JPS5825872A - Controller for robot - Google Patents

Abstract

PURPOSE:To call desired programs according to numbers and to improve working efficiency by setting numbers to spot coordinate groups which determine the course of a robot, then giving program numbers thereto and storing the same. CONSTITUTION:When the operator moves a robot 5 to a desired position by pushing a manual button after resetting the respective shafts of the robot 5 by pushing the manual button of a teaching box 3 and pushes a predetermined button, the position of that time is stored in a memory 16. Further the operator repeats the similar operations by moving the robot 5 and has a series of spot coordinates stored successively. Then the operator calls the number of a desired spot coordinate on a display device 13, and pushes the switch for the desired control command, thereby giving an auxiliary control command number to said spot coordinate.

Description

[Detailed Description of the Invention] This invention uses so-called point, two, point control (hereinafter referred to as FTP control) to store nine points and automatically move the robot from the stored points to the points. This paper relates to the improvement of control devices for robots such as arc welding robots using the teaching playback method.

The first figure shows the overall configuration of an arc welding robot that uses a teaching playback method using FTP control. In this figure, the part surrounded by 1iIII is the control device (1). is the control panel (2)
It consists of a teaching box (3) and a teaching box (3). Each welding condition is transmitted from the control circuit in this control panel (21) to the welding power source (4) and the robot body (
51. These welding conditions for each tank can be given in advance from the teach box (3) to the memory in the control panel (2), or by directly operating the operation panel αJ attached to the surface of the control panel (2). It is set and stored in advance. On the other hand, the welding power source (4) is connected to the wire feeding device (7) via the power cable +61', and the wire (8) fed by the wire feeding device -17) is connected to the robot. Main body (51 tip torch (9
) via conduit cable αG. Arc contact is made between the torch (9) and the workpiece @ to which one of the welding power sources (4) is connected via the power cable Qllt-. Further, control of welding current, welding pressure, supply of shielding gas to the welding area, etc. is performed from the welding power source 14) based on commands from the control panel (2).

The posture and movement of the torch (9) are controlled by the robot body 151K based on commands from the control panel (2).

The work of memorizing one point of the Hinoki robot KN1 and giving auxiliary control commands such as welding conditions is carried out as follows.

First, to the origin, which is detected mechanically and electrically.

Press the manual button on teaching pendant +31.

After restoring each axis of the robot, press the manual button to move the robot 1 m (figure! l) K robot) t.

When you press a designated switch, the current position is stored in memory. Furthermore, by moving the robot and repeating the same operation, the coordinates of the 19-late points t'' are stored in sequence.

In addition, the teaching box (3) welding operation panel 0 has instructions for welding conditions for each machine, separation of coordinate point groups, end point, etc.
A switch is provided for adding auxiliary control command information to the point stranding, and a seven-segment light emitting diode anytime indicator is provided to display the point W141IfJIIA#r tube. After memorizing some Pisces 4IAt- in the above-mentioned process, call up the number of the desired point N on the display, press the switch corresponding to the desired control command, and the LD will assist in the coordinates of that point. Specific control commands can be added.

Next, the operation procedure (hereinafter referred to as "teaching") for causing the constructed robot to memorize Pisces mt using the above j5 will be explained using the second step.

Generally, this teaching requires a lot of time, so conditional or unconditional auxiliary commands are provided to save this teaching time. ' Figure 2 shows the trajectory of the robot from the starting point S to the ending point G.
This is a schematic diagram of A, B, and 03 ways, and the O mark is the memorized F! This is the M point.

Now, as shown in parts Jl and J2 in Figure 1, when multiple programs having some common trajectories are to be executed alternately depending on the time, all programs of type 3s are executed from starting point 8 to ending point G in order to save teaching time. However, instead of using the teaching method, K Jl, J2. J3
．． A method can be used in which each part indicated by J4 is taught and all jump commands are entered at the end point of each part.

Each of these parts will be referred to as a jib number from now on, and the jib number is taught at the first point of the jib.

All you have to do is add a command to the end of each section to tell it to jump to any number.

For example, by keying in J, l, and 2 at a certain coordinate point, this operation causes a jump from that coordinate point to the zipper number li. Also, as an example of a conditional jump command [J, 3:
1. By keying in 2, if there is a contact input at number 3, it will jump to number 12, and if not, it will execute the next number.

This makes it possible to change the flow of the graphics executed by turning on and off the corresponding contacts.

In this diagram, if the PI point has a contact number with external input, J3 is executed, and if it is not, J4 is executed.
Give the command to jump to.

J3. Give the command to jump J2 K to the end point of J4, and directly @, r without executing J3 or J4.
If you run a program that jumps from t to J2, add a conditional jump command using another external input contact at P2 and set each external input contact. 3 Obtain the driving route of the aphids.

The conventional control unit m is configured as above (-), so
When inputting jump commands and setting external input contacts, it is complicated and easy to make mistakes.

This system has a disadvantage in that it is difficult for the operator to grasp the branches in which the program to be run will be executed.

This invention was made in order to eliminate the drawbacks of the conventional control rM direct as described above, and does not require any jump commands or external input contacts (Jl, J2. J
3. Not only can a job such as J4 be arbitrarily edited and executed as one continuous program, but also a plurality of such edited programs can be stored.

It is an object of the present invention to provide a control device that can easily specify and execute a desired operation depending on the time.

An embodiment of the present invention will be described below with reference to FIGS. 3 to 7.

FIG. 3 is a diagram showing an outline of the configuration of the control device.

In the IN, α51 is a central processing unit (hereinafter referred to as CPU).
UJ, (lfi is a single memory, and this memory (1G+) is divided into a part for storing system programs and a temporary storage area for storing nighting data and performing logical operations. The overall control is performed by executing the system program stored in advance in this memory.aFj is a display cathode ray tube (CRT and i5), .

9. Receives display-related instructions and data from the CPUG 51 using the Frequency Memo Two. A9 is a keyboard for giving various operator instructions to the control device @ is an input/output signal interface between the above CPU aB and the outside, and is an operation panel with switches for each tank ■A teaching panel with switches related to machining teaching Box 13).

Furthermore, an external cable is connected to the robot body, which is equipped with a limit switch to detect overtravel, and to exchange signals with the welding power source.

@ is a servo control unit, which is connected to a position detector (c) that detects the position of the motor. (to) is each block 'i
This is a common bus line for connecting with CPUQ51.

Figure 4 shows an extracted display panel portion of this device, showing the CRTaI and keyboard a9.

The keyboard 09 has key switches with the letter J indicating "J" and "B", a key switch with the letter P indicating the program that combines this job, and numeric keys for indicating the respective numbers of the above jobs and programs. Cursor to indicate the input position & on the 1m plane. Arrow keys and I to instruct all data entered from these keys to be processed and stored according to the screen.
An NPUT key etc. are provided.

The fifth part is related to the memory QeK of the control device, and it schematically shows the storage format of the related part.
is a processing program storage part in which a processing program for realizing this function is stored in advance; 9) This is an area where the storage address of each numbered job is stored for convenience in referencing the numbered job necessary for etc.
- Area C11 is an area for storing teaching data, and is a coordinate point welding condition storage unit for each job [1 division K].

The number of the job to be taught during teaching is specified by entering the key from the operation panel on the screen as shown in Figure 6.

Well, after some job t teaching.

Using the keys on the keyboard a9 shown in the fourth factor.

First, specify the number of the program, and then key in which number of programs it calls and in what order they should be executed. An example of the display screen at that time is shown in FIG.

In this example, first key in the number all 0 yen of program P, then follow the cursor and key in the jobs with the numbers that make up the program in order from the top, as shown by J5 and J7t on the CRTa & screen. te (,
It is assumed that the order of execution of the dichotomies is the same as the arrangement of numbers on the display screen.

For automatic operation, in the embodiment, a desired program number is specified from the keyboard a1 using a screen similar to the seventh screen. Next, a switch on the operation panel αJ is used to instruct the start of automatic operation. At this time, the calculation section of the control device (2) first refers to the setting order storage section ant in FIG. Know.

Obtain data from the area and perform automatic operation. When this job is finished, the setting order storage unit (111
The number and storage address of the next job to be executed are known from the library area ■sum, and the first job is executed. In this way, the specified jobs are executed in order, and the final job is executed to end one program. When specifying the program number before starting execution, the number and order of the job to be executed can be displayed on the display screen by referring to the directory area ctnt as shown in FIG.

Note that the display is not limited to a single display LCRT, and for example, a plasma display may be used, and the characters and symbols used for display and the size may be arbitrary.

FIG. 8 shows an example in which the program is replaced with "work" and the same display sounds are made for W and P.

For example, W1==P1, pz, P3, P in the figure
4 indicates that PI to P4 are executed in order from the left, and when setting a program, comments regarding each job can also be keyed in at the same time and redisplayed during operation. In the example shown in FIG. 7, when displaying the jib number, the coordinate point number 'f: 87EP is displayed with a number after the characters to falsify it. This function does not interfere in any way with the use of the jump function used in the explanation of the conventional example.

In addition, the display unit clearly displays the configuration of the job being programmed, and the display screen, keyboard,
Since the memory etc. are arranged in an easy-to-operate manner, the operation time can be reduced accordingly.

As described above, according to this invention, each Ji! There is no need to give a branch command for each job or take into account one branch condition. Simply set the desired job number order, number it as one program, and store it. In addition, during automatic operation, the desired program can be called up simply by specifying a number, which simplifies nighttime operation and eliminates operational errors, saves time, and improves work efficiency. It has the effect of improving the

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the configuration of an arc welding robot. 2nd (8) is a diagram explaining the robot's path t, Figure 3~
FIG. 7 is a diagram illustrating one embodiment of the present invention, and the third figure is a block diagram showing the configuration of the control device, and FIG. 4 is a front view of the operation panel #-1. Figure 5 shows the memory usage status, and Figure 6 shows the IN screen displayed when specifying the zip number.
, 171a is a diagram showing a screen for specifying a program number and adding the number and order of jobs that make up the program, and FIG. It is a figure which shows the screen which can be added. In the figures, the same reference numerals indicate the same or equivalent parts, (
1) is the control device, (2) is the control panel, (3) is the teaching box, (5) is the robot body, (131 is the operation panel, (151iz CPU, Q61t! j
% 9" +, QalU CRT. [11 is the keyboard, ■ is the operation panel, and is the servo control section. Agent Shin Kuzuno - Figure 2 @ Figure 3 Figure 5 Figure 6 Figure 7

Claims (1)

[Scope of Claims] A teaching box electrically connected to a control panel and provided apart from the control panel. To operate this Teening Box, the desired point coordinates are stored in the storage unit built into the control panel of Engineering 9. In addition to operating the robot from the stored point to the point, the control panel contains data regarding point coordinates, and data regarding robot control. A control device equipped with an input contact such as a switch assigns numbers to a series of point coordinates that add up the robot's path. After storing a plurality of these, select an arbitrary number of the point coordinate group using the display device and the input contact, and after storing a plurality of programs given an arbitrary order, select only the desired program number. By specifying and driving,
The point coordinates of the specified number are executed in the specified order, and wow! By storing many types of point coordinate group numbers edited on the control panel, many types of routes can be created. A robot control device characterized in that: