF, and if it is RDF-1, performs the next operation 119, otherwise performs the next operation 120. -(7,2)
149: The CpU 25 sets the steps (commands such as MOVE, 0PEN, CLO5E, etc.) read from the IWfM 22 into RM+ of the storage device 26.

(7, 5) +202 The CPU 25 sets the steps (commands such as MOVE, 0PEN, CLO5E, etc.) read from the MM22 into the storage device @260RM2.

(8) If the command read out from the 1Mhf 22 by the 5AC 24 is determined to be END, proceed to the next step.

(8,1) 121: The CPU 25 executes the program Rldr of the storage device 26, the program Rp1. of the RM21. Set the end command (ENI) to Rpz.

The RM created by the above procedure and stored in the storage device 26°
t, robot-specific program Rp stored in RMZ
l, RJ)z are shown in FIG.

As described above, as shown in FIG. 7, each area (block) RMx of the storage device 26 of the teaching device 19.

The program RPI stored in Q2 and each control device (.

Microcomputer) 50+, 5Ω2 memory 511, 512 stores 1. Note that the CPIB 21 of the control device 301 is set to a teaching button in advance.

Move robot 1 using box 351 and place the hands.

The robot is placed in a fixed position and moves to my position.

Detected from the encoder connected to each drive shaft of the cut.

The output signal is counted by the counter circuit C'l and the coordinates of the robot's operating point are MOVE9, IO, 11, +5.
is written in the memory 5H. The CPU 521 also uses the teaching box 351 to take notes on the operation details of 0PEN, CLO5E, etc. Store 75HK. On the other hand, the control device 3020) CPU 321 also has CplB
22, the coordinates Mol of the operating point of the robot are calculated by counting the number i' outputted from the encoder connected to each drive shaft of the teach robot 2 in advance by the force 1 counter circuit C2. /E + 2, 15, +
4.
, 302 are motor drive 1 circuits that drive the motors that operate each robot 1.2, and the CPU
The digital words from 521 and 522 are converted into analog signals, and the speed output from the tachometer generator connected to the motor is used to feed the signals and drive the motor.・Therefore, each control device 150x, 5
02 CPU321. ! I22rl,.

Program Rps stored in memory 311,542.

Read out the contents of Rpz in order, and read each program.

Each operation MOVE, 0PEN, CL in the order of the contents of the program.
O57? etc.

Read the contents from the memories 50, 512;

- data drive circuit D1. Move each robot 1 and 2 to D2.

and perform assembly work. Just CP (J521.'s
22, when the synchronization command klAcE is read from the memories 511 and 512, each mode is synchronized with the synchronization signal T.

The robots 1 and 2 can be operated in synchronization by driving the motors through the drive circuits 1)r and 1)2'17.

By the way, the embodiment shown in FIG. 7 is for each robot.

Although a case has been shown in which a teaching device (microcomputer) 19 is provided separately from the control devices 501 and 302, FIG. 8 shows only one teaching device (microcomputer) 19.

Using the CPU 62 r of the control device & 1541, program Apl, Rpg 5 in the same way as the teaching device 19.
If creating one, please indicate. By the way, memory 51 lo)
Each robot-specific program Rp1. is formed in RMx, RAfz. Robo in Rpt.

Program f (pz is the interface circuit ゛(
The data may be input to the memo 512 of the robot control device 542 via the IFC 21.

Also, when the CPIB 21 of the robot control unit @ 541 creates the robot-specific programs Rpx and RPz, if it can be input to both memories 311 and 522, the program RP2 for the robot 2 is stored in the memory 315.
The data may be directly stored in the memory 512 via the interface circuit 21 without being stored.

By using the present invention in this way, it is possible to easily teach a plurality of robots.

In the example, regarding the operation of the cI pot, MOVE
, OPE, 'V', and CLO5E were considered, but other commands and repetitions such as operation of each wire, control of penetration equipment, use of sensor information, condition judgment, etc.
The present invention is also capable of handling cases where each of ) ff'J Misaki + i commands are given as a robot motion combination. According to the present invention, as explained in Section 1 below, the following is achieved.

It has great effects.

[4] Since the movements of the robot that protects the a-stand can be described in one program, it becomes easier for humans to manage the entire work flow.

(2) Continuing with (1), the program correction time is shortened, and ill at one pressure is reduced.

(5) Since the synchronization signal generation command between each robot is automatically created, there is no need to perform the complicated work of adjusting the synchronization relationship between the robots.

[Brief explanation of drawings]

Figure 1 shows an assembly system using two industrial robots.
Figure 2 is a diagram showing the operation flow of the two robots, Figure 6 is a diagram showing the comprehensive program of the two robots, and Figure 4 is a diagram showing the operation flow of the two robots. A block diagram showing one embodiment, Fig. 5 is a flowchart for creating a program for each robot, Fig. 6 is a diagram showing a program for each robot, and Fig. 7 is a diagram showing a program for each robot.
・FIG. 8 is a diagram showing an embodiment of the entire teaching device, and FIG. 8 is a diagram showing another embodiment different from FIG. 7. 1.2...Robot, 19...Teaching device, 2
0...External human power device, 22...Comprehensive storage device C, 24...Decoding circuit (SA(,'), 25...Synchronization command generation circuit (MIC), 25.301.50z...
・Processor ((, 'pU), 26...Storage device,
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Claims (1)

[Scope of Claims] 1. An external input device, a general storage means for storing operation commands for a plurality of robots, robot differentiation commands, and parallel operation commands inputted from the external input device, and an operation command from the storage means. A processor that reads commands, robot distinction commands, and parallel operation commands, and creates robot-specific programs. and a storage means for storing the robot-specific program created by the processor. Programs for each robot from motion commands, robot differentiation commands, and parallel motion commands for several robots. A teaching device for an industrial robot characterized by creating a ram. “2. The processor is configured to automatically create a synchronization command for a plurality of robots based on the robot differentiation command and the parallel operation command.
・Teaching device for industrial robots as described in section.