JPS5850005A - Instructing method - Google Patents

Abstract

PURPOSE:To perform an instruction operation whthout failure with a simple operation, by indicating a desired point position and generating new instruction data in case that hands are moved on the basis of already generated robot command data to change the point. CONSTITUTION:When a mode selecting switch is set to the instruction mode and a start button is depressed, a processor DPU reads out the first robot command data RD1 from a data memory DM to a register RGS. Current positions Ra, Za, and Qa of hands are read out from a phase controlling data storage memory APM, and increments DELTAR, DELTAZ, and DELTAtheta are inputted to a pulse distributor PDC. Then, the distributor PDC generates partition pulses RP, ZP, and thetaP and gives them to servo circuits SVR, SVZ, and SV to drive motors MR, MZ, and Mtheta, and thus, current positions are updated. After the movement control due to data RD1, the second data RD2 is read out from the memory DM to the register RGS to move hands.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a teaching method for a robot, and particularly to a teaching method that can easily teach robot command data.

In the play pack type 1-industrial robot robot, the service operation is taught in advance from the teaching operation panel, the teaching content (hereinafter referred to as robot command data) is stored in the data memory in the control unit, and the service operation is performed from the machine side. Each time a request is made, a series of robot command data is sequentially read out and repeatedly serviced to the machine.

This robot command data may include the position information of the point to be serviced, the h and s movement speed of the point, and the service code that instructs the control of the hand in India and the exchange of signals with the machine tool side. ing. In addition, the above teachings generally include (1) setting the address of the data memory where the robot command data is to be stored, and (2) setting the robot command data.
Positioning is performed in the following order: (3) setting the point position information and speed command value, (4) setting the robot service code, and the above sequence (υ to (4)) is repeated. By doing this, a series of robot operations are taught to the machine tool.Therefore, the first
As shown in the figure, points P, →P, →P, - groan P, →P
While moving the hand HD along the path 1→゛P, →P1, grip the machined workpiece WK with lindia Pl and release it from the chuck CHK', and move the machined workpiece WK with lin)P on table TB. A series of robot command data to be placed on each point Pi (1-0, 1, 2,
...) coordinates in polar coordinates (RreZi, #i), point P1 → uniform + pancreatic movement speed Vinyin) Pi
The operating speed from +x to Pi is Vi', and the service code for gripping the workpiece is SOO.

If the service code for work release is 8oo, it will be as shown in FIG. 2, and each robot command data 81)1.

RD, , RD, . . . are stored in the data memory of the robot control device. In addition, 814 r in Figure 2
sI@ is a robot service code that rotates the wrist 90@ left and right, respectively.

Now, as mentioned above, the conventional teaching method is from the teaching operation panel (υ
Setting the address of the data memory to be stored in the four bot command days, (2) Positioning by JiWJ feed, (3) Setting the position information of the point and the speed of movement to the point,
(4) The teaching operation of setting the robot bus code had to be performed at each point. For this reason, the teaching operation was 11lifi4, and a considerable amount of time was required for teaching, and teaching errors were more likely to occur.

From the above, it is an object of the present invention to provide a teaching method that can teach stomach bot movements in a simple manner, in a short time, and even to beginners without making teaching mistakes. purpose.

Hereinafter, an embodiment of the present invention will be explained with reference to the drawings.

FIG. 5 is a front view of an industrial robot to which the teaching method according to the present invention can be applied. In the figure, 1 is a base, 2 is a robot body, 3 is a screw rod that moves the robot body 2 in the vertical direction, 4 is a motor that rotates the screw rod 5', and 5 is a movement of the robot body 2 in the vertical direction.

6 is a rotating table that rotates the robot body 2, 7 is an arm that extends and contracts in the longitudinal direction, 8 is a wrist mechanism, and 9 is a work gripping device (hand).

By the way, if such a robot is to provide a service for loading and unloading workpieces on a machine tool, the movement pattern of the hand usually remains the same unless the machine tool changes. For example, in a robot service where a machined workpiece is released from a chuck and placed on a table, the movement path of the hand is the first for a certain workpiece.
pH-+ pl+ pm-4P, -+ pH- shown in the figure
+ 8 + P, etc. Even if the work changes and its size changes, just the position coordinates of a certain point change, and the pattern of its movement path,
Furthermore, the movements of the hand, wrist, etc. at each point do not change at all.

Therefore, if the size of the workpiece changes, the mouth 1y
) Command - It can be said that robot command data suitable for the workpiece can be obtained by changing only the position data overnight. However, conventionally, if the size of the workpiece changes, for example, 1. Each time, a series of commands and data were taught from the teaching operation panel. For this reason, a considerable amount of time was required for teaching.

Figure 41I is an explanatory diagram for explaining the teaching method according to the present invention, and sw is a boot diagram for realizing the present invention. still,
A series of robot command data JRDi (
4!2) is already stored in the data memory. In addition, if the gripping position is changed from point P to point P due to a change in the size of the workpiece, it is necessary to create a pot command data (however, other data must not be changed). do). Furthermore, at the beginning,
Hand HD is the origin RP&:1 xl1g4
1) If you set the mode switch MS & on the teaching board TB to the teaching mode and press start #8'l'B, the processing tool DPU will be activated from the data memory DM gate. -my) Command data JI RDI to register R
At the same time as reading out to G8, the current position of hand No. 8, Za,
1g from the position control data storage memo 9 PM, and based on the following formula, JRmRiwRa, jZzZl-Za, j#m# i
-@s (however, %2-4-) a) Calculate the incremental values JR, jZ, #, and calculate the incremental values #R, #2. No pulse distributor PD
Enter in C.

In addition, the processing unit DPU stores each incremental value in the remaining movement amount storage area of the data storage memo 1 person PM as the remaining movement amount am, Ztsuru Im. Now, the pulse distribution piping PDC performs the well-known pulse distribution calculation if the interval value and command speed are given,
Generates an axial distribution pulse Rp+ 19+ 'p and V
Each distribution pulse is respectively Rm, l axis, -axis path 8VR, 8VZ, gVl supply, t, each - memo #M
Drive R, MZ, M#. As a result, the hand HD moves from the origin toward the main point P1 (
'114 Cabinet Φ). On the other hand, distribution pazo 2s RP + Zp,
If 'p' is not generated, these distribution pulses are also input to the fiPU. Process l [uniy) D
If these distribution pulses Rp, Zp, #p are input to PU, then = Rm-1→Rm, Zm-1-+Zm,
em-1-+1m (1) is performed to update the remaining movement amount, and Bsfl-+Rs, Zgf
l-+Zg, #@±1-+#a Perform the calculation in (3) in line 9 to update the current position. 1f in formula (3)
The amount depends on the direction of movement. Then, 1, the pulse distribution calculation □ by the hand ends. First time) DPU is happy 1
When the movement control using the RDI is completed, the command data and RDI of the second book are read out from the data mail order 1jDM to the register RG8, and then the hand HD is inserted according to the same process as described above. ) to Ps (■ in Figure 4).

J6III: LII-TS) DPU is II second port
TS) When the movement control by command data #&~← is completed, read out the #11th book Ipposhi and command data 11 from the data memory DM to the register #BG Hatake, and at the same time read out the hand HD2-current position Kg, Zs, -Hatake. The position control data is successively outputted from the memory memory PM, and the data is output from the interface 9/
# k value @p, input the incremental value to the pulse arrangement ll PDC. As a result, pulse distribution to the same aircraft as described above @PDC performs pulse distribution calculation and distributes N # X BP* zP* #pl Jlk L,
Hunt HD i l in) Move towards Ps (
4th IO 0). Zaa, aill movement, , ni, Zaa,
1m and U Han I' f) Current position Ra.

2., #. are updated every time a distribution pulse is generated.

Now,! - Due to the change in the size of the light, the gripping position was changed from P1 to P1)? , must be changed to '. Therefore, in the present invention, lin)P
Teach and shoot before hand HD arrives! Press the pause button IFHB on 1. Processing) When the pause button νHB is pressed, the DFU immediately activates the pulse distributor PD.
The pulse distribution stop deviation amount PDI is output to C, the pulse distribution calculation is stopped, and the movement of the hand HD is stopped. After that, select the moving axis using the feed axis selection switch and thumb B8,
Positive direction feed button PJB or negative direction feed button N
If JB is pressed, the direction of movement of the jig, the direction of jig movement, and the jig feed finger including the axis of movement are input from the DPU. Jig feed command JFC
When the pulse ``distribution@PDC'' is input, the PDC generates a distribution pulse train having a predetermined interval once.

As a result, Han FHD moves towards point P1',
At the same time, the current position of the dial feed wheel is updated using the formula 4i. I! Then, if the above-mentioned maneuver is performed for the 8-axis, l-axis, and -axis, the hand HD position is determined by 11%. At this time, the current position is 'Ba, Z,'.

- indicates the position of point P1'.

After the HD is positioned at P3', the
If you press button 11TB, the position data #Rs HZl will be displayed among the J611 type DPU holder vX JI RG8.
, #1 are stored in the position control data storage memory PM.
, write em, and then write the contents of register RG8) Data memory DM in which command data ■1 was stored.
Store at the location. Next, the second processing) DPU is the 4th JL robot 8 + data R from the data memo IDM.
D4 is read out and the hand HD is positioned at point P3 by the same process as described above (■ in the fourth cabinet).

After that, by the same process, the hand HD changes from PM-4PI to P.
・In order to reach point + P on the route of →PI, 0 in Figure 4
．． 0. ), the teaching operation is completed. That is, the data memory DM stores command data in which only the coordinates at the gripping position have changed compared to the previous shooting pot command data. This new series of command data is v11 command data for the mark after the change.

As described above, according to the present invention, the hand is moved based on already created robot command data, and only when it is desired to change the point F, the movement based on the robot command data is stopped, and the hand is moved instead. New wind teaching data can be created and taught simply by positioning the hand at the stocked point and then teaching the position of the desired transfer point.

Therefore, the teaching time can be significantly shortened, the operation is simple, there are no mistakes in teaching, and even a beginner can perform the teaching operation on the container.

In the above explanation, the case where the machined workpiece is released from the chuck with a single hand and the mark is sprayed onto the table has been explained, but the present invention is not limited to such a case, and is applicable to the machine tools of Hoga Eworks. Attachment to 1. It is clear that the present invention can also be applied to attachment/detachment using a double handle and various other types of glue servicing. Also, already created robots)
When teaching using command data, it is not necessary to cause the mouthpiece to perform an operation based on the -put service code.

A brief explanation of tiim: 1 is an explanatory diagram of the conventional teaching method, 21 is an explanatory diagram of robot command data, and 1 is an industrial diagram to which the teaching method according to the present invention can be applied - Bossi's normal W diagram, Fig. 4 5 is an explanatory diagram of a teaching method according to the present invention, and FIG. 5 is a block diagram of an embodiment for realizing the present invention.

HD...Hand, W J-...Work, CHK-...
Chuck, TB--table, DPU--mechanical unit, DM--button B--teaching operation panel, PDC--pulse distributor, 8TB--start button, FRB--temporary stop button.

Patent Applicant: Fujitsu Fanuc Co., Ltd. Agent: Patent Attorney: Tsuji, 2 people

Claims (2)

[Claims] (1) In a teaching method for a robot that operates according to a series of robot command data, a step of moving the hand based on a series of created robot command data stored in a data memory, the first robot command data. A step of temporarily stopping the hand while moving the hand based on the position information in the step, a step of positioning the hand at a desired point by a manual feeding means, a step of moving the hand to the desired point, and a step of moving the hand to the desired point. a step of replacing the positional information in the hand with the current positional information of the hand, a step of moving the hand based on the robot command data from the 11th position onward (i+1); A teaching method characterized in that the step of modifying position information is performed as necessary to modify the created robot command data, and new robot command data is taught to the robot. (2) A start button is provided, and by operating the start button, a series of created robot command data is sequentially read and the hand is moved, and after positioning by the manual feeding means, by operating the start button. The scope No. (0 Teaching method described in section.