JPS5827205A - Cooperative operating device for robot - Google Patents

Abstract

PURPOSE:To perform cooperative operation of plural robots by connecting external contact output of one of plural robot controlling device having jig controlling function to input of other device and connecting input of one device to output terminal of other device. CONSTITUTION:Output terminals 33, 34 for jig of two robot controlling devices 30, 31 having jig controlling function are connected to input terminals 35, 32 for jig of other controlling devices 31, 30. Jig output instruction and input instruction of one controlling device are given to proper step of other controlling device, and execution from desired step of other controlling device is kept waiting until completion of specified step of one controlling device. Operation of reversed relation is also performed. By this way, a cooperative operating system for plural robots can be constituted, and change of connection and change of instruction can be performed easily.

Description

DETAILED DESCRIPTION OF THE INVENTION This invention is a so-called point-to-point control (hereinafter referred to as FTP control) in which points are memorized and the robot automatically moves from the memorized points to the points.
This invention relates to an operating device that allows a plurality of J-bot robots, such as arc welding robots using the C-based teaching beam/r-back method, to be operated in a coordinated manner.

Figure 1 shows the overall configuration of an arc bathing robot that employs the teaching playback method using P 'I' P control. In this figure, the part surrounded by a broken line is the control device , this control device (1) consists of a control panel (2) and a teaching box (3). Various welding conditions are applied from the control circuit in the control panel (2) to the welding power source (4) and the robot body (5) through cables. These extraction bath contact conditions can be set in advance from the teaching box (3) to the memory in the control panel (2), or directly from the operation panel Q mounted on the surface of the control panel (2). It is set in advance by operation and stored. On the other hand, the welding power source (4) is connected to the wire feeding device (7) via the power cape YV (6), and the wire (8) fed from the wire feeding device (7) is connected to the robot body. (5) is led to JIA's torch (9) via conduit cable 00.

Arc welding requires a torch (9) and a welding power source (4).
One of these is performed between the workpiece (2) and the workpiece (2) connected via the power cable θ1). In addition, the control panel (2
The welding is performed by the welding power source (4) based on commands from ), and the posture and movement control of the torch (9) is performed by the main body (5) based on commands from the control panel (2). There is.

Figure 2 details the relevant parts to explain the operation when a jig is added to the robot system described in Section 2. In the figure, 09 is the control vj @ (2) middle/U The central processing unit (hereinafter referred to as C, PU)
, Qf9 is a memory in which a control program for this system and auxiliary control information such as taught coordinate points and welding conditions are stored. 07) is a display that displays various data for the operator, OQ is a key switch that gives VC commands to the control device, and 0 is a control device; Interface section for sending and receiving, α Uhako: /' Vanu (common bus line) that connects L, etc. and 0PU QQ, &]) + Z in the servo control circuit
,.

The part inside the broken line shows the main body of the JJJ, and inside this main body, (c) is a rotary table, and when it rotates to a predetermined position, it hits the switch (a). In addition, (c) is a mole l- equipped with a deceleration end for rotating the table 4 times. (C) is the power supply for this motor, and (F) is the direct switch that opens and closes the control device (2), and these are connected to the control device (2) by an external cable (B). Control device (2) in-boot ace r';'l”
01 is provided with a plurality of contact signal input terminals and contact signal output terminals such as limit switches.

In the robot system shown in Fig. 1, the range that can be continuously machined is actually subject to considerable flrll f;P, so as shown in Fig. 2, it is connected to a jig with a movable mechanism such as a rotary table. Often used. By coordinating the movement of this jig and the movement of the robot, signals are exchanged with each other to expand the machining range. For this reason, the robot is equipped with multiple numbered input/output terminals for inputting and outputting contact signals to the outside, and at any coordinate point (hereinafter referred to as a step), the output terminal with a specific number can be opened or closed. Furthermore, by calculating the heating value of the signal of the input terminal of a specific number by ρ power 4, it is possible to give a control command such as making the execution of the next operation wait until this turns ON.

Now, the CPU (a) refers to the memory OQ and sequentially executes the step position information and other control commands taught in advance, but in any step, the output of the viscosity number is The control command code for turning on and off the contact terminals is determined in advance, and the display α″f)
It can also be stored in memory 00 using the key switch α.

It is also possible to give a command such as waiting for execution of the next command until an input signal is input from a terminal with a specific number at any step. For example, if you key in J, ■, l, 4, it will command you to wait to move to the next step until an input signal is input from the 14-point terminal.
If you key in 1, 5, S, the step of that command will be 15.
It is a command to set (close) the contact output of terminal No. 13, and if you key in J, 0, 1, 3, R, it is a command to reset (open) the output contact of terminal No. 13 at the step of that command. It is possible to configure the control device so that there is.

To explain the operating system configured in this way using FIG. 2 as an example, the motor (
Give a control command to close the contact (c) so as to rotate (a), then stop the robot's movement until the table rotates () and hits the limit switch (b), and then from this limit switch (a) VC# point 1: Stops the rotation of tape/L/I23 when the input signal is input.
It is possible to move the robot and the jig in cooperation by giving a command to open the robot and then moving on to execute the next step.

By the way, if the size of the warp is so large that it is outside the range of motion of the robot, or if it is not possible to weld only one side of the workpiece first due to the strain caused by welding. Since it takes a lot of time to attach the workpiece and make changes, it is more efficient to use multiple robots to process one workpiece from multiple directions.

At this time, to prevent each robot from colliding and to avoid welding distortion of the workpiece, we mutually determine the processing order, etc.
It is necessary to synchronize the movements of multiple robots and make them work cooperatively, but until now there has been no simple means for this cooperative operation that can quickly respond to various workpieces.

This invention was made in view of the above-mentioned drawbacks of the conventional technology, and utilizes input/output signals for jig control to connect the external contact output of one control device of multiple robots to the other input. The object of the present invention is to provide a device that can easily cause multiple robots to operate cooperatively by connecting an input to the other output terminal, and also allows the system to be changed flexibly.

Hereinafter, an embodiment of the present invention will be explained with reference to the drawings. Third
The figure schematically illustrates one embodiment of this invention.
This figure shows how to connect the controller to the controller.

In the figure, (・1 is the control device, 61) is this r*
! There is another control device ijt coupled to the device (to), the internal configuration of which is extremely difficult to understand.
'L] (This is the same as the control device (2) shown in Figure 2.
34 is an input terminal of the control device (R), (C) is an output terminal; C'4 is an output terminal for a jig of the control device 0υ]-1CG is an input terminal as well. (G) The cables □□□ are each pulled out from the control device (1) e3J) and connected by a cable (B).

Figure 4 shows the operation panel α of the [i control device. (Step number) is called up on the display screen by operating a key switch, and when auxiliary commands such as welding conditions for that step are input using the key switch, they are executed when passing through that step. .

FIG. 5 shows a display screen and explains the format for giving jig-related control commands. Now, the step number on the display screen is S T E P 128, and on this screen, 0UT5S is step 123.
0UT6B is a command to set (close) contact output terminal No. 5 when the input terminal No. This is a command to reset (open) the contact output terminal of.

Now, as shown in FIG. 3, the jig input terminals of each control device are connected to the jig output terminals of the other control devices, and the jig output terminals are similarly connected to the jig input terminals.

Once a necessary number of such connections are prepared, jig output commands and input commands such as those described above can be given to appropriate steps of each control device, and the other control device can be connected until a specific step of one control device is completed. Since it is possible to make the control device wait for execution from a desired step, or to perform operations in the opposite relationship, it is possible to easily realize a cooperative operation system for a plurality of robots.

Note that the number of control devices to be connected is arbitrary as long as the number of terminals for the jig input/output value U allows, and it is also possible to connect and use the jig described in the conventional example. Furthermore, some kind of relay means may be used to connect the input/output signals.
The command format for jig input/output contact numbers is free.

As described above, according to the present invention, a cooperative operation system of multiple robots can be configured by interconnecting jig input/output signals of robots having a jig control function. Furthermore, since connections and commands can be easily changed, the efficiency of work by the arc 7B contact robot can be improved.

[Brief explanation of the drawing]

Figure 1 is a block diagram showing the system configuration of a general arc welding robot, Figure 2 is a block diagram showing the internal configuration of a conventional control panel and a method for controlling the jig, and Figures 3 to 5.
Each figure shows one embodiment of this invention.
The figure is a block diagram explaining how to connect two units of d and IT, figure 4 is a front view of the operation panel, and figure 5 is an example of the display and a block diagram explaining the command format of the jig. be. In the figures, the same reference numerals indicate the same or equivalent parts, (
2) is the control panel, (3) is the teaching pendant, (5)
is the robot body, 09 is the CPU, H is the memory, αη is the display, (To) is the key switch, (Ii) ij interface section, cI C'll) is the control device, (0 is the input terminal, 0 → (b) is the output terminal. Agent Shin Kuzuno -

Claims (1)

[Claims] A teaching box is electrically connected to the control panel and is provided at a distance from the control panel, and by operating the teaching box, desired point coordinates are stored in a storage section built into the control panel, and the coordinates of the desired point are stored in the storage section built into the control panel. The control panel includes data related to point coordinates, a display device that displays data or comments related to robot control, and contacts provided in the interface unit that receives signals. In an operating device for operating a plurality of robots using a plurality of control devices each having a signal input terminal and a contact signal output terminal, the output terminal of each control device is sequentially connected to the input terminal of the next control device, and When one robot reaches an arbitrary point coordinate position, it checks the presence or absence of an input signal at a terminal with a specific number and waits for operation until the next signal arrives. A robot cooperative operation device characterized in that a control command for opening and closing an output signal of a terminal is given.