JPS5943407A - Controlling method of industrial robot - Google Patents

Abstract

PURPOSE:To realize cost reduction and reliability improvement by dividing a storage part wherein control data is stored into the 1st storage area where base operation instructions are stored and the 2nd storage area wherein characteristic operation instructions different depending upon objects of operation are stored. CONSTITUTION:When an industrial robot, e.g. a robot for a lathe is controlled, the driving of a motor is controlled by a driving signal M through a controller 8 on the basis of data stored previously in the storage part. This storage part is divided into the 1st storage area 1b' (base program memory) wherein the base operation instructions irrelevant to an object of operation are stored and the 2nd storage area 1c' (singular point data memory) wherein the characteristic operation instructions different depending upon the object of operation are stored. The base operation instructions in the 1st storage area 1b' are executed through a multiplexer 7, etc., from an initial address setting part 5 and a program counter 6 and the characteristic operation instructions are executed while the multiplexer 7 is switched by a setting signal sent from a decoder 9 through an OR gate 10.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for controlling an industrial robot, such as a lathe robot, which automatically transports a workpiece to be machined, for example, to a lathe.

Industrial robots have been widely used in factories and the like in recent years, and the fields of their use are likely to further expand in the future. Here, a conventional control method for a sushiba robot will be explained using a lathe robot as an example.

First, an outline of the deadly action of the lathe robot is shown below. ■ Move the bladder to the chuck position of the lathe. 0. Remove the completed workpiece machined on the lathe from the chuck. ■Transport the processed work to the designated work table. ■Place the completed work on the work table. ■Move the head 1 to the gripping position of the unprocessed workpiece. ■Not yet I
JN Grasp the workpiece ■Transport the unprocessed workpiece to the chuck position. 0 Chuck the unprocessed work. (
9) Move the arm 7.1'37 from near the chuck position.

(Start Iα lathe machining) (5) After lathe machining is completed, execute again from O.

These operations are performed based on the data stored in the storage unit, but in the operations 17 and 1 above, the pi-picking position of the completed workpiece and the grasping position of the unprocessed workpiece are respectively determined by the workpiece to be machined. lj? jl+
1, whereas the operation of ■■■■■ (box ■■ is constant regardless of the workpiece)
(Determined by 戊). Therefore, inside the memory
An area for storing the operations of ■■■■O (hereinafter referred to as the base program area) and an area for storing the operations of ■■ (
(hereinafter referred to as singularity data area), and when the type of workpiece 1 is changed, only the contents of the singularity data area are changed.

When the robot starts operating, a new operation program is created and stored by combining the contents of the base program area and singularity data area, and the lathe robot's operation is controlled based on this operation program. conduct. Here, a specific method for creating an operating program will be explained.

First, assume that the instruction code is as follows.

a) Move l cover...x11IT][,'-]
I'-"] ["1 <f'-,] The value inside indicates the movement destination (position data) b) Open your hand and touch the workpiece...211C) Close your hand Grasp the workpiece...212 d) Execute address 1 of the singular point data area...γ11 e) Execute address 2 of the singular point data area...1
2 Return to Moebansen after fy gold processing...810
1 is a conceptual diagram showing the storage areas of the storage unit 1, and in this figure, 1a is an operation program area;
1b is a base program area, IC is a singularity data area, and 2 is a data log. The base program area 1b stores instruction codes corresponding to each operation of the above-mentioned ■■■■■■■ [phase], and the singularity data area IC stores instruction codes corresponding to each operation of ■■. The meaning of this stored instruction code is as described above, but to further explain only the instruction code for moving the arm, 1 of the base program area 1b.
"X12345J stored at address and address 7 is the command code to move the 砿! to the chuck position by tapping 1, rX34567 stored at address 9 is waiting for storage; shi)7
Instruction code to move to position, ↑! Change ("X25000J" written at address 1 of data area 1c is the instruction code for moving the dark to the position 1 to 7 (predetermined position on the work table) of the completed workpiece, address 2) "X28000J" stored in "X28000J" is an instruction code for moving the arm to the grasping position li'? of the unprocessed workpiece.
This is done by combining the contents of b and singularity data area 1c, but in this case, the contents of base program area 3
Since the instruction code at address Dog is an instruction to execute the contents at addresses 1 and 2 of the q:j, '/+1 point data area, respectively, the base program area 1b(7)3
iW' ground ni "xz 5000j, turn!! +! L"
The operation program is created by replacing ×zBoooj, and this operation program is installed in the operation blog area 1.
By executing from address 1 to jliQ in 1, the command for Zujitsuji board o Ar tsu) (f) :! ;j jjll wo? r').

By the way, the conventional lathe robot control method described above is based on the base program area 1b and the singularity data area 1.
Since this method creates an operating program by composing the contents of There was a risk that a transfer error would occur when transferring to the operating program area.

In view of the above-mentioned circumstances, the present invention provides a control method for a robot for industrial use that has low hardware costs and eliminates the worry of program transfer errors. 5. is divided into Ivl and a second storage area r, and the second storage area 1G in the first storage area stores II/JM operation commands that differ depending on the work object; 5. Said first Wl',!
(・Sequentially perform the Sohoncho 1 work command in the t area, and the basic 5H"+) work command should execute the unique action command in the storage area of Rule 2 Recorded Flute 2 f:"? In this method, when the i command is 5, the basic action command in the first storage area is executed again after executing the corresponding specific action command.

Embodiments of the present invention will be described below with reference to the drawings. First, an outline of the control according to the present invention will be explained with reference to FIGS. 2 and 3.

Figure 2 is a conceptual diagram of the storage unit 1' used in the present invention, and as shown in this figure, the storage unit 1' removes the operation program area la from the storage unit 1 (Figure 1). It has become. In addition, the fi% values in the block P shown in the third example (a) to (e) are the base program area 1b.
The content of the program counter indicating the @ place is shown, and the instruction code in the first line of alphanumeric characters G1' in block D is shown.

In this invention, first, address 1 of the base program area 1b is set in the program counter as shown in FIG. Four M(b),
As shown in (c), the instruction code at address 2 (+jl S3) in the base program area 1b is executed in sequence.Then, the instruction code ``711J is unique Since this is an instruction to execute the instruction at address 1 of the point data area IC, next, as shown in +m (cl), the content of the program counter is left unchanged and the instruction at address 1 of the irritated point data area IC is executed.
゛Execute the contents of address rX250ooJ. Then, when this execution is completed, the contents of the program counter are incremented by 1 and the instruction code "211" at address 4 of the base program 1b is executed, as shown in FIG. 4(e). Then, similar operations are performed thereafter.

FIG. 4 is a block diagram showing the configuration of a control device for a robot for a simple board, which is an example of the present invention.

In this figure, 5 is an initial address setting 17, which sets the initial count value of the program counter.

In this embodiment, the count starts at 1 (the i1 value is set to "1". 6 is a program counter, and when a "H" level signal is supplied to the SET terminal, the initial address is set to f.
The count initial value f+f<r LJ output by 1;5 is taken in, and when the pulse signal C is supplied to the UP terminal, the count value is incremented by 1. lb/ is a base program memory, which is a base program area 1b shown in the diagram. This base program memory 1 bit outputs the data at the address indicated by the program counter 6, i, j,:, and the data indicating the position, for example, ``z5ooo-J of x250ooJ'' is an instruction to the data bus PB. Seed 1'11 of 7;Was data, Ze11 such as rx-J, rztzJ, l-711J...
..., etc. are output to the data bus OB1.

The data buses PB1 and OB are each connected to the input section A of the multiplexer 7 and are Q% connected. This multiplexer 7 has two input sections A%B, and the input section B is connected to a data bus P to which data from the singular point data memory lc/ is outputted. The storage space of the data memory lc'is; Then, Nobufusa/Ad2 is supplied with the data of 1st position, and outputs the data of 6th and 2nd jjjjl respectively. "--ta/'F 7 F B
2 k, 6 P (data that changes the class is data bus C)
It is output to l32. *t=, when the terminal S is at the "L" level, the multiplexer 7 selects the input section and transfers the data on the data bus FBI% OBl to the data bus PB.
3. Output each to OB3, select input e, 1;
〇 Data on B2 is output to data buses P]13, OB, and 7, respectively. This rabbit, 1 child S signal A d,,A
An output signal of an OR gate 10 which takes βlfη1 of a2 is supplied.

9 is a decoder, and data bus a B3 to 4f: When the supplied data is rXJ, [:'l popular belief-";
S
; ] j signal OP E I ( is [212
Signal Ad, which is "711", l'-7tzJ
If the match signal Ad2 is "81Q1", the signal GX and rlR are output, respectively. 8 is a controller, and based on the data on the data bus py40 when No. 11 is the signal R and the convex ii', i
Kiyu Toru 7nd Gade, 12? There is an OR gate which takes the logic f11 of the -1 signal sT A and the output signal of the ant game) Ii, and the output ff1-9) of the OR gate 12 is the SIL T! of the program counter 6. '1: J-ko will give you 1 knee.

Here, the signal END is the workpiece σ) (4,;5. +9
', When V processing is completed, #T: q% publication, σ
1), the signal STA is a signal that is activated by pressing the star I-7: In addition, the pulse signal ε mentioned in 'Jlff is 74-
This is a pulse of 1 force.

Next, l;? +Rolled examples by Shoji on page 251jl
I do it. Maa', M'! (ji::j When you press the top button, the 7jl power of the OR gate 12 is reached) (" level, and the program counter 6 takes in the initial value 1 of the count. This I'h
length, base program memory 11)' 1, 't';
32 data rxt2'345J in l114f is extracted, and the "x" of this data is transferred to the data bus C) as "12".
3A5J is output to the data bus PB.

On the other hand, since the decoder 9 does not output anything in the initial Jilt state, the output signal of the OR gate 10 is "TJ"
level, so that multiplexer 7 is at input A
Select data bus FB,,OB! The above data [z3
4g'' and ``x-J'' are sent to the controller 8 and decoder 9 via the data bus PB3OB, respectively, ijf and 1.%.
be done. When the decoder 9 is supplied with data r '3, this connection, 1 boat of r7 pot is 1
'L1 '123 k, 5 to J', i'-8C sum 6
, at the moment when the pulse is shifted and the signal is turned off, the pulse No. 8 is supplied to the program counter 6 UP・+r5 (child?=4jJ).The program counter 6-digit pulse f;i, l:3ε is
(Increase the reward count by 1, base progera A
ff: Address 2 of IJ71b' (f, n 2 i2'>J
Pass ii'() for t months. This F luck, data bus a1
3. The data "z:t, J" is output at this point. On the other hand, since the output state of the decoder 9 has not changed at this point, the output signal of the OR gate 10 is at the °' L n level, and the multiplexer 7 Select A and keep jj<1.

Therefore, data [zizJ is the data bus OB.

It is supplied to the decoder 9 through the intermediary, and as a result, the decoder 9
outputs the signal 0PEN. When this signal 0PEN is output, the robot's hand opens 111, and at the moment it finishes opening, the pulse signal ε is output from the program run 6 U P +:'Fn
provided to the child. As a result, the program counter 6 selects address 3 of the base program area 1b'. As a result, data [711j is transferred to data buses OB1 and O
is supplied to the decoder 9 via B3, and the decoder 9
The signal Ad is supplied to the special point data memory 10' and the OR gate 10. As a result, the output signal of the OR gate 10 becomes "H" level, the multiplexer 7 selects the input MB, and the data "x25000" at address 1 of q"t' yellow point data daily lc' is read out, and the data rXJ is applied to the data bus C2, and data ``2g000'' is applied to the data bus P]32, respectively. Then, the data "x" is supplied to the decoder 9 via the data bus OB3, and the data r25oooJ is supplied to the data bus FB.

The signal is supplied to the controller 8 via. This knot T11N
! moves to position "25oOO" 8ffTII and moves to end ivy 11Z? At the point, the pulse signal 6 is output to the program counter 6.
U P %i: “4 children will be fed. This utilization,
The program counter 6 counts up by 1, and the base program memory lb/No. 4) 11! The data “21
1" is executed. From then on, I continued making the same steps as in 3.
Data r at address 10 of base program memory l bJ
When -8101J is executed, the signal R is output from the decoder 9 to the AND gate 11. When the workpiece has been completely machined, the signal END is supplied to the AND gate 11, and the output signal of the AND gate 11 becomes Ia'' level.As a result, the output signal of the OR gate 12 becomes I(''
level, and the program counter 6 sets the initial count value "1" again. Thereafter, the above-described operations are repeated.

Note that it is also possible to have the microcomputer perform the above-mentioned operations.

As explained above, according to the present invention, the storage section in which control data is stored is divided into first and second areas, and the first storage area is independent of the object to be worked on. 8 movement commands are recorded in the second storage area, surface movement commands that are equal depending on the work object are written in 1, and the basic movement commands in the first storage area are written in 1111.
Next, when the basic operation instruction is an instruction to be executed in the second memory area 7, if the instruction is to be executed, after executing the corresponding specific operation instruction,
Again, the 117th) storage area 71 (Kisaki 1 instruction is pulled and executed by t, t, so the IIH instruction program area that was previously required is no longer required, and the hardware cost is reduced. In addition, since the program is not transferred, the occurrence of tear errors is eliminated, and control reliability is improved.

[Brief explanation of drawings]

The first PJ is the memory (
Fig. 1 is a conceptual diagram of the storage area of part 1; Fig. 2 is a conceptual diagram of the storage area of the storage unit 11 used in this invention;
Figures fL) to (e) each show an outline of the control according to the present invention.
(9) An explanatory diagram for clarification, Figure fA4 is block 1 showing the configuration of the controlled double hit of the robot for the t1τ board, which is an example of this Q17. IX'f=, 1 b'...
・Base program memory (1st note 1f7 area),
IC/... Special child point data memo IJ (memory area of p 2), 5... Initial address setting section, 6...
・Program counter, 7...-Full multiplexer, 9...Deco', 10, i2...Or gate, 11...And gate. Applicant: Jinpo Dengen Co., Ltd. Go51son' ±/43? (”'”;!J)'/;:1

Claims (1)

[Claims] In a method for controlling an industrial Kawaguchi bot that performs control based on data stored in advance in a storage section, the storage section
, a second storage area, the first storage area stores basic operation commands that do not depend on the work object, and the second
The storage area stores unique movement commands that differ depending on the work object, and the basic movement commands in the first storage area are sequentially executed, and the basic movement commands are combined with the unique movement commands in the second storage area. is a command to be executed, the method for controlling an industrial robot is characterized in that, after executing the corresponding specific motion command, the basic motion command in the first storage area is subsequently executed again. .